Install an iocsh file to the top-level of motorVMC

.gitignore

@@ -1,6 +1,8 @@
 bin
 dbd
 lib
+db
+/iocsh
 O.*
 *.pyc
 envPaths

iocs/vmcIOC/iocBoot/iocvmc/st.cmd

@@ -14,8 +14,11 @@ vmc_registerRecordDeviceDriver pdbbase
 # Allstop, alldone
 iocshLoad("$(MOTOR)/iocsh/allstop.iocsh", "P=$(PREFIX)")
 
-# Virtual Motor Controller
+## Virtual Motor Controller (choose one of the following setups)
+# Use this line for 3-axes
 < vmc.cmd
+# Use this line for 8-axes
+#!< vmc.iocsh
 
 iocInit
 

iocs/vmcIOC/iocBoot/iocvmc/vmc.cmd

@@ -5,11 +5,11 @@ epicsEnvSet("VMC_PORT", "31337")
 drvAsynIPPortConfigure("VMC_ETH","127.0.0.1:$(VMC_PORT)", 0, 0, 0)
 
 # Show communication
-#!asynSetTraceMask("VMC_ETH", 0, 3)
+#!asynSetTraceMask("VMC_ETH", 0, ERROR|DRIVER)
 # Only show errors
-asynSetTraceMask("VMC_ETH", 0, 1)
+asynSetTraceMask("VMC_ETH", 0, ERROR)
 # Leave ascii selected so traces can be turned on with a single click
-asynSetTraceIOMask("VMC_ETH", 0, 1)
+asynSetTraceIOMask("VMC_ETH", 0, ASCII)
 
 # Set end-of-string terminators
 asynOctetSetInputEos("VMC_ETH",0,"\r\n")
@@ -23,8 +23,6 @@ dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m3,DTYP=asynMotor,PORT=
 dbLoadRecords("$(TOP)/db/asyn_motor_extra.db","P=$(PREFIX),M=m1,ERES=0.002")
 dbLoadRecords("$(TOP)/db/asyn_motor_extra.db","P=$(PREFIX),M=m2,ERES=0.002")
 dbLoadRecords("$(TOP)/db/asyn_motor_extra.db","P=$(PREFIX),M=m3,ERES=0.002")
-# The dbLoadTemplate approach is a cleaner way to load multiple database instances
-#!dbLoadTemplate("vmc.substitutions", "P=$(PREFIX)")
 
 # VirtualMotorController(
 #    portName          The name of the asyn port that will be created for this driver
@@ -39,8 +37,6 @@ VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 1000)
 #!VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 10000)
 # No idle polling
 #!VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 0)
-# Extra axes, 10-second idle polling
-#!VirtualMotorCreateController("VMC1", "VMC_ETH", 8, 250, 10000)
 
 # Use the naming convention for asyn records from xxx so the displays can be used without modification
 dbLoadRecords("$(ASYN)/db/asynRecord.db","P=$(PREFIX),R=asyn_1,PORT=VMC_ETH,ADDR=0,OMAX=0,IMAX=0")

iocs/vmcIOC/iocBoot/iocvmc/vmc.iocsh

@@ -0,0 +1,2 @@
+# Load motorVMC support will all the default macros
+iocshLoad("$(MOTOR_VMC)/iocsh/motorVMC.iocsh", "INSTANCE=VMC")

iocs/vmcIOC/vmcApp/Db/Makefile

@@ -11,7 +11,7 @@ include $(TOP)/configure/CONFIG
 # Create and install (or just install) into <top>/db
 # databases, templates, substitutions like this
 #DB += xxx.db
-DB += asyn_motor_extra.db
+DB_INSTALLS += $(MOTOR_VMC)/db/asyn_motor_extra.db
 
 #----------------------------------------------------
 # If <anyname>.db template is not named <anyname>*.template add

vmcApp/Db/Makefile

@@ -11,6 +11,7 @@ include $(TOP)/configure/CONFIG
 # Create and install (or just install) into <top>/db
 # databases, templates, substitutions like this
 #DB += xxx.db
+DB += asyn_motor_extra.db
 
 #----------------------------------------------------
 # If <anyname>.db template is not named <anyname>*.template add

vmcApp/Makefile

@@ -4,4 +4,5 @@ DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *src*))
 DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *Src*))
 DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *db*))
 DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *Db*))
+DIRS := $(DIRS) $(filter-out $(DIRS), $(wildcard *iocsh*))
 include $(TOP)/configure/RULES_DIRS

vmcApp/iocsh/EXAMPLE_motorVMC.substitutions

@@ -0,0 +1,29 @@
+# Note: the P and PORT macros are omitted below because they are passed to dbLoadTemplate
+file "$(MOTOR)/db/asyn_motor.db"
+{
+pattern
+{N,   M,       DTYP,         ADDR,  DESC,          EGU, DIR,  VELO,  VBAS,  ACCL,  BDST,  BVEL,  BACC,  MRES,  PREC,  DHLM,  DLLM,  INIT}
+{1,  "m$(N)",  "asynMotor",  0,     "motor $(N)",  mm,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.0025,  4,     100,   -100,  ""}
+{2,  "m$(N)",  "asynMotor",  1,     "motor $(N)",  mm,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.0025,  4,     100,   -100,  ""}
+{3,  "m$(N)",  "asynMotor",  2,     "motor $(N)",  mm,  Pos,  1,     .1,    .2,    0,     1,     .2,    0.0025,  4,     100,   -100,  ""}
+{4,  "m$(N)",  "asynMotor",  3,     "motor $(N)",  deg, Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,    4,     100,   -100,  ""}
+{5,  "m$(N)",  "asynMotor",  4,     "motor $(N)",  deg, Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,    4,     100,   -100,  ""}
+{6,  "m$(N)",  "asynMotor",  5,     "motor $(N)",  deg, Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,    4,     100,   -100,  ""}
+{7,  "m$(N)",  "asynMotor",  6,     "motor $(N)",  deg, Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,    4,     100,   -100,  ""}
+{8,  "m$(N)",  "asynMotor",  7,     "motor $(N)",  deg, Pos,  1,     .1,    .2,    0,     1,     .2,    0.01,    4,     100,   -100,  ""}
+}
+
+# NOTE: the ERES defaults to 80% the MRES
+file "$(MOTOR_VMC)/db/asyn_motor_extra.db"
+{
+pattern
+{N,   M,       ERES}
+{1,  "m$(N)",  0.002}
+{2,  "m$(N)",  0.002}
+{3,  "m$(N)",  0.002}
+{4,  "m$(N)",  0.008}
+{5,  "m$(N)",  0.008}
+{6,  "m$(N)",  0.008}
+{7,  "m$(N)",  0.008}
+{8,  "m$(N)",  0.008}
+}

vmcApp/iocsh/Makefile

@@ -0,0 +1,7 @@
+TOP = ../..
+include $(TOP)/configure/CONFIG
+
+# install substitution files
+IOCSH += EXAMPLE_motorVMC.substitutions
+
+include $(TOP)/configure/RULES

vmcApp/iocsh/motorVMC.iocsh

@@ -0,0 +1,58 @@
+# ### motorVMC.iocsh ###
+
+#- ###################################################
+#- INSTANCE         - Name of asyn port to create
+#- IP_ADDR          - IP address of controller
+#-                  - Default: 127.0.0.1
+#-
+#- TCP_PORT         - Controller's TCP control port
+#-                  - Default: 31337
+#-
+#- NUM_AXES         - Optional: Number of axes to create for this controller
+#-                    Default: 8
+#-
+#- MOVING_POLL      - Optional: Moving poll period (ms)
+#-                    Default: 100 ms
+#- 
+#- IDLE_POLL        - Optional: Idle poll period (ms)
+#-                    Default: 1000 ms
+#-
+#- SUB              - Optional: Subsitutions file (asyn_motor.db), Macros P, DTYP, PORT, 
+#-                    Default: $(MOTOR_VMC)/iocsh/EXAMPLE_motorVMC.substitutions
+#-
+#- TRACE_MASK       - Optional: Asyn trace mask
+#-                    Default: ERROR
+#-
+#- TRACEIO_MASK     - Optional: Asyn trace I/O mask
+#-                    Default: ASCII
+#-
+#- ASYN_RECORD      - Optional: Asyn record name
+#-                    Default: asyn_1
+#- ###################################################
+
+# VMC ethernet connection settings
+drvAsynIPPortConfigure("$(INSTANCE)_ETH","$(IP_ADDR=127.0.0.1):$(TCP_PORT=31337)", 0, 0, 0)
+
+# Only show errors - change to ERROR|DRIVER for more info
+asynSetTraceMask("$(INSTANCE)_ETH", 0, $(TRACE_MASK=ERROR))
+# Leave ascii selected so traces can be turned on with a single click
+asynSetTraceIOMask("$(INSTANCE)_ETH", 0, $(TRACEIO_MASK=ASCII))
+
+# Set end-of-string terminators
+asynOctetSetInputEos("$(INSTANCE)_ETH",0,"\r\n")
+asynOctetSetOutputEos("$(INSTANCE)_ETH",0,"\r")
+
+# VirtualMotorController(
+#    portName          The name of the asyn port that will be created for this driver
+#    VirtualMotorPortName     The name of the drvAsynSerialPort that was created previously to connect to the VirtualMotor controller 
+#    numAxes           The number of axes that this controller supports 
+#    movingPollPeriod  The time between polls when any axis is moving 
+#    idlePollPeriod    The time between polls when no axis is moving 
+#
+VirtualMotorCreateController("$(INSTANCE)", "$(INSTANCE)_ETH", $(NUM_AXES=8), $(MOVING_POLL=100), $(IDLE_POLL=1000))
+
+# The motor records can get their prefix from the environment variable
+dbLoadTemplate("$(SUB=$(MOTOR_VMC)/iocsh/EXAMPLE_motorVMC.substitutions)", "P=$(PREFIX),PORT=$(INSTANCE)")
+
+# Use the naming convention for asyn records from xxx so the displays can be used without modification
+dbLoadRecords("$(ASYN)/db/asynRecord.db","P=$(PREFIX),R=$(ASYN_RECORD=asyn_1),PORT=$(INSTANCE)_ETH,ADDR=0,OMAX=0,IMAX=0")