Hi Mark,
Thanks for your answer. bin file came out.
I modified the driver of MC4B as i needed during the two days.
But I know little about c++,so could you do me a favor about the driver.
I have some question, i bold it bellow. ( connect the device with UDP )
1) i did not change the function which i would not use.
such as, asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
setPosition( .... )
i did not comment out them, I just put it here, no modify.
Is it suitable?
2) i need to send "mo=1" to enable the motor, at the beginning.
how should i do it ? I think the INIT, but i did not find example.
3) I saw pasynOctetSyncIO->connect or read or writeonce ,but i know nothing about it's meaning.
where should i find the information
4) in st.cmd. Do i need some other word after:
drvAsynIPPortConfigure("serial1", "192.168.1.5:5001 udp",10,,0,0,0)
such as ControllerConfig(serial,0,0,0,0) ?
5) i want to send the two words, first and another,
sprintf(pC_->outString_, "PR=%d;", NINT(position));
sprintf(pC_->outString_, "BG;");
is it right i write?
6) i delete "axisNo_" in some function, not the whole function, just delete the "axisNo_". because i have one axis only, and if i keep it, i don't know how to deal with "%02d" and "axisNo_" . and my command word did not have the axisNo
parm.
does it right?
Bellow is my information, it's so long.
Any answer was appreciate.
Regards,
Lynn
*********************MC4BB4.cpp*********************
/** Creates a new MCB4BController object.
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] MCB4BPortName The name of the drvAsynSerialPort that was created previously to connect to the MCB4B controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time between polls when any axis is moving
* \param[in] idlePollPeriod The time between polls when no axis is moving
*/
MCB4BController::MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
: asynMotorController(portName, numAxes, NUM_MCB4B_PARAMS,
0, // No additional interfaces beyond those in base class
0, // No additional callback interfaces beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
{
int axis;
asynStatus status;
MCB4BAxis *pAxis;
static const char *functionName = "MCB4BController::MCB4BController";
/* Connect to MCB4B controller */
status = pasynOctetSyncIO->connect(MCB4BPortName, 0, &pasynUserController_, NULL);
if (status) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: cannot connect to MCB-4B controller\n",
functionName);
}
for (axis=0; axis<numAxes; axis++) {
pAxis = new MCB4BAxis(this, axis);
}
startPoller(movingPollPeriod, idlePollPeriod, 2);
}
/** Creates a new MCB4BController object.
* Configuration command, called directly or from iocsh
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] MCB4BPortName The name of the drvAsynIPPPort that was created previously to connect to the MCB4B controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
*/
extern "C" int MCB4BCreateController(const char *portName, const char *MCB4BPortName, int numAxes,
int movingPollPeriod, int idlePollPeriod)
{
MCB4BController *pMCB4BController
= new MCB4BController(portName, MCB4BPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
pMCB4BController = NULL;
return(asynSuccess);
}
/** Reports on status of the driver
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* If details > 0 then information is printed about each axis.
* After printing controller-specific information it calls asynMotorController::report()
*/
void MCB4BController::report(FILE *fp, int level)
{
fprintf(fp, "MCB-4B motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
// Call the base class method
asynMotorController::report(fp, level);
}
/** Returns a pointer to an MCB4BAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] pasynUser asynUser structure that encodes the axis index number. */
MCB4BAxis* MCB4BController::getAxis(asynUser *pasynUser)
{
return static_cast<MCB4BAxis*>(asynMotorController::getAxis(pasynUser));
}
/** Returns a pointer to an MCB4BAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] axisNo Axis index number. */
MCB4BAxis* MCB4BController::getAxis(int axisNo)
/*
i delte the "axisNo" below, because i just have one axis, does i need to change it here or i should not delte it below?
*/
{
return static_cast<MCB4BAxis*>(asynMotorController::getAxis(axisNo));
}
// These are the MCB4BAxis methods
/** Creates a new MCB4BAxis object.
* \param[in] pC Pointer to the MCB4BController to which this axis belongs.
* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
*
* Initializes register numbers, etc.
*/
MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
}
/** Reports on status of the axis
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* After printing device-specific information calls asynMotorAxis::report()
*/
void MCB4BAxis::report(FILE *fp, int level)
{
if (level > 0) {
fprintf(fp, " axis %d\n", axisNo_);
}
// Call the base class method
asynMotorAxis::report(fp, level);
}
asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity)
{
asynStatus status;
int ival;
// static const char *functionName = "MCB4B::sendAccelAndVelocity";
// Send the velocity
ival = NINT(velocity);
if (ival < 2) ival=2;
if (ival > 2147483647) ival = 2147483647;
/*
Does it right? i delete "axisNo_" , because i have 1 axis only.
*/
sprintf(pC_->outString_, "SP=%d;", ival);
status = pC_->writeReadController();
// Send the acceleration
// acceleration is in steps/sec/sec
// MCB is programmed with Ramp Index (R) where:
// dval (steps/sec/sec) = 720,000/(256-R) */
// or R=256-(720,000/dval) */
//ival = NINT(256-(720000./acceleration));
ival = NINT(acceleration);
if (ival < 1) ival=1;
if (ival > 7000000) ival=7000000;
/*
* the same of axisNo_
*/
sprintf(pC_->outString_, "AC[1]=%d", ival);
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::move";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (relative) {
/* The same axisNo_
* sprintf(pC_->outString_, "#%02dI%+d", axisNo_, NINT(position));
* and i did not know how to put the axisNo_ and %02d ?
*/
sprintf(pC_->outString_, "PR=%d;", NINT(position));
sprintf(pC_->outString_, "BG;"); // i mean send "PR=111",then send "bg",does the format of word ok?
} else {
sprintf(pC_->outString_, "PA=%d;", NINT(position));
sprintf(pC_->outString_, "BG;");
}
status = pC_->writeReadController();
return status;
}
/*
* would not use home ,so i did not change it. it would be right?
*/
asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::home";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (forwards) {
sprintf(pC_->outString_, "#%02dH+", axisNo_);
} else {
sprintf(pC_->outString_, "#%02dH-", axisNo_);
}
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
static const char *functionName = "MCB4BAxis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
status = sendAccelAndVelocity(acceleration, maxVelocity);
/* MCB-4B does not have jog command. Move 1 million steps */
if (maxVelocity > 0.) {
/* This is a positive move in MCB4B coordinates */
sprintf(pC_->outString_, "PR=5000;");
sprintf(pC_->outString_, "BG;");
} else {
/* This is a negative move in MCB4B coordinates */
/* this is the origin word, del axisNo_ same
* this is the origin word:sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
*/
sprintf(pC_->outString_, "PR=-5000;");
sprintf(pC_->outString_, "BG;"); // i intend send: PR1000; return; BG
}
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::stop(double acceleration )
{
asynStatus status;
//static const char *functionName = "MCB4BAxis::stop";
/*
* sprintf(pC_->outString_, "#%02dQ", axisNo_);
*/
sprintf(pC_->outString_, "ST[1];");
status = pC_->writeReadController();
return status;
}
/*
* no changing here, because i would not use it.
*/
asynStatus MCB4BAxis::setPosition(double position)
{
asynStatus status;
//static const char *functionName = "MCB4BAxis::setPosition";
sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position));
status = pC_->writeReadController();
return status;
}
/*
* no changing, beacuse i would not use it.
*/
asynStatus MCB4BAxis::setClosedLoop(bool closedLoop)
{
asynStatus status;
//static const char *functionName = "MCB4BAxis::setClosedLoop";
sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0);
status = pC_->writeReadController();
return status;
}
/** Polls the axis.
* This function reads the motor position, the limit status, the home status, the moving status,
* and the drive power-on status.
* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
* and then calls callParamCallbacks() at the end.
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus MCB4BAxis::poll(bool *moving)
{
int done;
int driveOn;
int limit;
double position;
asynStatus comStatus;
// Read the current motor position
/*
* sprintf(pC_->outString_, "#%02dP", axisNo_); i delted the axisNo_,because now i have only one axis.
*/
sprintf(pC_->outString_, "PX;");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "PX=10000 or PX=-33131"
position = atof(&pC_->inString_[3]);
setDoubleParam(pC_->motorPosition_, position);
// Read the moving status of this motor
sprintf(pC_->outString_, "ID;");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
/*
* The response string is ID=0.002245 OR ID=-0.00434, and i need the float number
* compare the float number with 0.009, bigger then 0.009,axis was moving, less than 0.009,axis was stop.
* So I add float before pC_>inString_[3],does it right?
*/
done = (float(pC_->inString_[3]) > 0.009) ? 1:0; // i added the "float" before the pc_->inString
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
// Read the limit status
sprintf(pC_->outString_, "IP;");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "ip=65536"
limit = (pC_->inString_[3] == '131138') ? 1:0;
setIntegerParam(pC_->motorStatusHighLimit_, limit);
limit = (pC_->inString_[6] == '65666') ? 1:0;
setIntegerParam(pC_->motorStatusLowLimit_, limit);
/*
* i comment out the home status, beacuse i did not use the home status, is it ok?
* origin word: limit = (pC_->inString_[7] == '1') ? 1:0;
* origin word: setIntegerParam(pC_->motorStatusAtHome_, limit);
*/
// Read the drive power on status
sprintf(pC_->outString_, "MO;");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "mo=1"
driveOn = (pC_->inString_[3] == '1') ? 1:0; //get "MO=1" mean motor disable;get "MO=0" mean motor enable;
setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
setIntegerParam(pC_->motorStatusProblem_, 0);
skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
}
/** Code for iocsh registration */
static const iocshArg MCB4BCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg MCB4BCreateControllerArg1 = {"MCB-4B port name", iocshArgString};
static const iocshArg MCB4BCreateControllerArg2 = {"Number of axes", iocshArgInt};
static const iocshArg MCB4BCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg MCB4BCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg * const MCB4BCreateControllerArgs[] = {&MCB4BCreateControllerArg0,
&MCB4BCreateControllerArg1,
&MCB4BCreateControllerArg2,
&MCB4BCreateControllerArg3,
&MCB4BCreateControllerArg4};
static const iocshFuncDef MCB4BCreateControllerDef = {"MCB4BCreateController", 5, MCB4BCreateControllerArgs};
static void MCB4BCreateContollerCallFunc(const iocshArgBuf *args)
{
MCB4BCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
}
static void MCB4BRegister(void)
{
iocshRegister(&MCB4BCreateControllerDef, MCB4BCreateContollerCallFunc);
}
extern "C" {
epicsExportRegistrar(MCB4BRegister);
********************** Output of st.cmd **************************************************
#errlogInit(5000)
< envPaths
epicsEnvSet("IOC","iocAcs")
epicsEnvSet("TOP","/opt/epics/motorAcs-master/iocs/acsIOC")
epicsEnvSet("SUPPORT","/opt/epics")
epicsEnvSet("MOTOR","/opt/epics/motor")
epicsEnvSet("ASYN","/opt/epics/asyn")
epicsEnvSet("EPICS_BASE","/opt/epics/base")
epicsEnvSet("SNCSEQ","/opt/epics/seq")
epicsEnvSet("MOTOR_ACS","/opt/epics/motorAcs-master/")
# Tell EPICS all about the record types, device-support modules, drivers, etc.
dbLoadDatabase("../../dbd/acs.dbd")
acs_registerRecordDeviceDriver(pdbbase)
# Port 2 on a Moxa
#drvAsynIPPortConfigure("serial1", "192.168.1.5:5001",0,0,0)
drvAsynIPPortConfigure("serial1", "192.168.1.5:5001 udp",10,,0,0,0)
#asynOctetSetInputEos("serial1",0,"\r\n") //there is not par in UDP?
#asynOctetSetOutputEos("serial1",0,"\r\n")
it need another word for udp here?
such as ControllerConfig(serial,0,0,0,0) ?
asynSetTraceIOMask("serial1", 0, 0x2)
asynSetTraceMask("serial1", 0, 0xff)
MCB4BCreateController("MCB4B1", "serial1", 1, 100, 5000)
### Motors
dbLoadTemplate "motor.substitutions.mcb4b"
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort locking port
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort created queueLockPortPvt=0x7f5c04000dd0
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort created queueLockPortPvt=0x7f5c04000dd0, event=0x7f5c04000df0, mutex=0x7f5c04000e90
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort taking mutex 0x7f5c04000e90
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort queueing request
2023/05/23 21:48:46.620 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/23 21:48:46.620 serial1 schedule queueRequest timeout in 2.000000 seconds
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort waiting for event
2023/05/23 21:48:46.620 asynManager::portThread port=serial1 callback
dbLoadRecords("/opt/epics/asyn/db/asynRecord.db","P=IOC:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80") # OMAX and IMAX mean?
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPortCallback signaling begin event
2023/05/23 21:48:46.620 iocInit
serial1 asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort
Starting iocInit
############################################################################
## EPICS R7.0.6.1
## Rev. 2022-07-23T08:14+0000
############################################################################
2023/05/23 21:48:46.620 serial1 asynManager::queueLockPort got event from callback
2023/05/23 21:48:46.620 serial1 flush
2023/05/23 21:48:46.620 192.168.1.5:5001 udp flush
2023/05/23 21:48:46.620 192.168.1.5:5001 udp write.
2023/05/23 21:48:46.620 192.168.1.5:5001 udp write 3
PX;
2023/05/23 21:48:46.620 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.
2023/05/23 21:48:46.620 asynOctetSyncIO wrote:
PX;
2023/05/23 21:48:46.620 192.168.1.5:5001 udp read.
2023/05/23 21:48:46.622 192.168.1.5:5001 udp (from 192.168.1.5:5001) read 9
PX;13763;
2023/05/23 21:48:46.622 serial1 read 9 bytes eom=0
PX;13763;
2023/05/23 21:48:46.622 192.168.1.5:5001 udp read.
2023/05/23 21:48:48.625 serial1 read from low-level driver returned 1
2023/05/23 21:48:48.625 serial1 queueUnlockPort
2023/05/23 21:48:48.625 serial1 asynManager::queueUnlockPort waiting for event
2023/05/23 21:48:48.625 serial1 queueUnlockPort unlock mutex 0x7f5c04000e90 complete.
2023/05/23 21:48:48.625 serial1 addr -1 queueRequest priority 3 not lockHolder
2023/05/23 21:48:48.625 serial1 schedule queueRequest timeout in 10.000000 seconds
2023/05/23 21:48:48.625 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/23 21:48:48.625 serial1 schedule queueRequest timeout in 10.000000 seconds
2023/05/23 21:48:48.625 asynManager connect queueCallback port:serial1
2023/05/23 21:48:48.625 IOC:serial1: asynCallbackSpecial, type=1
2023/05/23 21:48:48.626 IOC:serial1: getOptionCallback() port=serial1, addr=0
2023/05/23 21:48:48.626 asynManager::portThread port=serial1 callback
2023/05/23 21:48:48.626 IOC:serial1: asynCallbackSpecial, type=3
2023/05/23 21:48:48.626 serial1 get Eos 0
2023/05/23 21:48:48.626 serial1 get Eos 0
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPort locking port
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPort taking mutex 0x7f5c04000e90
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPort queueing request
2023/05/23 21:48:48.725 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/23 21:48:48.725 serial1 schedule queueRequest timeout in 2.000000 seconds
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPort waiting for event
2023/05/23 21:48:48.725 asynManager::portThread port=serial1 callback
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPortCallback signaling begin event
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort
2023/05/23 21:48:48.725 serial1 asynManager::queueLockPort got event from callback
2023/05/23 21:48:48.725 serial1 flush
2023/05/23 21:48:48.725 192.168.1.5:5001 udp flush
2023/05/23 21:48:48.725 192.168.1.5:5001 udp write.
2023/05/23 21:48:48.725 192.168.1.5:5001 udp write 3
PX;
2023/05/23 21:48:48.725 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.
2023/05/23 21:48:48.725 asynOctetSyncIO wrote:
PX;
2023/05/23 21:48:48.725 192.168.1.5:5001 udp read.
2023/05/23 21:48:48.727 192.168.1.5:5001 udp (from 192.168.1.5:5001) read 9
PX;13763;
2023/05/23 21:48:48.727 serial1 read 9 bytes eom=0
PX;13763;
2023/05/23 21:48:48.727 192.168.1.5:5001 udp read.
cas warning: Configured TCP port was unavailable.
cas warning: Using dynamically assigned TCP port 37599,
cas warning: but now two or more servers share the same UDP port.
cas warning: Depending on your IP kernel this server may not be
cas warning: reachable with UDP unicast (a host's IP in EPICS_CA_ADDR_LIST)
iocRun: All initialization complete
epics> 2023/05/23 21:48:50.729 serial1 read from low-level driver returned 1
2023/05/23 21:48:50.729 serial1 queueUnlockPort
2023/05/23 21:48:50.729 serial1 asynManager::queueUnlockPort waiting for event
2023/05/23 21:48:50.729 serial1 queueUnlockPort unlock mutex 0x7f5c04000e90 complete.
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPort locking port
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPort taking mutex 0x7f5c04000e90
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPort queueing request
2023/05/23 21:48:50.829 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/23 21:48:50.829 serial1 schedule queueRequest timeout in 2.000000 seconds
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPort waiting for event
2023/05/23 21:48:50.829 asynManager::portThread port=serial1 callback
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPortCallback signaling begin event
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort
2023/05/23 21:48:50.829 serial1 asynManager::queueLockPort got event from callback
2023/05/23 21:48:50.829 serial1 flush
2023/05/23 21:48:50.829 192.168.1.5:5001 udp flush
2023/05/23 21:48:50.829 192.168.1.5:5001 udp write.
2023/05/23 21:48:50.829 192.168.1.5:5001 udp write 3
PX;
2023/05/23 21:48:50.829 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.
2023/05/23 21:48:50.829 asynOctetSyncIO wrote:
PX;
2023/05/23 21:48:50.829 192.168.1.5:5001 udp read.
2023/05/23 21:48:50.831 192.168.1.5:5001 udp (from 192.168.1.5:5001) read 9
PX;13763;
2023/05/23 21:48:50.831 serial1 read 9 bytes eom=0
PX;13763;
2023/05/23 21:48:50.831 192.168.1.5:5001 udp read.
2023/05/23 21:48:52.833 serial1 read from low-level driver returned 1
2023/05/23 21:48:52.833 serial1 queueUnlockPort
2023/05/23 21:48:52.833 serial1 asynManager::queueUnlockPort waiting for event
2023/05/23 21:48:52.833 serial1 queueUnlockPort unlock mutex 0x7f5c04000e90 complete.
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPort locking port
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPort taking mutex 0x7f5c04000e90
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPort queueing request
2023/05/23 21:48:52.933 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/23 21:48:52.933 serial1 schedule queueRequest timeout in 2.000000 seconds
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPort waiting for event
2023/05/23 21:48:52.933 asynManager::portThread port=serial1 callback
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPortCallback signaling begin event
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort
2023/05/23 21:48:52.933 serial1 asynManager::queueLockPort got event from callback
2023/05/23 21:48:52.933 serial1 flush
2023/05/23 21:48:52.933 192.168.1.5:5001 udp flush
2023/05/23 21:48:52.933 192.168.1.5:5001 udp write.
2023/05/23 21:48:52.933 192.168.1.5:5001 udp write 3
PX;
2023/05/23 21:48:52.933 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.
2023/05/23 21:48:52.933 asynOctetSyncIO wrote:
PX;
2023/05/23 21:48:52.933 192.168.1.5:5001 udp read.
2023/05/23 21:48:52.935 192.168.1.5:5001 udp (from 192.168.1.5:5001) read 9
PX;13763;
2023/05/23 21:48:52.935 serial1 read 9 bytes eom=0
PX;13763;
2023/05/23 21:48:52.935 192.168.1.5:5001 udp read.
2023/05/23 21:48:54.937 serial1 read from low-level driver returned 1
2023/05/23 21:48:54.937 serial1 queueUnlockPort
2023/05/23 21:48:54.937 serial1 asynManager::queueUnlockPort waiting for event
2023/05/23 21:48:54.937 serial1 queueUnlockPort unlock mutex 0x7f5c04000e90 complete.
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPort locking port
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPort taking mutex 0x7f5c04000e90
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPort queueing request
2023/05/23 21:48:55.037 serial1 addr -1 queueRequest priority 0 not lockHolder
2023/05/23 21:48:55.037 serial1 schedule queueRequest timeout in 2.000000 seconds
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPort waiting for event
2023/05/23 21:48:55.037 asynManager::portThread port=serial1 callback
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPortCallback signaling begin event
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPortCallback waiting for mutex from queueUnlockPort
2023/05/23 21:48:55.037 serial1 asynManager::queueLockPort got event from callback
2023/05/23 21:48:55.037 serial1 flush
2023/05/23 21:48:55.037 192.168.1.5:5001 udp flush
2023/05/23 21:48:55.037 192.168.1.5:5001 udp write.
2023/05/23 21:48:55.037 192.168.1.5:5001 udp write 3
PX;
2023/05/23 21:48:55.037 wrote 3 to 192.168.1.5:5001 udp, return asynSuccess.
2023/05/23 21:48:55.037 asynOctetSyncIO wrote:
PX;
2023/05/23 21:48:55.037 192.168.1.5:5001 udp read.
2023/05/23 21:48:55.039 192.168.1.5:5001 udp (from 192.168.1.5:5001) read 9
PX;13763;
2023/05/23 21:48:55.039 serial1 read 9 bytes eom=0
PX;13763;
--
|
lynn
|
邮箱:lynn0703 at yeah.net
|
在 2023-05-23 02:35:04,"Mark Rivers" <rivers at cars.uchicago.edu> 写道:
- Then i modified the motorAcs file as i need.
- Now, there is not bin file after i make it.
The bin file is created in the motorAcs/iocs/acsIOC/acsApp/src directory. The iocs/ directory does not get built by default. You can cd to the iocs/ directory and run “make” and it will be built.
Mark
From: Tech-talk <tech-talk-bounces at aps.anl.gov>
On Behalf Of lynn via Tech-talk
Sent: Monday, May 22, 2023 10:14 AM
To: tech-talk <tech-talk at aps.anl.gov>
Subject: no bin file
Recently, i try to modify the dirver of motorAcs.
All environment about epics,motor,asyn was good and run well.
Then i modified the motorAcs file as i need.
Now, there is not bin file after i make it.
Could someone tell me how to make the bin file came out? Because i just know type: ../../bin/ st.cmd to start it.