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# 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