Re: asyn port locking while motorIMS controller limit-switch configuration is read

[Mark Rivers via Tech-talk <tech-talk at aps.anl.gov>]

Hi Sebastian,

Here is a cleaner way to do it, which is actually less code.  It does not rely on knowing the private structure in the pasynUserIMS->drvUser.

   asynInterface psynInterface = pasynManager->findInterface(pasynUserIMS,asynOctetType,1);

   asynOctet *pasynOctet = pasynInterface->pinterface;

   void *octetPvt  = pasynInterface->drvPvt;

   pasynUserIMS->timeout = IMS_TIMEOUT;

   printf("Trying to lock port.\n");

   pasynManager->lockPort(pAsynUserIMS);

   sprintf(cmd, "PR IS");

   resp[0] = 0;

   printf("Prepared command and response string.\n"); 

   pasynOctet->setInputEos(octetPvt, pAsynUserIMS, "\0", 1);

   printf("Changed EOS to zero.\n");

   // in party-mode Line Feed must follow command string

   sprintf(outbuff, "%s%s", deviceName, cmd);

   printf("Writing to controller.\n");

   status = pasynOctet->write(octetPvt, pAsynUserIMS, outbuff, strlen(outbuff), &nwrite);

   status = pasynOctet->read(octetPvt, pAsynUserIMS, resp, sizeof(resp), &nread, &eomReason);

   printf("Write and read finished.\n");

   pasynOctet->setInputEos(octetPvt, pAsynUserIMS, "\n", 1);

   printf("Changed EOS to newline.\n");

   printf("%s\n", resp);

   pasynManager->unlockPort(pAsynUserIMS);

Mark

---

From: Sebastian Eckert <sebastian.eckert at helmholtz-berlin.de>
Sent: Friday, November 1, 2024 7:48 AM
To: Mark Rivers <rivers at cars.uchicago.edu>
Cc: tech-talk at aps.anl.gov <tech-talk at aps.anl.gov>
Subject: Re: asyn port locking while motorIMS controller limit-switch configuration is read

 

Hi Mark,

your way of circumventing the lock in the SyncIO functions works well. We will commit the fix to GitHub soon.
Thanks a lot!

Best regards
Sebastian

> Am 29.10.2024 um 17:52 schrieb Mark Rivers <rivers at cars.uchicago.edu>:
>
> Hi Sebastian,
>  That output is what I expected.  It means the call to pasynOctetSyncIO->writeRead() in writeReadController is hanging.  That is because once you call pasynManager->lockPort() you cannot use the SyncIO functions, you must call the low-level pasynOctet functions.  I believe the solution is very similar to the tech-talk message I posted a few minutes ago:
> https://epics.anl.gov/tech-talk/2024/msg01204.php
>  I suggest you try changing your code to this (untested, probably has some typos):
>  struct octetPvt {
>    asynCommon   *pasynCommon;
>    void         *pcommonPvt;
>    asynOctet    *pasynOctet;
>    void         *octetPvt;
>    asynDrvUser  *pasynDrvUser;
>    void         *drvUserPvt;
> };
>  octetPvt *pPvt = (octetPvt *) pasynUserOctet->userPvt;
> pasynUserIMS->timeout = IMS_TIMEOUT;
>  printf("Trying to lock port.\n");
> pasynManager->lockPort(pAsynUserIMS);
> sprintf(cmd, "PR IS");
> resp[0] = 0;
> printf("Prepared command and response string.\n");
> pPvt->pasynOctet->setInputEos(pPvt->octetPvt, pAsynUserIMS, "\0", 1);
> printf("Changed EOS to zero.\n");
> // in party-mode Line Feed must follow command string
> sprintf(outbuff, "%s%s", deviceName, cmd);
> printf("Writing to controller.\n");
> status = pPvt->pasynOctet->write(pPvt->octetPvt, pAsynUserIMS, outbuff, strlen(outbuff), &nwrite);
> status = pPvt->pasynOctet->read(pPvt->octetPvt, pAsynUserIMS, resp, sizeof(resp), &nread, &eomReason);
> printf("Write and read finished.\n");
> pPvt->pasynOctet->setInputEos(pPvt->octetPvt, pAsynUserIMS, "\n", 1);
> printf("Changed EOS to newline.\n");
> printf("%s\n", resp);
> pasynManager->unlockPort(pAsynUserIMS);
>  Please try that and let me know if it works.
>  Mark
>   From: Eckert, Sebastian <sebastian.eckert at helmholtz-berlin.de>
> Sent: Tuesday, October 29, 2024 4:09 AM
> To: Mark Rivers <rivers at cars.uchicago.edu>; tech-talk at aps.anl.gov
> Subject: AW: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Mark,
>  here is the output:
>  Controller version LMDCM 6.016, Hw: 2.8
> Setup config:
> Lexium MDrive detected
> -------------------------------------------
> Have device name going party modus, line ending LF.
> Trying to lock port.
> Prepared command and response string.
> Changed EOS to zero.
> Writing to controller.
>  Then the boot process is stuck.
>  Best
> SebastianVon: Mark Rivers <rivers at cars.uchicago.edu>
> Gesendet: Montag, 28. Oktober 2024 18:43:47
> An: Eckert, Sebastian; tech-talk at aps.anl.gov
> Betreff: RE: asyn port locking while motorIMS controller limit-switch configuration is read
>  What is the output when you run the driver?  I want to see which of the printf() statements in int ImsMDrivePlusMotorController::readHomeAndLimitConfig() are bring printed.
>  Mark
>   From: Eckert, Sebastian <sebastian.eckert at helmholtz-berlin.de>
> Sent: Monday, October 28, 2024 9:00 AM
> To: Mark Rivers <rivers at cars.uchicago.edu>; tech-talk at aps.anl.gov
> Subject: AW: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Mark,
>  the first few differences are in the Axis.cpp file to see which problem occurs in the poll, then follow the differences regarding the eos.
>  Best
> Sebastian
>  diff --git a/imsApp/src/ImsMDrivePlusMotorAxis.cpp b/imsApp/src/ImsMDrivePlusMotorAxis.cpp
> index cd3e900..ae3417c 100644
> --- a/imsApp/src/ImsMDrivePlusMotorAxis.cpp
> +++ b/imsApp/src/ImsMDrivePlusMotorAxis.cpp
> @@ -41,6 +41,7 @@
>  //! @param[in] pC pointer to ImsMDrivePlusMotorController
>  //! @param[in] axisNum axis number
>  ////////////////////////////////////////////////////////
> +
>  ImsMDrivePlusMotorAxis::ImsMDrivePlusMotorAxis(ImsMDrivePlusMotorController *pC, int axisNum)
>    : asynMotorAxis(pC, axisNum), pController(pC)
>  {
> @@ -407,7 +408,7 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>         // get position
>         sprintf(cmd, "PR P");
>         status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -       if (status) goto bail;
> +       if (status) {printf("get position error\n"); goto bail;}
>         position = atof(resp);
>         // update motor record position values, just update encoder's even if not using one
>         setDoubleParam(pController->motorEncoderPosition_, position);
> @@ -416,7 +417,7 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>         // get moving flag
>         sprintf(cmd, "PR MV");
>         status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -       if (status) goto bail;
> if (status) {printf("get moving flag error\n"); goto bail;}
>         val = atoi(resp);
>         *moving = val;
>         setIntegerParam(pController->motorStatusDone_, val == 0);
> @@ -424,14 +425,14 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>                 sprintf(cmd, "R1=1");
>                 homing = false;
>                 status  = pController->writeController(cmd, IMS_TIMEOUT);
> -               if(status) goto bail;
>        if (status) {printf("get moving flag homing error\n"); goto bail;}
>         }
>
>         // get home switch value
>         if (pController->homeSwitchInput != -1) {
>                 sprintf(cmd, "PR I%d", pController->homeSwitchInput);
>                 status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -               if (status) goto bail;
>        if (status) {printf("get home switch value error\n"); goto bail;}
>                 val = atoi(resp);
>                 setIntegerParam(pController->motorStatusHome_, val);
>         }
> @@ -440,7 +441,7 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>         if (pController->posLimitSwitchInput != -1) {
>                 sprintf(cmd, "PR I%d", pController->posLimitSwitchInput);
>                 status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -               if (status) goto bail;
>        if (status) {printf("get positive limit switch value error\n"); goto bail;}
>                 val = atoi(resp);
>                 setIntegerParam(pController->motorStatusHighLimit_, val);
>         }
> @@ -449,7 +450,7 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>         if (pController->negLimitSwitchInput != -1) {
>                 sprintf(cmd, "PR I%d", pController->negLimitSwitchInput);
>                 status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -               if (status) goto bail;
>        if (status) {printf("get negative limit switch value error\n"); goto bail;}
>                 val = atoi(resp);
>                 setIntegerParam(pController->motorStatusLowLimit_, val);
>         }
> @@ -457,14 +458,14 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>         // Read isHomed status
>         sprintf(cmd, "PR R1");
>         status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -       if (status) goto bail;
> +       if (status) {printf("read isHomed status error\n"); goto bail;}
>         val = atoi(resp);
>         setIntegerParam(pController->motorStatusHomed_, val > 0);
>
>         // Read stall flag
>         sprintf(cmd, "PR ST");
>         status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -       if (status) goto bail;
> +       if (status) {printf("read stall flag error\n"); goto bail;}
>         val = atoi(resp);
>         setIntegerParam(pController->motorStatusFollowingError_, val > 0);
>         setIntegerParam(pController->motorStatusSlip_, val > 0);
> @@ -472,7 +473,7 @@ asynStatus ImsMDrivePlusMotorAxis::poll(bool *moving)
>         // Read encoder counts
>         sprintf(cmd, "PR C2");
>         status = pController->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> -       if (status) goto bail;
> +       if (status) {printf("read encoder counts error\n"); goto bail;}
>         val = atoi(resp);
>         setDoubleParam(pController->motorEncoderPosition_, val);
>
> diff --git a/imsApp/src/ImsMDrivePlusMotorController.cpp b/imsApp/src/ImsMDrivePlusMotorController.cpp
> index c8e3112..a9da23e 100644
> --- a/imsApp/src/ImsMDrivePlusMotorController.cpp
> +++ b/imsApp/src/ImsMDrivePlusMotorController.cpp
> @@ -185,7 +185,17 @@ int ImsMDrivePlusMotorController::readHomeAndLimitConfig()
>                 // LMD motor - different terminating characters
>                 printf("Lexium MDrive detected\n");
>                 printf("-------------------------------------------\n");
> -               pasynOctetSyncIO->setOutputEos(pAsynUserIMS, "\r", 1);
>         //if (strcmp(this->deviceName, ""))
>         if (this->deviceName[0]=='\0')
>         {
>                 printf("Have no device name, line ending CR.\n");
>                 pasynOctetSyncIO->setOutputEos(pAsynUserIMS, "\r", 1);
>         }
>         else
>         {
>                 printf("Have device name going party modus, line ending LF.\n");
>                 pasynOctetSyncIO->setOutputEos(pAsynUserIMS, "\n", 1);
>         }
>         }
>         else
>         {
> @@ -205,12 +215,20 @@ int ImsMDrivePlusMotorController::readHomeAndLimitConfig()
>         }
>
>         // Any Lexium from here on
> -       pasynOctetSyncIO->setInputEos(pAsynUserIMS, "\0", 1);
> -       sprintf(cmd, "PR IS");
> -       resp[0] = 0;
> //this->lock();
> printf("Trying to lock port.\n");
> pasynManager->lockPort(pAsynUserIMS);
> sprintf(cmd, "PR IS");
> resp[0] = 0;
> printf("Prepared command and response string.\n");
> pasynOctetSyncIO->setInputEos(pAsynUserIMS, "\0", 1);
> printf("Changed EOS to zero.\n");
>         status = this->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> printf("Executed writeReadController.\n");
> pasynOctetSyncIO->setInputEos(pAsynUserIMS, "\n", 1);
> printf("Changed EOS to newline.\n");
>         printf("%s\n", resp);
> -       pasynOctetSyncIO->setInputEos(pAsynUserIMS, "\n", 1);
> pasynManager->unlockPort(pAsynUserIMS);
>         // quick and dirty solution:
>         // kill all nondigit chars, break into separate strings on LF, scan 3 params
>         if (nread > 0) {
> @@ -359,7 +377,9 @@ asynStatus ImsMDrivePlusMotorController::writeReadController(const char *output,
>
>         // in party-mode Line Feed must follow command string
>         sprintf(outbuff, "%s%s", deviceName, output);
> printf("Writing to controller.\n");
>         status = pasynOctetSyncIO->writeRead(pAsynUserIMS, outbuff, strlen(outbuff), input, maxChars, timeout, &nwrite, nread, &eomReason);
> printf("Writing finished.\n");
>         if (status) { // update comm flag
>                 setIntegerParam(this->motorStatusCommsError_, 1);
>         }
>  Von: Mark Rivers <rivers at cars.uchicago.edu>
> Gesendet: Montag, 28. Oktober 2024 13:47:56
> An: Eckert, Sebastian; tech-talk at aps.anl.gov
> Betreff: Re: asyn port locking while motorIMS controller limit-switch configuration is read
>  Can you send a "git diff" of your modified driver from the master branch on Github?
>  Mark
>  From: Eckert, Sebastian <sebastian.eckert at helmholtz-berlin.de>
> Sent: Monday, October 28, 2024 5:47 AM
> To: Mark Rivers <rivers at cars.uchicago.edu>; tech-talk at aps.anl.gov <tech-talk at aps.anl.gov>
> Subject: AW: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Mark,
>  if I use pasynManager->lockPort(pAsynUserIMS) the boot is stuck at the call in line 211:
>  status = this->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
>  and therein in line 362:
> status = pasynOctetSyncIO->writeRead(pAsynUserIMS, outbuff, strlen(outbuff), input, maxChars, timeout, &nwrite, nread, &eomReason);
>  Can it be that we interfere with the queueLockPort in the asyn writeRead function?
>  Best
> Sebastian
>  Von: Mark Rivers <rivers at cars.uchicago.edu>
> Gesendet: Mittwoch, 23. Oktober 2024 19:31:16
> An: Eckert, Sebastian; tech-talk at aps.anl.gov
> Betreff: RE: asyn port locking while motorIMS controller limit-switch configuration is read
>  I was mistaken, I just looked at the driver and pasynUserIMS is the correct asynUser.  This is where it is connected to the underlying IOPortName driver.
>  https://github.com/epics-motor/motorIms/blob/f1abd73f1971810c16b580c1f0e328ccb656badf/imsApp/src/ImsMDrivePlusMotorController.cpp#L68
>
>     • Using pasynManager->lockPort(pAsynUserIMS) prevents any further controller configuration and the IOC hangs at the boot process.
>  Once you lock the port you probably cannot used the SyncIO functions, you need to use the non-SyncIO versions.  You should put printf statements for each line after you lock the port and see where it is hanging.
>  Mark
>   From: Eckert, Sebastian <sebastian.eckert at helmholtz-berlin.de>
> Sent: Wednesday, October 23, 2024 11:52 AM
> To: Mark Rivers <rivers at cars.uchicago.edu>; tech-talk at aps.anl.gov
> Subject: AW: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Mark,
>  would this be pasynUserSelf or how do I pass the correct user?
>  Best,
> SebastianVon: Mark Rivers <rivers at cars.uchicago.edu>
> Gesendet: Mittwoch, 23. Oktober 2024 18:20:57
> An: Eckert, Sebastian; tech-talk at aps.anl.gov
> Betreff: RE: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Sebastian,
>  You are using the wrong pasynUser.  You need to use the pasynUser that is connected to the RS-485 asyn port driver, not to the IMS port driver.
>  Mark
>   From: Eckert, Sebastian <sebastian.eckert at helmholtz-berlin.de>
> Sent: Wednesday, October 23, 2024 11:16 AM
> To: Mark Rivers <rivers at cars.uchicago.edu>; tech-talk at aps.anl.gov
> Subject: AW: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Mark,
>  Thanks for the help!
>  Using pasynManager->lockPort(pAsynUserIMS) prevents any further controller configuration and the IOC hangs at the boot process.
>  Using pasynManager->queueLockPort(pAsynUserIMS) I get the following error:
>  ims: pthread_mutex_lock.c:423: __pthread_mutex_lock_full: Assertion `e != EDEADLK || (kind != PTHREAD_MUTEX_ERRORCHECK_NP && kind != PTHREAD_MUTEX_RECURSIVE_NP)' failed.
>  Best,
> SebastianVon: Mark Rivers <rivers at cars.uchicago.edu>
> Gesendet: Mittwoch, 23. Oktober 2024 18:00:54
> An: Eckert, Sebastian; tech-talk at aps.anl.gov
> Betreff: RE: asyn port locking while motorIMS controller limit-switch configuration is read
>  Hi Sebastian,
>  You need to lock the underlying RS-485 driver, not the IMS motor driver.  You can call pasynManager->lockPort() or pasynManager->queueLockPort()
>  Mark
>   From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Eckert, Sebastian via Tech-talk
> Sent: Wednesday, October 23, 2024 10:50 AM
> To: tech-talk at aps.anl.gov
> Subject: asyn port locking while motorIMS controller limit-switch configuration is read
>  Dear asyn and motor-record experts,
>  I have trouble with the lines 208 to 213 in the following file of the motorIMS driver:
>  https://github.com/epics-motor/motorIms/blob/master/imsApp/src/ImsMDrivePlusMotorController.cpp#L208
>  pasynOctetSyncIO->setInputEos(pAsynUserIMS, "\0", 1);
> sprintf(cmd, "PR IS");
> resp[0] = 0;
> status = this->writeReadController(cmd, resp, sizeof(resp), &nread, IMS_TIMEOUT);
> printf("%s\n", resp);
> pasynOctetSyncIO->setInputEos(pAsynUserIMS, "\n", 1);
>  There the inputEOS is changed, because the controller's response to the "PR IS" contains information on the limit-switch configuration in multiple lines each teminated with \n. If one doesn't change the EOS, only the configuration of the first analog input is read and info on the others is lost.
>  This works fine as long as there is just one motor controller on the RS-485 line. When multiple controllers are used, the change of the eos for the controller which is created interferes with the poll-routines of the other motors, which are already set-up. I tried to lock the port during this step of the configuration with this->lock() before and this->unlock() after the mentioned lines of code, but it had no effect. Is there a way to lock the port, or to pause the polling of the other controllers while the mentioned lines are executed.
>  Thanks a lot in advance!
> Sebastian
>



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