MOTOR_REC_{OFFSET,RESOLUTION,DIRECTION} errors at iocInit for asyn model-2 drivers

[kmpeters]

If asyn_motor.db or basic_asyn_motor.db is used with an asyn model-2 driver, the follow errors occur at iocInit:

kmp2:m1Offset devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_OFFSET
Bad init_rec return value  PV: kmp2:m1Offset ao: init_record

kmp2:m1Resolution devAsynFloat64::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_RESOLUTION
Bad init_rec return value  PV: kmp2:m1Resolution ao: init_record

kmp2:m1Direction devAsynInt32::initCommon drvUserCreate drvmotorAsyn::drvUserCreate, unknown command=MOTOR_REC_DIRECTION

The records that cause the errors were added in this commit: https://github.com/epics-modules/motor/commit/d091a0917525e9ff899946234506254933098b3a After this change to the asynMotor parameters: https://github.com/epics-modules/motor/commit/102f74b5842f8cdea9fff5f74264c36f633411e3

One way to resolve this issue would be to add the new parameters to motorAxisParam_t in motor_interface.h so they can be added to motorCommand enum and motorCommandStruct in drvMotorAsyn.c.

A simpler way to resolve this issues is to create asyn_2_motor.db and basic_asyn_2_motor.db that omit the records added in https://github.com/epics-modules/motor/commit/d091a0917525e9ff899946234506254933098b3a and use them with asyn model-2 drivers, like motorMotorSim.

[kmpeters]

@MarkRivers, do you have thoughts on this issue?

[MarkRivers]

What other Model 2 drivers are in use? There is a Model 3 version of the simulation motor, correct?

[MarkRivers]

I searched all of motor and motor/modules for motor_interface.h.

corvette:~/devel/motor>find . -name '*.c*' -exec grep -H motor_interface.h {} \;
./modules/motorAerotech/aerotechApp/src/drvA3200Asyn.cc:#include "motor_interface.h"
./modules/motorAerotech/aerotechApp/src/drvEnsembleAsyn.cc:#include "motor_interface.h"
./modules/motorMotorSim/motorSimApp/src/devMotorSim.c:#include "motor_interface.h"
./modules/motorMotorSim/motorSimApp/src/drvMotorSim.c:#include "motor_interface.h"
./modules/motorPIGCS2/pigcs2App/src/PIasynAxis.cpp:#include <motor_interface.h>
./modules/motorPIGCS2/pigcs2App/src/PIasynController.cpp:#include <motor_interface.h>
./modules/motorAttocube/attocubeApp/src/drvANC150Asyn.cc:#include "motor_interface.h"
./modules/motorNewport/newportApp/src/drvMM4000Asyn.c:#include "motor_interface.h"
./modules/motorNewport/newportApp/src/drvXPSAsyn.c:#include "motor_interface.h"
./motorApp/MotorSrc/devMotorAsyn.c:#include "motor_interface.h"
./motorApp/MotorSrc/drvMotorAsyn.c:#include "motor_interface.h"
./motorApp/MotorSrc/drvMotorAsyn.c:    /* Parameters - these must match the definitions in motor_interface.h */

corvette:~/devel/motor>find . -name '*.h' -exec grep -H motor_interface.h {} \;
./modules/motorNewport/newportApp/src/XPSAsynInterpose.h:#include "motor_interface.h"

Most of these appear to be Model 2 drivers, although motorPIGCS2 appears to be a Model 3 driver and should not need motor_interface.h.

[tboegi]

Please allow a side-question, how do I read this 2 contradicting lines ? ...Model 3 driver and should not need motor_interface.h ./motorApp/MotorSrc/drvMotorAsyn.c:#include "motor_interface.h"

I tried to remove all code in drvMotorAsyn.c, but then I ran into this error when compiling/linking an IOC with ethercatmc:

Undefined symbols for architecture x86_64: "_pvar_func_motorRegister", referenced from:

[MarkRivers]

Please allow a side-question, how do I read this 2 contradicting lines ? ...Model 3 driver and should not need motor_interface.h ./motorApp/MotorSrc/drvMotorAsyn.c:#include "motor_interface.h"

I don't think the lines are contradictory. drvMotorAsyn.c is not used by Model 3 drivers. It is only used by Model 2 drivers.

I tried to remove all code in drvMotorAsyn.c, but then I ran into this error when compiling/linking an IOC with ethercatmc:

Undefined symbols for architecture x86_64:
"_pvar_func_motorRegister", referenced from:
registrar(motorRegister)

If you don't build with drvMotorAsyn.c (removing support for Model 2 drivers) then you must remove this line from motorSupport.dbd:

registrar(motorRegister)

because drvMotorAsyn.c contains these lines:

drvMotorAsyn.c:void motorRegister(void)
drvMotorAsyn.c:epicsExportRegistrar(motorRegister);

[kmpeters]

There is a Model 3 version of the simulation motor, correct?

There is a model-3 version of the simulation motor. There is no model-3 configuration in the example motorSimIOC, nor is there an example configure in the xxx module, so I haven't seen model-3 simulated motors in use yet.

[prjemian]

As noted:

There is no default value on which to fallback when any of the are not defined.

[prjemian]

Still a problem today. What is the recommended fix?

[kmpeters]

@prjemian, I added databases to work around the problem in PR #197

[kmpeters]

Eventually I'd like to see all the model-2 drivers replaced with model-3 drivers or retired.

[kmpeters]

"Fixed" by #197