...
So in general just two file must be added: install.sh and mydevmodule.ibek.support.yaml.
install.sh
This file contains The first are instructions on howto retrieve, compile and the link dependencies of your module mydevmodule. In general if the mydevmodule is well structured from a build epics point of view needs only to be patched like that:
| Code Block | ||||
|---|---|---|---|---|
| ||||
#!/bin/bash
# ARGUMENTS:
# $1 VERSION to install (must match repo tag)
VERSION=${1}
NAME=<mydevmodule> ## as compare in the git repository
FOLDER=$(dirname $(readlink -f $0))
# log output and abort on failure
set -xe
# get the source and fix up the configure/RELEASE files
ibek support git-clone ${NAME} ${VERSION} --org http://gitrepo ## repository git root
ibek support register ${NAME}
# declare the libs and DBDs that are required in ioc/iocApp/src/Makefile
ibek support add-libs <mydevmodulelib> <support1lib> <support2lib> asyn ## optional libraries that must be linked
ibek support add-dbds <mydevmodule>.dbd <optsupport1.dbd> <optsupport2>.dbd ### optional dbd supports
# global config settings
${FOLDER}/../_global/install.sh ${NAME}
# compile the support module
ibek support compile ${NAME}
# prepare *.bob, *.pvi, *.ibek.support.yaml for access outside the container.
ibek support generate-links ${FOLDER}
|
mydevmodule.ibek.support.yaml
This also has a very simple syntax and gives instructions on how to expand a future yaml configuration.
The simplest way to proceed is to understand how the st.cmd of your ioc should be constructed and having this in mind build a set of rules that wraps that code.
The best way is look other supports to understand, here below I put a recently support that I added for newport motors. The comments at the beginning is more a general st.cmd of a SMC100 newport motor.
In the example yaml I instruct ibek to correcty replace a file configuration like the previous newport.yaml.
| Code Block | ||||
|---|---|---|---|---|
| ||||
# yaml-language-server: $schema=https://github.com/epics-containers/ibek/releases/download/1.5.0/ibek.support.schema.json
# #errlogInit(5000)
# < envPaths
# # Tell EPICS all about the record types, device-support modules, drivers,
# # etc.
# dbLoadDatabase("../../dbd/newport.dbd")
# newport_registerRecordDeviceDriver(pdbbase)
# ### Motors
# dbLoadTemplate "motor.substitutions.SMC100"
# ### Serial port setup
# drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
# asynSetOption(serial1,0,baud,57600)
# asynOctetSetInputEos("serial1",0,"\r\n")
# asynOctetSetOutputEos("serial1",0,"\r\n")
# ### Newport SMC100 support
# # (driver port, serial port, axis num, ms mov poll, ms idle poll, egu per step)
# SMC100CreateController("SMC100_1", "serial1",1, 100, 0, "0.00005")
# file "$(TOP)/db/basic_asyn_motor.db"
# {
# pattern
# {P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT, RTRY}
# {IOC:, 1, "m$(N)", "asynMotor", "SMC100_1", 0, "GTS30V", mm, Pos, 1, 0, .2, 0, .5, .2, 0.00001, 6, 25, -5, ""}
# }
# iocInit
module: motorNewport
defs:
- name: SMC100CreateController
description: |-
Creates a SMC100 motion controller connected to an ethernetToSerialServer
args:
- type: id
name: controllerName
description: |-
The name of the controller and its Asyn Port Name
- type: str
name: P
description: |-
Device PV Prefix
- type: str
name: IP
description: |-
IP address of the ethernet2serial
default: 127.0.0.1 ## localhost
- type: int
name: TCPPORT
description: |-
Port of the ethernet2serial
default: 4001
- type: int
name: POLL
description: |-
Movement poll ms
default: 100
- type: float
name: EGUXSTEP
description: |-
EGU PER STEP
default: 0.00005
- type: int
name: ASYNPRIO
description: |-
ASYN PRIORITY, Default : 0
default: 0
- type: int
name: AUTOCONNECT
description: |-
Asyn auto connect
0: Auto connection
1: no Auto connection
default: 0
- type: int
name: NOPRECESSESOS
description: |-
ASYN noProcessEos, Default : 0
https://epics.anl.gov/tech-talk/2020/msg01705.php
default: 0
- type: int
name: numAxes
description: |-
The number of axes to create
pre_init:
- value: |
# epicsEnvSet "STREAM_PROTOCOL_PATH", "$(MOTORNEWPORT)/protocol/"
# Create Asyn Port
drvAsynIPPortConfigure("{{controllerName}}_ASYN", "{{IP}}:{{TCPPORT}}", {{ASYNPRIO}}, {{AUTOCONNECT}}, {{NOPRECESSESOS}})
# asynInterposeEosConfig("{{controllerName}}_ASYN",0,2000,0)
SMC100CreateController("SMC100_{{controllerName}}", "{{controllerName}}_ASYN","{{numAxes}}", "{{POLL}}", 0, "{{EGUXSTEP}}")
asynOctetSetInputEos({{controllerName}}_ASYN,0,"\r\n")
asynOctetSetOutputEos({{controllerName}}_ASYN,0,"\r\n")
asynReport 10
- name: motorAxis
description: |-
Creates a motor axis
args:
- type: object
name: controller
description: |-
a reference to the motion controller
- type: str
name: M
description: |-
PV suffix for the motor record
- type: int
name: ADDR
description: |-
The axis number (allowed to be from 0 to controller.numAxes-1)
- type: str
name: DESC
description: |-
The description of the axis
- type: int
name: DLLM
description: |-
The low limit of the axis
default: -5
- type: int
name: DHLM
description: |-
The high limit of the axis
default: 25
- type: int
name: VELO
description: |-
Velocity
default: 1
- type: int
name: home
description: |-
The home position of the axis (in counts)
- type: int
name: start
description: |-
The starting position of the axis (in counts)
default: 0
- type: enum
name: DIR
description: |-
The direction of the axis
default: 0
values:
Pos: 0
Neg: 1
- type: str
name: EGU
description: |-
Engineering Units
default: "mm"
- type: float
name: VBAS
description: |-
Base Velocity (EGU/s)
default: 0.2
- type: float
name: ACCL
description: |-
Seconds to Velocity
default: 0.2
- type: int
name: BDST
description: |-
BL Distance (EGU)
default: 0
- type: float
name: BVEL
description: |-
BL Velocity (EGU/s)
default: 0.5
- type: float
name: BACC
description: |-
BL Seconds to Veloc.
default: 0.2
- type: float
name: MRES
description: |-
Motor Step Size (EGU)
default: 0.00001
- type: int
name: PREC
description: |-
Display precision (EGU)
default: 6
databases:
# TODO as this is a simulation I have hard coded some of the DB fields,
# but these could easily be made into arguments above
#
# Note: supplying no value means that the argument of the same name is used
# (the most common case - if you contrive to make args and db fields the same.
# Which is good idea for ease of transition from traditional IOCs)
- file: basic_asyn_motor.db
args:
P: "{{controller.P}}"
N: "{{ADDR +1 }}"
M:
DTYP: "asynMotor"
PORT: "SMC100_{{controller}}"
ADDR:
DESC:
EGU:
DIR:
VELO:
VBAS:
ACCL:
BDST:
BVEL:
BACC:
MRES:
PREC:
DHLM:
DLLM:
INIT: ""
post_init:
- value: |
dbl |