一个基于stream的EPICS IOC应用程序

本文将介绍如何开发一个基于stream的EPICS IOC应用程序，其将作为一个简单的基于消息的设备（用于EPICS stream练习的设备模拟程序_yuyuyuliang00的博客-CSDN博客中最后一个python程序模拟的设备)的IOC控制程序。

1）按如下步骤建立这个IOC程序的框架：

[blctrl@main-machine exer]$ mkdir simpleintrument
[blctrl@main-machine exer]$ cd simpleintrument/
[blctrl@main-machine simpleintrument]$ makeBaseApp.pl -t ioc streaminstrument
[blctrl@main-machine simpleintrument]$ makeBaseApp.pl -i -t ioc streaminstrument
Using target architecture linux-x86_64 (only one available)
The following applications are available:streaminstrument
What application should the IOC(s) boot?
The default uses the IOC's name, even if not listed above.
Application name?
[blctrl@main-machine simpleintrument]$ ls
configure  iocBoot  Makefile  streaminstrumentApp

2）编辑configure中RELEASE文件，添加这个IOC程序所需要支持模块的路径：

SUPPORT=/usr/local/EPICS/synApps/support
ASYN=$(SUPPORT)/asyn
STREAM=$(SUPPORT)/stream

3）编辑simpleintrument/streaminstrumentApp/src/Makefile文件，添加这个IOC程序所需模块以及库文件：

TOP=../..include $(TOP)/configure/CONFIG
#----------------------------------------
#  ADD MACRO DEFINITIONS AFTER THIS LINE
#=============================#=============================
# Build the IOC applicationPROD_IOC = streaminstrument
# streaminstrument.dbd will be created and installed
DBD += streaminstrument.dbd# streaminstrument.dbd will be made up from these files:
streaminstrument_DBD += base.dbd
streaminstrument_DBD += asyn.dbd
streaminstrument_DBD += drvAsynIPPort.dbd
streaminstrument_DBD += stream.dbd# Include dbd files from all support applications:
#streaminstrument_DBD += xxx.dbd# Add all the support libraries needed by this IOC
streaminstrument_LIBS += asyn
streaminstrument_LIBS += stream# streaminstrument_registerRecordDeviceDriver.cpp derives from streaminstrument.dbd
streaminstrument_SRCS += streaminstrument_registerRecordDeviceDriver.cpp# Build the main IOC entry point on workstation OSs.
streaminstrument_SRCS_DEFAULT += streaminstrumentMain.cpp
streaminstrument_SRCS_vxWorks += -nil-# Add support from base/src/vxWorks if needed
#streaminstrument_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary# Finally link to the EPICS Base libraries
streaminstrument_LIBS += $(EPICS_BASE_IOC_LIBS)#===========================include $(TOP)/configure/RULES
#----------------------------------------
#  ADD RULES AFTER THIS LINE

4）退到这个IOC程序的顶层目录，执行make命令：

[blctrl@main-machine simpleintrument]$ make
make -C ./configure install
...
make[2]: Leaving directory '/home/blctrl/exer/simpleintrument/iocBoot/iocstreaminstrument'
make[1]: Leaving directory '/home/blctrl/exer/simpleintrument/iocBoot'
[blctrl@main-machine simpleintrument]$ ls
bin  configure  dbd  iocBoot  lib  Makefile  streaminstrumentApp

5）编辑一个协议文件，记录需要使用此协议文件，与设备进行交互：

[blctrl@main-machine Db]$ cat si.proto
Terminator = CR LF;
InTerminator = CR LF;
ReplayTimeout = 10000;
ReadTimeout = 10000;# get Volts from the instrument to record
getVolt
{out "VOLTS?";in "VOLTS %f";
}# set Volts from record to instrument
setVolt
{out "VOLTS %f";@init{getVolt;}
}# get current from the instrument
getCurr
{out "CURR?";in "CURR %f";
}# instrumnet information
getIDN
{out "*IDN?";in "*IDN %#s";
}getOnOff
{out "ON?";in "ON %d";
}setOnOff
{out "ON %d";@init{getOnOff;}
}setForReadLoad
{out "LOAD?";
}read_L1
{PollPeriod = 100;in "LOAD %f %*f %*f";
}read_L2
{PollPeriod = 100;in "LOAD %*f %f %*f";
}read_L3
{PollPeriod = 100;in "LOAD %*f %*f %f";
}

6）用VisualDCT编辑记录，并且生成运行所需的文本数据库。

导出以上记录数据库的文本：

[blctrl@main-machine Db]$ cat si.db
#! Generated by VisualDCT v2.8.3# Get the voltage of the instrument
record(ai, "$(INSTRUMENT):VOLTAGE_RBV") {field(DESC, "Read Voltage")field(SCAN, "Passive")field(DTYP, "stream")field(INP, "@si.proto getVolt $(PORT)")field(PREC, "2")field(LINR, "NO CONVERSION")field(EGU, "V")
}# Set Voltage for the instrument
record(ao, "$(INSTRUMENT):VOLTAGE") {field(DESC, "Set Voltage")field(SCAN, "Passive")field(PINI, "YES")field(DTYP, "stream")field(FLNK, "$(INSTRUMENT):VOLTAGE_RBV")field(OUT, "@si.proto setVolt $(PORT)")field(PREC, "2")field(LINR, "NO CONVERSION")field(EGU, "V")field(DRVH, "10")field(DRVL, "-10")
}# Get Current
record(ai, "$(INSTRUMENT):CURRENT_RBV") {field(DESC, "Get Current")field(SCAN, "Passive")field(PINI, "YES")field(DTYP, "stream")field(INP, "@si.proto getCurr $(PORT)")field(PREC, "2")field(LINR, "NO CONVERSION")field(EGU, "Amp")
}# Set the ON/OFF state
record(bo, "$(INSTRUMENT):ONOFF") {field(DESC, "Control curr output")field(SCAN, "Passive")field(PINI, "YES")field(DTYP, "stream")field(FLNK, "$(INSTRUMENT):ONOFF_RBV")field(OUT, "@si.proto setOnOff $(PORT)")field(ZNAM, "OFF")field(ONAM, "ON")field(ZSV, "NO_ALARM")field(OSV, "MINOR")
}# Get the on/off state of the instrument
record(bi, "$(INSTRUMENT):ONOFF_RBV") {field(DESC, "ON or OFF status")field(SCAN, "Passive")field(PINI, "YES")field(DTYP, "stream")field(INP, "@si.proto getOnOff $(PORT)")field(ZSV, "NO_ALARM")field(OSV, "MINOR")field(ZNAM, "OFF")field(ONAM, "ON")
}# Instrument Informantion
record(waveform, "$(INSTRUMENT):INSTRUMENT_INFO") {field(DESC, "Instrument Info")field(SCAN, "Passive")field(PINI, "YES")field(DTYP, "stream")field(INP, "@si.proto getIDN $(PORT)")field(NELM, "30")field(FTVL, "CHAR")
}record(ai, "$(INSTRUMENT):LOAD1") {field(DESC, "Read CPU Load")field(SCAN, "I/O Intr")field(PINI, "NO")field(DTYP, "stream")field(INP, "@si.proto read_L1 $(PORT)")field(PREC, "2")field(LINR, "NO CONVERSION")field(EGU, "%")field(HIHI, "90")field(HIGH, "60")field(HHSV, "MAJOR")field(LLSV, "NO_ALARM")field(HSV, "MINOR")field(LSV, "NO_ALARM")
}record(calc, "$(INSTRUMENT):POWER") {field(DESC, "Calc Power")field(SCAN, "1 second")field(CALC, "A*B")field(INPA, "$(INSTRUMENT):CURRENT_RBV PP")field(INPB, "$(INSTRUMENT):VOLTAGE_RBV")field(EGU, "W")field(PREC, "2")
}# Set For Read Load
record(stringout, "$(INSTRUMENT):SetForLoad") {field(DESC, "Set For Read Load")field(SCAN, "1 second")field(DTYP, "stream")field(FLNK, "$(INSTRUMENT):INSTRUMENT_INFO")field(OUT, "@si.proto setForReadLoad $(PORT)")
}record(ai, "$(INSTRUMENT):LOAD2") {field(DESC, "Read CPU Load")field(SCAN, "I/O Intr")field(PINI, "NO")field(DTYP, "stream")field(INP, "@si.proto read_L2 $(PORT)")field(PREC, "2")field(LINR, "NO CONVERSION")field(EGU, "%")field(HIHI, "90")field(HIGH, "60")field(HHSV, "MAJOR")field(LLSV, "NO_ALARM")field(HSV, "MINOR")field(LSV, "NO_ALARM")
}record(ai, "$(INSTRUMENT):LOAD3") {field(DESC, "Read CPU Load")field(SCAN, "I/O Intr")field(PINI, "NO")field(DTYP, "stream")field(INP, "@si.proto read_L3 $(PORT)")field(PREC, "2")field(LINR, "NO CONVERSION")field(EGU, "%")field(HIHI, "90")field(HIGH, "60")field(HHSV, "MAJOR")field(LLSV, "NO_ALARM")field(HSV, "MINOR")field(LSV, "NO_ALARM")
}

7）将在第5步编写的协议文件si.proto和在第6步编写的记录数据库文件si.db放入以下目录streaminstrumentApp/Db，并且编写这个路径下的Makefile文件，在这个文件中添加以下内容：

DB += si.db
DB += si.proto

然后在这个路径下执行make命令。

8）切换到设备模拟程序所在的目录，执行python程序：

[blctrl@main-machine python_dir]$ ./simple_instrument.py --verbose
Serving on TCP 24742
Terminate with Ctrl-C

这个程序可以接收并且应答以下消息字符串：

*IDN? ：获取设备信息
ON 0 ：关闭设备
ON 1 ：打开设备
VOLTS 5.0 ：设置电压，范围为-10~10V。
ON? ：返回关闭/开启的状态
VOLTS? ：返回当前电压设置
CURR? ：返回当前电流
LOAD? ：返回CPU负载(1,5,15分钟平均负载)

9）进入iocBoot/iocstreaminstrument目录下，启动这个IOC应用程序，并用dbl查看当前IOC包含的记录：

[blctrl@main-machine simpleintrument]$ cd iocBoot/iocstreaminstrument/
[blctrl@main-machine iocstreaminstrument]$ ../../bin/linux-x86_64/streaminstrument st.cmd
#!../../bin/linux-x86_64/streaminstrument
< envPaths
epicsEnvSet("IOC","iocstreaminstrument")
epicsEnvSet("TOP","/home/blctrl/exer/simpleintrument")
epicsEnvSet("SUPPORT","/usr/local/EPICS/synApps/support")
epicsEnvSet("ASYN","/usr/local/EPICS/synApps/support/asyn")
epicsEnvSet("STREAM","/usr/local/EPICS/synApps/support/stream")
epicsEnvSet("EPICS_BASE","/usr/local/EPICS/base")
cd "/home/blctrl/exer/simpleintrument"
## Register all support components
dbLoadDatabase "dbd/streaminstrument.dbd"
streaminstrument_registerRecordDeviceDriver pdbbase
drvAsynIPPortConfigure("PORT","127.0.0.1:24742")
epicsEnvSet("STREAM_PROTOCOL_PATH", "/home/blctrl/exer/simpleintrument/db")
## Load record instances
dbLoadRecords("db/si.db","INSTRUMENT=SIMPLE:INSTRUMENT,PORT=PORT")
cd "/home/blctrl/exer/simpleintrument/iocBoot/iocstreaminstrument"
iocInit
Starting iocInit
############################################################################
## EPICS R7.0.3.1
## EPICS Base built Sep  8 2022
############################################################################
iocRun: All initialization complete
## Start any sequence programs
#seq sncxxx,"user=blctrl"
epics> dbl
SIMPLE:INSTRUMENT:VOLTAGE_RBV
SIMPLE:INSTRUMENT:CURRENT_RBV
SIMPLE:INSTRUMENT:LOAD1
SIMPLE:INSTRUMENT:LOAD2
SIMPLE:INSTRUMENT:LOAD3
SIMPLE:INSTRUMENT:ONOFF
SIMPLE:INSTRUMENT:POWER
SIMPLE:INSTRUMENT:VOLTAGE
SIMPLE:INSTRUMENT:INSTRUMENT_INFO
SIMPLE:INSTRUMENT:ONOFF_RBV
SIMPLE:INSTRUMENT:SetForLoad
epics>

10) 另开一个命令行窗口，进行测试：

[blctrl@main-machine ~]$ caget -S SIMPLE:INSTRUMENT:INSTRUMENT_INFO
SIMPLE:INSTRUMENT:INSTRUMENT_INFO US-PAS Instrument, Yoyodyne I
[blctrl@main-machine ~]$ caput SIMPLE:INSTRUMENT:ONOFF 1
Old : SIMPLE:INSTRUMENT:ONOFF        OFF
New : SIMPLE:INSTRUMENT:ONOFF        ON
[blctrl@main-machine ~]$ caput SIMPLE:INSTRUMENT:VOLTAGE 5
Old : SIMPLE:INSTRUMENT:VOLTAGE      0
New : SIMPLE:INSTRUMENT:VOLTAGE      5
[blctrl@main-machine ~]$ caget SIMPLE:INSTRUMENT:CURRENT_RBV
SIMPLE:INSTRUMENT:CURRENT_RBV  0.86756
[blctrl@main-machine ~]$ caget SIMPLE:INSTRUMENT:POWER
SIMPLE:INSTRUMENT:POWER        28.873
[blctrl@main-machine ~]$ caget SIMPLE:INSTRUMENT:LOAD1
SIMPLE:INSTRUMENT:LOAD1        0.02
[blctrl@main-machine ~]$ caget SIMPLE:INSTRUMENT:LOAD2
SIMPLE:INSTRUMENT:LOAD2        0.08
[blctrl@main-machine ~]$ caget SIMPLE:INSTRUMENT:LOAD3
SIMPLE:INSTRUMENT:LOAD3        0.16

11）用CSS设计一个图形化用户操作界面：

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