SmarAct migration

roles/deploy_ioc/vars/smaract.yml

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+---
+# Variables for the smaract role
+deploy_ioc_template_root_path: "{{ deploy_ioc_required_module_path }}"
+deploy_ioc_required_module: motorsmaract_ab4dfeb
+deploy_ioc_use_common: false
+deploy_ioc_executable: smarAct
+deploy_ioc_req_file_list:
+  - name: auto_settings.req
+    macros: ""
+  - name: auto_positions.req
+    macros: ""
+  - name: info_settings.req
+    macros: ""
+  - name: info_positions.req
+    macros: ""
+deploy_ioc_device_specific_env:
+  PORT: SMARACT
+  CONTROLLER_IP: 127.0.0.1
+  MODEL: MCS2
+  NUM_AXES: 3
+  AXES_MASK: "0x7"

roles/device_roles/smaract/README.md

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+# SmarAct Role
+
+This role deploys EPICS IOCs for SmarAct MCS and MCS2 motor controllers,
+providing support for precise piezo motor positioning systems.

roles/device_roles/smaract/defaults/main.yml

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+---
+device_roles_smaract_moving_poll_period: 0.05
+device_roles_smaract_idle_poll_period: 1
+device_roles_smaract_disable_speed: 0

roles/device_roles/smaract/example.yml

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+---
+
+SmarAct:
+  type: "smaract"
+  model: "MCS2"
+  num_axes: 3
+  environment:
+    PREFIX: "XF:31ID1-ES{SMARACT:Dev-1}"
+    ENGINEER: "C. Engineer"
+    CONTROLLER_IP: "192.168.1.100"
+    PORT: "SMARACT"
+    MODEL: "MCS2"
+    NUM_AXES: 3
+    AXES_MASK: "0x7"
+  substitutions:
+    smaract:
+      templates:
+        - filepath: "$(MOTOR)/db/basic_asyn_motor.db"
+          pattern: ["P", "N", "M", "DTYP", "PORT", "ADDR", "DESC",
+                    "EGU", "DIR", "VELO", "VBAS", "ACCL", "BDST",
+                    "BVEL", "BACC", "MRES", "PREC", "DHLM", "DLLM",
+                    "INIT"]
+          instances:
+            - ["$(PREFIX)", 1, "{MCS2-Ax:1}Mtr", "asynMotor",
+               "$(PORT)", 0, "mm", "Pos", 0, 0, 0, 0, 1, 0.2,
+               0.000001, 6, 0, 0, "", ""]
+            - ["$(PREFIX)", 2, "{MCS2-Ax:2}Mtr", "asynMotor",
+               "$(PORT)", 1, "mm", "Pos", 0, 0, 0, 0, 1, 0.2,
+               0.000001, 6, 0, 0, "", ""]
+            - ["$(PREFIX)", 3, "{MCS2-Ax:3}Mtr", "asynMotor",
+               "$(PORT)", 2, "mm", "Pos", 0, 0, 0, 0, 1, 0.2,
+               0.000001, 6, 0, 0, "", ""]
+        - filepath: "$(SMARACT)/db/MCS2_Extra.db"
+          pattern: ["P", "N", "M", "PORT", "ADDR", "TIMEOUT"]
+          instances:
+            - ["$(PREFIX)", 1, "{MCS2-Ax:1}Mtr", "$(PORT)", 0, 1.0]
+            - ["$(PREFIX)", 2, "{MCS2-Ax:2}Mtr", "$(PORT)", 1, 1.0]
+            - ["$(PREFIX)", 3, "{MCS2-Ax:3}Mtr", "$(PORT)", 2, 1.0]

roles/device_roles/smaract/schema.yml

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+---
+
+type: enum("smaract")
+model: enum("MCS", "MCS2")
+num_axes: int(min=1, required=True)
+environment:
+  PREFIX: str(required=True)
+  ENGINEER: str(required=False)
+  CONTROLLER_IP: any(ip(), hostname(), required=True)
+  PORT: str(required=True)
+  NUM_AXES: int(min=1, required=True)
+  MODEL: enum("MCS", "MCS2", required=True)
+  AXES_MASK: str(required=False)
+substitutions:
+  smaract:
+    templates:
+      - filepath: enum("$(MOTOR)/db/basic_asyn_motor.db")
+        pattern: list(any(enum("P"), enum("N"), enum("M"),
+                          enum("DTYP"), enum("PORT"), enum("ADDR"),
+                          enum("DESC"), enum("EGU"), enum("DIR"),
+                          enum("VELO"), enum("VBAS"), enum("ACCL"),
+                          enum("BDST"), enum("BVEL"), enum("BACC"),
+                          enum("MRES"), enum("PREC"), enum("DHLM"),
+                          enum("DLLM"), enum("INIT")))
+        instances: list(list(min=20, max=20))
+      - filepath: enum("$(SMARACT)/db/MCS2_Extra.db")
+        pattern: list(any(enum("P"), enum("N"), enum("M"),
+                          enum("PORT"), enum("ADDR"), enum("TIMEOUT")))
+        instances: list(list(min=6, max=6))

roles/device_roles/smaract/tasks/main.yml

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+---
+
+- name: Deploy base startup script
+  ansible.builtin.template:
+    src: base.cmd.j2
+    dest: "{{ deploy_ioc_ioc_directory }}/iocBoot/base.cmd"
+    mode: "0664"
+    owner: "{{ host_config.softioc_user }}"
+    group: "{{ host_config.softioc_group }}"
+
+- name: Install autosave settings req file
+  ansible.builtin.template:
+    src: auto_settings.req.j2
+    dest: "{{ deploy_ioc_as_directory }}/req/auto_settings.req"
+    mode: "0664"
+    owner: "{{ host_config.softioc_user }}"
+    group: "{{ host_config.softioc_group }}"
+
+- name: Install autosave positions req file
+  ansible.builtin.template:
+    src: auto_positions.req.j2
+    dest: "{{ deploy_ioc_as_directory }}/req/auto_positions.req"
+    mode: "0664"
+    owner: "{{ host_config.softioc_user }}"
+    group: "{{ host_config.softioc_group }}"
+
+- name: Deploy postInit script
+  ansible.builtin.template:
+    src: postInit.cmd.j2
+    dest: "{{ deploy_ioc_ioc_directory }}/iocBoot/postInit.cmd"
+    mode: "0664"
+    owner: "{{ host_config.softioc_user }}"
+    group: "{{ host_config.softioc_group }}"

roles/device_roles/smaract/templates/auto_positions.req.j2

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+{% for axis in ioc.substitutions.smaract.templates[0].instances %}
+file "asyn_motor_positions.req", P=$(PREFIX), M={{ axis[2] }}
+{% endfor %}

roles/device_roles/smaract/templates/auto_settings.req.j2

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+{% for axis in ioc.substitutions.smaract.templates[0].instances %}
+file "asyn_motor_settings.req", P=$(PREFIX), M={{ axis[2] }}
+{% endfor %}

roles/device_roles/smaract/templates/base.cmd.j2

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+## Register all support components
+dbLoadDatabase("{{ deploy_ioc_required_module_path }}/dbd/smarAct.dbd")
+smarAct_registerRecordDeviceDriver(pdbbase)
+
+# Configure the low level communication port
+{% if ioc.model == "MCS2" %}
+drvAsynIPPortConfigure("$(PORT)_ETH", "$(CONTROLLER_IP):55551", 0, 0, 0)
+MCS2CreateController("$(PORT)", "$(PORT)_ETH", "$(NUM_AXES)",
+                     {{ device_roles_smaract_moving_poll_period * 1000 }},
+                     {{ device_roles_smaract_moving_poll_period * 1000 }},
+                     $(AXES_MASK))
+{% else %}
+drvAsynIPPortConfigure("$(PORT)_ETH", "$(CONTROLLER_IP):55551", 0, 0, 0)
+smarActMCSCreateController("$(PORT)", "$(PORT)_ETH", {{ ioc.num_axes }},
+                           {{ device_roles_smaract_moving_poll_period }},
+                           {{ device_roles_smaract_idle_poll_period }},
+                           {{ device_roles_smaract_disable_speed }})
+{% for i in range(ioc.num_axes) %}
+smaraActMCSCreateAxis("$(PORT)", {{ i }}, {{ i }})
+{% endfor %}
+{% endif %}

roles/device_roles/smaract/templates/postInit.cmd.j2

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+motorUtilInit("$(PREFIX)")
+
+makeAutosaveFileFromDbInfo("$(TOP)/as/req/info_settings.req",
+                           "autosaveFields")
+makeAutosaveFileFromDbInfo("$(TOP)/as/req/info_positions.req",
+                           "autosaveFields_pass0")
+
+cd $(TOP)
+
+dbl > /tmp/{{ deploy_ioc_ioc_name }}-records.dbl
+date

roles/install_module/vars/motorsmaract_ab4dfeb.yml

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+---
+motorsmaract_ab4dfeb:
+  name: motorSmarAct
+  url: https://github.com/epics-motor/motorSmarAct
+  version: ab4dfeb
+  executable: smarAct