Experimental Physics and
Industrial Control System

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