1 2003/p571: ioc development environment epics ioc development environment with epics on ubuntu...

12003/P571: IOC Development Environment

EPICS

IOC Development Environmentwith

EPICS on Ubuntu

Based on “IOC Development Envirnment” by Andrew Johnson, APS


EPICSPreamble

This talk describes the IOC development environment that comes with EPICS Base R3.14.9 on Ubuntu Linux IOC Development

Database configuration Operation Panel Sequencer program Device/Record Support

Sometimes called makeBaseApp After the PERL script that creates application areas

It uses the same major structure and build rules as Base Allows independent compilation of the same source

modules for multiple target architectures


EPICSReference Documentation

EPICS: Input / Output ControllerApplication Developer's Guide

Release 3.14.10, 27 October 2008

Accessible through the R3.14.1 page on the EPICS website

Chapter 4 covers the EPICS build system in great detail, and is more recent (and accurate) than much of this talk

The R3.14 build system has evolved quite a bit since R3.13.x


EPICS Purpose of an IOC DE

What is an IOC development area for? A place to collect files and configuration data

associated with one or more similar IOCs device, driver and/or record support other related software

Provides simple ways to configure and automate some very complex compilation procedures involving Databases and database templates Startup command files Record, device & driver support SNL programs Other IOC code Portable CA Server applications Other host software


EPICSOther Features

IOC Software is usually divided into different <top> areas Each <top> area is managed separately A <top> may use products from other <top> areas EPICS Base is mainly regarded as just another <top>

The Gnu version of make is used to build all products Almost every directory has a Makefile in it Make recursively descends through the directory structure

Determines what needs to be [re]built Invokes compilers and other tools as instructed in the Makefile

CVS can be used for revision control of source code and configuration files


EPICSEPICS on Ubuntu/Live-CD

Ubuntu 1-CD/DVD Linux distrribution Boot from CD/DVD Don't need to install it on HDD. /Can install the system on to HDD Run Most PC platform. Insert CD in the CD drive and just restart,

EPICS on Ubunti Start terminal window from menu after booting Ubuntu. For the envrionment setting use

. /opt/epics/etc/cshrc.EPICS


EPICS makeBaseApp

To create a new application area, execute the commands

mkdir ~/heatercd ~/heatermakeBaseApp.pl -t example watermakeBaseApp.pl -t example -i water

example: a name of template

makeBaseApp.pl -l

will give you a list of available template


EPICS makeBaseApp

makeBaseApp.pl -t example watermakeBaseApp.pl -t example -i heater

The first command creates:<top>/

Makefileconfigure/

...waterApp

src/...

Db/...

The second command creates:<top>/iocBoot

Makefileiocheater/

…

makeBaseApp.pl can be run multiple times to create new subdirectories

Run env EPICS_HOST_ARCH=linux-x86 make install


EPICS <top> Directory Structure

The example directory is an application <top> A <top> is structured like this:<top>/

configure/ Configuration data filesxxxApp/ All source files except startup

src/ Source codexxxSrc/ There can be multiple xxxSrc directoriesDb/ Databases, templates & substitutions filesxxxDb There can be multiple xxxDb directories... May have others dirs too such as adl, edm, etc

yyyApp/ Any number of *App directoriesiocBoot/ Only one iocBoot

iocxxx Directory for each ioc...

<install directories>


EPICS <top> Install Directories

By default, build products are installed into various subdirectories under <top>:

<top>/bin/ Object files and executables

linux-x86/vxWorks-68040/

lib/ Object librarieslinux-x86/ etc.

include/ e.g. xxxRecord.hdbd/ menu, recordtype, device, driver,etcdb/ record instances, templates, etcjavalib/ .jar files

DONT touch files in these directory. They will be OVERWRITTEN when you run “make” in the application directories


EPICS <top>/configure files

Files meant to be modified CONFIG - Can override make variables

CROSS_COMPILER_TARGET_ARCHS = vxWorks-68040 CONFIG_APP

Some other definitions RELEASE

Location of other <top> areas used in this applicationEPICS_BASE=/opt/epics/R3.14.7/base

Other files not meant to be modified RULES*

Files containing (pointers to) make rules in base Makefile

Some configuration tasks


EPICS <top>/xxxApp/src files

Source code for Device support Record support Sequencer (snl) program Subroutines Commands for iocsh, ....


EPICS <top>/xxxApp/src files

base.dbd - definitions supplied by base Edit this if you don't want to load some base record or device

types Links to menu, recordtype, device, drivers provided by base Earlier versions of base included hardware support too, not

R3.14.1 Not fully expanded, contains many component include

statements

include “menuGlobal.dbd”include “menuConvert.dbd”include “aiRecord.dbd”...

include "waveformRecord.dbd"device(ai,CONSTANT,devAiSoft,"Soft Channel")...

device(waveform,CONSTANT,devWfSoft,"Soft Channel")


EPICS xxxApp/src continued

Makefile defines what is to be built, from which source files

TOP=../..include $(TOP)/configure/CONFIGDBDINC += xxxRecordDBD += example.dbdPROD_IOC = exampleexample_SRCS += xxxRecord.c devXxxSoft.c exampleMain.cppexample_SRCS += example_registerRecordDeviceDriver.cppexample_LIBS += iocsh miscIoc rsrvIoc dbtoolsIoc asIoc dbIocexample_LIBS += registryIoc dbStaticIoc ca Cominclude $(TOP)/configure/RULES

ExampleInclude.dbdinclude “base.dbd”include “xxxRecord.dbd”device(xxx,CONSTANT,devXxxSoft,”Soft Channel”)


EPICS xxxApp/xxxDb/Makefile Databases installed into <top>/db

DB += xxx.db Template files expanded on host

yyy.template has the formatrecord(ai,”$(USER):aiExample$(NO)”){

… } yyy.substitutions contains

file yyy.template {{USER=“mrk”,NO=“1”}{USER=“mrk”,NO=“2”}

}DB += yyy.dbUSES_TEMPLATE += yyy.template

Template files to be expanded at boot time via dbLoadTemplate()

DB += zzz.template zzz.substitutions Support for capfast generated files Can also expand .dbd files


EPICS iocBoot/iocxxx

iocBoot/iocxxx/MakefileCreates cdCommands file for vxWorks targets. Make sure that

ARCH = <arch> is defined correctly in the Makefile

For a vxWorks target the cdCommands output file looks likestartup=“<full path to iocxxx>“appbin=“<full path to top/bin/arch>“…

A vxWorks st.cmd file looks like< cdCommands

cd appbinld < iocCoreld < xxxLibcd startupdbLoadDatabase(“../../dbd/xxxApp.dbd”)dbLoadRecords(“../../db/xxx.db”,”user=mrk”)iocInit


EPICS Make Targets (commands)

It is possible to run make (gnumake) in any <top> subdirectory

<top> make clean uninstall

Removes all products, leaving just the original source files make

Builds and installs everything that is not up to date configure

makeConstructs target-specific files from contents of RELEASE

iocBoot make

Same as issuing command in each iocxxx subdirectory iocBoot/iocxxx

makeCreates the envPath file, if appropriate for the IOC's architecture


EPICSMake Targets (commands) cont.

xxxApp make <command>

Same as issuing command in each subdirectory xxxApp/xxxSrc

Builds in O.<arch>; installs products in <top>/<something> make

Builds and installs all out of date components make <arch>

Build only for specified architecture(s), e.g.make vxWorks-ppc604

make cleanRemove all O.<arch> directories

XxxApp/xxxDb make

Generates and installs database instance files etc.


EPICS Application Templates

MakeBaseApp uses templates for the files it creates New application templates can be created by anyone Base supplies the following<base>/templates/makeBaseApp/top/

MakefileconfigureexampleAppexampleBootsimpleAppsimpleBoot

Template files undergo textual substitutions when installed

Use “makeBaseApp.pl -l”to get the list of installed template


EPICSiocsh

Iocsh EPICS database/CA server program st.cmd : startup script for iocsh

Database download Sequencer program Start ioc operation: iocInit

Command to start iocsh <top>/bin/<arch>/<application> st.cmd

Or Chmod +x st.cmd “./st.cmd” to start iocsh


EPICS

Commands for debugging

Try first:

epics> help Then, try some of the other commands:epics> thread

epics> dbl

epics> dbpr “record_name”

epics> scanppl

epics> …


EPICSCommands to check channel

base/bin/<arch> caConnTest.o CaEventRate ca_test Caget Camonitor Caput catime Cainfo callbackTestHost


EPICSHands-on preparation

Boot you PC using Ubuntu CD Wait for a while When Ubuntu desktop is up. Open “terminal”

Applications -> Accessories -> Terminal Insert your USB memory, if you have

In “Terminal”, input the following commands ls /media Cd /media/<your usb memory>

Create working directory mkdir Group<group#>App

Replace <group#> with your group number shown on your PC Set User Environment variable

export USER=<group #>

Starting Ubuntu

← Just after rebooting PC. Press Enter to proceed.

→ Automatically log in to Ubuntuas user: ubuntu

Ubuntu:Network configuration

← select network configuration

←select eth0.And click “edit” button

→ setup IP address/mask or use DHCP

Ubuntu:Open Terminal


EPICSHands on

cd Group<group#>App makeBaseApp.pl -t example myexample makeBaseApp.pl -i -t example myexample make Run Iocsh:

do: cd iocBoot/iocmyexample ../../bin/linux-x86/myexample st.cmd

or cd iocBoot/iocmyexample chmod +x ./st.cmd ./st.cmd


EPICS

In inocsh try: dbl dbpr <your channel name> scnppl

In Unix shell try: caget <your channel name> cainfo <your channel name> camonitor <your channel name> caput <your channel name> , <new value>

Create User Interface with edm/medm

1 2003/p571: ioc development environment epics ioc development environment with epics on ubuntu...

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