Merge pull request #221 from epics-containers/motor-demo2

Technosoft motor support
epics-containers · May 16, 2024 · a3bb5db · a3bb5db
2 parents 5477c59 + b7e37a8
commit a3bb5db
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Showing 18 changed files with 747 additions and 12 deletions.
diff --git a/src/ibek/globals.py b/src/ibek/globals.py
@@ -65,7 +65,7 @@ def NATIVE(self):
     @property
     def STATIC_BUILD(self):
         """True if the target architecture is not the default architecture."""
-        return os.getenv("STATIC_BUILD", self._EPICS_TARGET_ARCH != self._DEFAULT_ARCH)
+        return os.getenv("STATIC_BUILD", self.EPICS_TARGET_ARCH != self._DEFAULT_ARCH)
 
     @property
     def IBEK_DEFS(self):

diff --git a/src/ibek/ioc.py b/src/ibek/ioc.py
@@ -6,7 +6,7 @@
 from __future__ import annotations
 
 from enum import Enum
-from typing import Dict, List
+from typing import Any, Dict, List, Sequence
 
 from pydantic import (
     Field,
@@ -72,6 +72,8 @@ def add_ibek_attributes(self):
                 # Jinja expansion of any of the Entity's string args/values
                 value = UTILS.render(entity_dict, value)
                 setattr(self, arg, str(value))
+                # update the entity_dict with the rendered value
+                entity_dict[arg] = value
 
             if model_field.annotation == object:
                 # if the field is an object but the type is str then look up
@@ -104,3 +106,7 @@ class IOC(BaseSettings):
     ioc_name: str = Field(description="Name of IOC instance")
     description: str = Field(description="Description of what the IOC does")
     entities: List[Entity]
+    shared: Sequence[Any] = Field(
+        description="A place to create any anchors required for repeating YAML",
+        default=(),
+    )
diff --git a/src/ibek/utils.py b/src/ibek/utils.py
@@ -75,8 +75,7 @@ def set_var(self, key: str, value: Any):
 
     def get_var(self, key: str) -> Any:
         """get the value a global variable for our jinja context"""
-        # Intentionally raises a KeyError if the key doesn't exist
-        return self.variables[key]
+        return self.variables.get(key, "")
 
     def counter(
         self, name: str, start: int = 0, stop: int = 65535, inc: int = 1
@@ -110,13 +109,17 @@ def render(self, context: Any, template_text: Any) -> str:
             # be passed a non string which will always render to itself
             return template_text
 
-        jinja_template = Template(template_text)
-        return jinja_template.render(
-            context,
-            __utils__=self,
-            ioc_yaml_file_name=self.file_name,
-            ioc_name=self.ioc_name,
-        )
+        try:
+            jinja_template = Template(template_text)
+            return jinja_template.render(
+                context,
+                __utils__=self,
+                ioc_yaml_file_name=self.file_name,
+                ioc_name=self.ioc_name,
+            )
+        except Exception:
+            print(f"ERROR RENDERING TEMPLATE:\n{template_text}")
+            raise
 
     def render_map(self, context: Any, map: Mapping[str, str | None]) -> dict[str, str]:
         """

diff --git a/tests/generate_samples.sh b/tests/generate_samples.sh
@@ -59,4 +59,16 @@ mv `pwd`/epics/{runtime,opi}/* `pwd`/outputs/gauges
 
 echo making ioc based on quadem support yaml
 EPICS_ROOT=`pwd`/epics ibek runtime generate iocs/quadem.ibek.ioc.yaml support/ADCore.ibek.support.yaml support/quadem.ibek.support.yaml
-mv `pwd`/epics/{runtime,opi}/* `pwd`/outputs/quadem
+mv `pwd`/epics/{runtime,opi}/* `pwd`/outputs/quadem
+
+
+############################################################################
+
+# technosoft motor example
+
+echo making an ioc schema using technosoft support yaml
+ibek ioc generate-schema --no-ibek-defs support/technosoft.ibek.support.yaml --output schemas/technosoft.ibek.ioc.schema.json
+
+echo making techosoft ioc
+EPICS_ROOT=`pwd`/epics ibek runtime generate iocs/technosoft.ibek.ioc.yaml support/technosoft.ibek.support.yaml
+mv `pwd`/epics/{runtime,opi}/* `pwd`/outputs/technosoft
diff --git a/tests/samples/iocs/technosoft.ibek.ioc.yaml b/tests/samples/iocs/technosoft.ibek.ioc.yaml
@@ -0,0 +1,44 @@
+# yaml-language-server: $schema=../schemas/technosoft.ibek.ioc.schema.json
+
+ioc_name: yag
+description: YAG motors
+
+shared:
+  - &motor
+    type: motorTML.motorAxis
+    controller: TML
+    NSTEPS: 200
+    NMICROSTEPS: 256
+    VELO: 20
+    VELO_MAX: 50
+    VELO_MIN: 0.1
+    ACCL: 0.5
+    ACCL_MAX: 1.5
+    ACCL_MIN: 0.01
+    HAR: 0.5
+    HVEL: 10
+    JAR: 1
+    JVEL: 5
+    EGU: "ustep"
+    SLSP: 0.8
+    ENABLED: 1
+    TIMEOUT: 0
+
+entities:
+  - type: motorTML.CreateController
+    controllerName: TML
+    P: "SPARC:TML"
+    TTY: /tmp # /var/tmp/ttyV0
+    numAxes: 1
+    hostid: 15
+
+  - <<: *motor
+    axid: 15
+
+  - <<: *motor
+    axid: 17
+    # example of overriding a value from the shared dictionary merge
+    ACCL_MIN: 0.011
+    # (UNREALISTIC) example of using Jinja expression in an arg value
+    EGU: |-
+      {{controller.P}}
diff --git a/tests/samples/outputs/technosoft/index.bob b/tests/samples/outputs/technosoft/index.bob
@@ -0,0 +1,28 @@
+<display version="2.0.0">
+  <name>yag</name>
+  <x>0</x>
+  <y use_class="true">0</y>
+  <width>10</width>
+  <height>35</height>
+  <grid_step_x>4</grid_step_x>
+  <grid_step_y>4</grid_step_y>
+  <widget type="label" version="2.0.0">
+    <name>Title</name>
+    <class>TITLE</class>
+    <text>yag</text>
+    <x use_class="true">0</x>
+    <y use_class="true">0</y>
+    <width>10</width>
+    <height>25</height>
+    <font use_class="true">
+      <font name="Header 1" family="Liberation Sans" style="BOLD" size="22.0">
+      </font>
+    </font>
+    <foreground_color use_class="true">
+      <color name="Text" red="0" green="0" blue="0">
+      </color>
+    </foreground_color>
+    <transparent use_class="true">true</transparent>
+    <horizontal_alignment>1</horizontal_alignment>
+  </widget>
+</display>
diff --git a/tests/samples/outputs/technosoft/ioc.subst b/tests/samples/outputs/technosoft/ioc.subst
@@ -0,0 +1,3 @@
+#############################################################################
+# DB substitution file generated by http://github.com/epics-containers/ibek #
+#############################################################################
diff --git a/tests/samples/outputs/technosoft/reference.cmd b/tests/samples/outputs/technosoft/reference.cmd
@@ -0,0 +1,6 @@
+ndsCreateDevice "TechnosoftTML", "", "FILE=/tmp/,NAXIS=4,DEV_PATH=/dev/ttyS0,HOST_ID=1,
+    AXIS_SETUP_0=$(SUPPORT)/motorTechnosoft/tml_lib/config/config.txt,AXIS_ID_0=1,AXIS_HOMING_SW_0=LSN,
+    AXIS_SETUP_1=$(SUPPORT)/motorTechnosoft/tml_lib/config/config.txt,AXIS_ID_1=2,AXIS_HOMING_SW_1=LSN,
+    AXIS_SETUP_2=$(SUPPORT)/motorTechnosoft/tml_lib/config/config.txt,AXIS_ID_2=3,AXIS_HOMING_SW_2=LSN,
+    AXIS_SETUP_3=$(SUPPORT)/motorTechnosoft/tml_lib/config/config.txt,AXIS_ID_3=4,AXIS_HOMING_SW_3=LSN"
+
diff --git a/tests/samples/outputs/technosoft/st.cmd b/tests/samples/outputs/technosoft/st.cmd
@@ -0,0 +1,21 @@
+# EPICS IOC Startup Script generated by https://github.com/epics-containers/ibek
+
+cd "/epics/ioc"
+dbLoadDatabase dbd/ioc.dbd
+ioc_registerRecordDeviceDriver pdbbase
+
+ndsCreateDevice "TechnosoftTML", "TML", "FILE=/tmp/,NAXIS=1,DEV_PATH=/tmp,HOST_ID=15,AXIS_SETUP_0=$(SUPPORT)/motorTechnosoft/tml_lib/config/star_vat_phs.t.zip,AXIS_ID_0=15,AXIS_HOMING_SW_0=LSN,AXIS_SETUP_1=$(SUPPORT)/motorTechnosoft/tml_lib/config/star_vat_phs.t.zip,AXIS_ID_1=17,AXIS_HOMING_SW_1=LSN"
+dbLoadRecords("$(SUPPORT)/motorTechnosoft/db/tmlAxis.template","PREFIX=SPARC:TML, CHANNEL_ID=MOT, CHANNEL_PREFIX=ax, ASYN_PORT=, ASYN_ADDR=0, NSTEPS=200, NMICROSTEPS=256, VELO=20, VELO_MIN=0.1, VELO_MAX=50.0, ACCL=0.5, ACCL_MIN=0.01, ACCL_MAX=1.5, HAR=0.5, HVEL=10.0, JAR=1, JVEL=5, ENABLED=1, SLSP=0.8, EGU=ustep, TIMEOUT=0")
+dbLoadRecords("$(SUPPORT)/motorTechnosoft/db/tmlAxis.template","PREFIX=SPARC:TML, CHANNEL_ID=MOT, CHANNEL_PREFIX=ax, ASYN_PORT=, ASYN_ADDR=0, NSTEPS=200, NMICROSTEPS=256, VELO=20, VELO_MIN=0.1, VELO_MAX=50.0, ACCL=0.5, ACCL_MIN=0.011, ACCL_MAX=1.5, HAR=0.5, HVEL=10.0, JAR=1, JVEL=5, ENABLED=1, SLSP=0.8, EGU=SPARC:TML, TIMEOUT=0")
+
+dbLoadRecords /epics/runtime/ioc.db
+iocInit
+
+
+
+dbpf("SPARC:TML:MOT:MSGRS","START")
+dbl
+
+dbpf("SPARC:TML:MOT:MSGRS","START")
+dbl
+
diff --git a/tests/samples/schemas/gauges.ibek.ioc.schema.json b/tests/samples/schemas/gauges.ibek.ioc.schema.json
@@ -280,6 +280,13 @@
       },
       "title": "Entities",
       "type": "array"
+    },
+    "shared": {
+      "default": [],
+      "description": "A place to create any anchors required for repeating YAML",
+      "items": {},
+      "title": "Shared",
+      "type": "array"
     }
   },
   "required": [

diff --git a/tests/samples/schemas/motorSim.ibek.ioc.schema.json b/tests/samples/schemas/motorSim.ibek.ioc.schema.json
@@ -354,6 +354,13 @@
       },
       "title": "Entities",
       "type": "array"
+    },
+    "shared": {
+      "default": [],
+      "description": "A place to create any anchors required for repeating YAML",
+      "items": {},
+      "title": "Shared",
+      "type": "array"
     }
   },
   "required": [

diff --git a/tests/samples/schemas/quadem.ibek.ioc.schema.json b/tests/samples/schemas/quadem.ibek.ioc.schema.json
@@ -3169,6 +3169,13 @@
       },
       "title": "Entities",
       "type": "array"
+    },
+    "shared": {
+      "default": [],
+      "description": "A place to create any anchors required for repeating YAML",
+      "items": {},
+      "title": "Shared",
+      "type": "array"
     }
   },
   "required": [

diff --git a/tests/samples/schemas/single.ibek.ioc.schema.json b/tests/samples/schemas/single.ibek.ioc.schema.json
@@ -193,6 +193,13 @@
       },
       "title": "Entities",
       "type": "array"
+    },
+    "shared": {
+      "default": [],
+      "description": "A place to create any anchors required for repeating YAML",
+      "items": {},
+      "title": "Shared",
+      "type": "array"
     }
   },
   "required": [