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4-Deploy-motorVMC.md 12.98 KiB

IOC Deployment and Troubleshooting

4 Deploy the motorVMC (Virtual Motor Controller) module

A Virtual Motor Controller (VMC) has a number of advantages over simulated motors for EPICS trainings:

  • It isn't included in xxx-based IOCs by default (motorVMC is not included in the motor module)
  • The Virtual Motor Controller can be started/stopped independently of the IOC
  • The IOC talks to the Virtual Motor Controller via ethernet

4.1 Clone motorVMC

$ cd ${SUPPORT_DIR}
$ git clone https://git.aps.anl.gov/practical_beamline_controls_training/session_2/motorVMC.git
output 
Cloning into 'motorVMC'...
remote: Enumerating objects: 69, done.
remote: Counting objects: 100% (69/69), done.
remote: Compressing objects: 100% (58/58), done.
remote: Total 69 (delta 7), reused 0 (delta 0), pack-reused 0
Receiving objects: 100% (69/69), 27.55 KiB | 972.00 KiB/s, done.
Resolving deltas: 100% (7/7), done.

4.2 Confirm directories exist

$ cd motorVMC
$ tree -d .
output 
.
├── configure
├── iocs
│   └── vmcIOC
│       ├── configure
│       ├── iocBoot
│       │   └── iocvmc
│       └── vmcApp
│           ├── Db
│           └── src
├── python
└── vmcApp
    ├── Db
    └── src

13 directories

4.3 Build motorVMC (Attempt #1)

$ make
output 
configure/RULES_TOP:2: /configure/RULES_TOP: No such file or directory
make: *** No rule to make target '/configure/RULES_TOP'.  Stop.

4.4 Resolve build error #1

This build error occurs for the same reason the build error occurred in step 2.4: EPICS_BASE isn't defined.

The error was much more helpful in step 2.4 because xxx's CONFIG file prints the user friendly error message. The motorVMC developer should add a similar check to the motorVMC module.

hint

The motorVMC/configure/RELEASE file doesn't contain any definitions, but it does include other files if they exist.

solution 
$ cp -p configure/EXAMPLE_RELEASE.local configure/RELEASE.local

The RELEASE.local file contains two variables that need be defined: MOTOR and MOTOR_VMC

MOTOR should be set to the same path that is in the envPaths file:

$ grep MOTOR ${IOC_DIR}/xxx/iocBoot/iocxxx/envPaths 
epicsEnvSet("MOTOR","/APSshare/epics/synApps_6_2_1/support/motor-R7-2-2")
epicsEnvSet("MOTOR_ACSMOTION","/APSshare/epics/synApps_6_2_1/support/motorAcsMotion-R2-0-bugfix")

MOTOR_VMC should be set to the present working directory

$ pwd
/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC

The result should look like this:

$ cat configure/RELEASE.local 
MOTOR=/APSshare/epics/synApps_6_2_1/support/motor-R7-2-2
-include $(MOTOR)/modules/RELEASE.$(EPICS_HOST_ARCH).local
# path to motorVMC is needed to build the IOC inside motorVMC, but outside motor
MOTOR_VMC=/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC

4.5 Build motorVMC (Attempt #2)

If the following build succeeds, proceed to step 4.8.

$ make
output 
make -C ./configure install
make[1]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC/configure'
perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/makeMakefile.pl O.rhel8-x86_64 ../..
mkdir -p O.Common
make -C O.rhel8-x86_64 -f ../Makefile TOP=../.. \
    T_A=rhel8-x86_64 install
make[2]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC/configure/O.rhel8-x86_64'
perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/convertRelease.pl checkRelease

Definition of MOTOR conflicts with SUPPORT support.
In this application or module, a RELEASE file
conflicts with SUPPORT at /APSshare/epics/synApps_6_2_1/support
  Here: MOTOR = /net/aquila/export/APSmaster/gateway/epics/synApps_6_2_1/support/motor-R7-2-2
  SUPPORT: MOTOR = /APSshare/epics/synApps_6_2_1/support/motor-R7-2-2

make[2]: *** [/APSshare/epics/base-7.0.4.1/configure/RULES_BUILD:190: checkRelease] Error 1
make[2]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC/configure/O.rhel8-x86_64'
make[1]: *** [/APSshare/epics/base-7.0.4.1/configure/RULES_ARCHS:58: install.rhel8-x86_64] Error 2
make[1]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC/configure'
make: *** [/APSshare/epics/base-7.0.4.1/configure/RULES_DIRS:85: configure.install] Error 2

Note: this build error occurs when there is a mismatch (hard mount vs soft link) between the /APSshare mount on the computer that built the support on /APSshare and the computer building the IOC. The two MOTOR paths actually point to the same directory.

4.6 Resolve build error #2

The configure/CONFIG_SITE is where the checkRelease behavior is defined. The CHECK_RELEASE variable can be overridden to ignore this error.

hint 
$ grep RELEASE configure/CONFIG_SITE 
# CHECK_RELEASE controls the consistency checking of the support
#   applications pointed to by the RELEASE* files.
# Normally CHECK_RELEASE should be set to YES.
# Set CHECK_RELEASE to NO to disable checking completely.
# Set CHECK_RELEASE to WARN to perform consistency checking but
CHECK_RELEASE = YES
$ tail -n 6 configure/CONFIG_SITE
# These allow developers to override the CONFIG_SITE variable
# settings without having to modify the configure/CONFIG_SITE
# file itself.
-include $(TOP)/../CONFIG_SITE.local
-include $(TOP)/configure/CONFIG_SITE.local
solution 
$ echo "CHECK_RELEASE = NO" > configure/CONFIG_SITE.local

4.7 Build motorVMC

$ make
output 
make -C ./configure install
make[1]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/configure'
perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/makeMakefile.pl O.rhel8-x86_64 ../..
mkdir -p O.Common
make -C O.rhel8-x86_64 -f ../Makefile TOP=../.. \
    T_A=rhel8-x86_64 install
make[2]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/configure/O.rhel8-x86_64'
Warning: RELEASE file consistency checks have been disabled
make[2]: Nothing to be done for 'install'.
make[2]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/configure/O.rhel8-x86_64'
make[1]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/configure'
make -C ./vmcApp install
make[1]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp'
make -C ./src install
make[2]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/src'
perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/makeMakefile.pl O.rhel8-x86_64 ../../..
mkdir -p O.Common
make -C O.rhel8-x86_64 -f ../Makefile TOP=../../.. \
    T_A=rhel8-x86_64 install
make[3]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/src/O.rhel8-x86_64'
/usr/bin/g++  -D_GNU_SOURCE -D_DEFAULT_SOURCE           -D_X86_64_  -DUNIX  -Dlinux      -O3   -Wall      -mtune=generic      -m64 -fPIC -I. -I../O.Common -I. -I. -I.. -I../../../include/compiler/gcc -I../../../include/os/Linux -I../../../include   -I/net/aquila/export/APSmaster/gateway/epics/synApps_6_2_1/support/motor-R7-2-2/include   -I/APSshare/epics/synApps_6_2_1/support/asyn-R4-42/include   -I/APSshare/epics/synApps_6_2_1/support/seq-2-2-9/include   -I/APSshare/epics/synApps_6_2_1/support/busy-R1-7-3/include   -I/APSshare/epics/synApps_6_2_1/support/ipac-2-16/include   -I/APSshare/epics/synApps_6_2_1/support/lua-R3-0-2/include -I/APSshare/epics/base-7.0.4.1/include/compiler/gcc -I/APSshare/epics/base-7.0.4.1/include/os/Linux -I/APSshare/epics/base-7.0.4.1/include              -MM -MF vmcDriver.d  ../vmcDriver.cpp
Creating dbd file vmcSupport.dbd
perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/dbdExpand.pl   -I. -I.. -I../O.Common -I../../../dbd -I/net/aquila/export/APSmaster/gateway/epics/synApps_6_2_1/support/motor-R7-2-2/dbd -I/APSshare/epics/synApps_6_2_1/support/asyn-R4-42/dbd -I/APSshare/epics/synApps_6_2_1/support/seq-2-2-9/dbd -I/APSshare/epics/synApps_6_2_1/support/busy-R1-7-3/dbd -I/APSshare/epics/synApps_6_2_1/support/ipac-2-16/dbd -I/APSshare/epics/synApps_6_2_1/support/lua-R3-0-2/dbd -I/APSshare/epics/base-7.0.4.1/dbd -o vmcSupport.dbd vmc.dbd
Installing created dbd file ../../../dbd/vmcSupport.dbd
mkdir ../../../dbd
/usr/bin/g++  -D_GNU_SOURCE -D_DEFAULT_SOURCE           -D_X86_64_  -DUNIX  -Dlinux      -O3   -Wall      -mtune=generic      -m64 -fPIC -I. -I../O.Common -I. -I. -I.. -I../../../include/compiler/gcc -I../../../include/os/Linux -I../../../include   -I/net/aquila/export/APSmaster/gateway/epics/synApps_6_2_1/support/motor-R7-2-2/include   -I/APSshare/epics/synApps_6_2_1/support/asyn-R4-42/include   -I/APSshare/epics/synApps_6_2_1/support/seq-2-2-9/include   -I/APSshare/epics/synApps_6_2_1/support/busy-R1-7-3/include   -I/APSshare/epics/synApps_6_2_1/support/ipac-2-16/include   -I/APSshare/epics/synApps_6_2_1/support/lua-R3-0-2/include -I/APSshare/epics/base-7.0.4.1/include/compiler/gcc -I/APSshare/epics/base-7.0.4.1/include/os/Linux -I/APSshare/epics/base-7.0.4.1/include              -c ../vmcDriver.cpp
../vmcDriver.cpp: In constructor ‘VirtualMotorController::VirtualMotorController(const char*, const char*, int, double, double)’:
../vmcDriver.cpp:52:21: warning: variable ‘pAxis’ set but not used [-Wunused-but-set-variable]
   VirtualMotorAxis *pAxis;
                     ^~~~~
../vmcDriver.cpp: In function ‘int VirtualMotorCreateController(const char*, const char*, int, int, int)’:
../vmcDriver.cpp:88:27: warning: variable ‘pVirtualMotorController’ set but not used [-Wunused-but-set-variable]
   VirtualMotorController *pVirtualMotorController
                           ^~~~~~~~~~~~~~~~~~~~~~~
/usr/bin/ar -rc    libvmc.a    vmcDriver.o 
/usr/bin/ranlib libvmc.a
/usr/bin/g++ -o libvmc.so -shared -fPIC -Wl,-hlibvmc.so -L/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/lib/rhel8-x86_64 -L/net/s100dserv/APSshare/epics/base-7.0.4.1/lib/rhel8-x86_64 -L/net/s100dserv/APSshare/epics/synApps_6_2_1/support/asyn-R4-42/lib/rhel8-x86_64 -L/net/aquila/export/APSmaster/gateway/epics/synApps_6_2_1/support/motor-R7-2-2/lib/rhel8-x86_64 -L/APSshare/epics/base-7.0.4.1/lib/rhel8-x86_64 -Wl,-rpath,/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/lib/rhel8-x86_64 -Wl,-rpath,/net/s100dserv/APSshare/epics/base-7.0.4.1/lib/rhel8-x86_64 -Wl,-rpath,/net/s100dserv/APSshare/epics/synApps_6_2_1/support/asyn-R4-42/lib/rhel8-x86_64 -Wl,-rpath,/net/aquila/export/APSmaster/gateway/epics/synApps_6_2_1/support/motor-R7-2-2/lib/rhel8-x86_64 -Wl,-rpath,/APSshare/epics/base-7.0.4.1/lib/rhel8-x86_64           -rdynamic -m64         vmcDriver.o    -lmotor -lasyn -ldbRecStd -ldbCore -lca -lCom   -lpthread   -lreadline -lm -lrt -ldl -lgcc
Installing shared library ../../../lib/rhel8-x86_64/libvmc.so
Installing library ../../../lib/rhel8-x86_64/libvmc.a
make[3]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/src/O.rhel8-x86_64'
make[2]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/src'
make -C ./Db install
make[2]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/Db'
perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/makeMakefile.pl O.rhel8-x86_64 ../../..
mkdir -p O.Common
make -C O.rhel8-x86_64 -f ../Makefile TOP=../../.. \
    T_A=rhel8-x86_64 install
make[3]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/Db/O.rhel8-x86_64'
make[3]: Nothing to be done for 'install'.
make[3]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/Db/O.rhel8-x86_64'
make[2]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp/Db'
make[1]: Leaving directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/support/motorVMC/vmcApp'

4.8 Confirm build products exist

When the build is successful there should be a database definitions file (.dbd) in the top level dbd dir, as well as a static library (.a) and a dynamic library (.so) in the arch-specific lib dir.

$ ls -l dbd lib/${EPICS_HOST_ARCH}
output 
dbd:
total 0
-r--r--r-- 1 username group 32 Feb  2 15:44 vmcSupport.dbd

lib/rhel8-x86_64:
total 92
-r--r--r-- 1 username group 34518 Feb  2 15:44 libvmc.a
-r-xr-xr-x 1 username group 47696 Feb  2 15:44 libvmc.so*

5 Add virtual motors to the IOC