Made multiple changes to 5-Add-virtual-motors.md:

* added more solutions
* enabled syntax highlighting in solutions
* added links
* added missing 'cd' in 5.7.2

5-Add-virtual-motors.md

@@ -8,7 +8,7 @@ Use the same variable that was set in motorVMC's RELEASE.local file
 
 ```
 $ cd ${IOC_DIR}/xxx
-$ nano configure/RELEASE 
+$ gedit configure/RELEASE &
 ```
 
 <details>
@@ -20,14 +20,23 @@ MOTOR_VMC=/home/beams/USERNAME/PET-S2/epics/synApps/support/motorVMC
 ```
 </details>
 
-```
-$ git diff RELEASE.local
-```
 <details>
 <summary>solution</summary>
 
-```
-TODO
+```diff
+diff --git a/configure/RELEASE b/configure/RELEASE
+index e7aba0e..39736e4 100644
+--- a/configure/RELEASE
++++ b/configure/RELEASE
+@@ -35,6 +35,8 @@ SUPPORT=/APSshare/epics/synApps_6_2_1/support
+ #TDS3000 = $(SUPPORT)/../nonSynAppsSupport/tds3000-2.4
+ #FLY = $(SUPPORT)/../nonSynAppsSupport/fly-0-0
+ 
++MOTOR_VMC=~/PET-S2/epics/synApps_6_2_1/support/motorVMC
++
+ # For a local, custom configuration; copy $(SUPPORT)/configure/RELEASE
+ # to this directory as the file MASTER_RELEASE, edit the file, comment out
+ # the above include, and uncomment the following line.
 ```
 </details>
 
@@ -36,7 +45,7 @@ TODO
 Add the motorVMC database and library to **xxxApp/src/Makefile**
 
 ```
-$ nano xxxApp/src/Makefile
+$ gedit xxxApp/src/Makefile &
 ```
 
 <details>
@@ -69,7 +78,7 @@ endif
 <details>
 <summary>solution</summary>
 
-```
+```diff
 $ git diff xxxApp/src/Makefile 
 diff --git a/xxxApp/src/Makefile b/xxxApp/src/Makefile
 index 9692f5a..14855f8 100644
@@ -98,7 +107,7 @@ $ make
 <details>
 <summary>output</summary>
 
-```
+```make
 make -C ./configure install
 make[1]: Entering directory '/home/beams/USERNAME/PET-S2/epics/synApps_6_2_1/ioc/xxx/configure'
 perl -CSD /APSshare/epics/base-7.0.4.1/bin/rhel8-x86_64/makeMakefile.pl O.rhel8-x86_64 ../..
@@ -124,7 +133,7 @@ make: *** [/APSshare/epics/base-7.0.4.1/configure/RULES_DIRS:85: configure.insta
 
 ### 5.4 Resolve the build error
 
-This is the same build error as 4.5, so the solution is very similar.
+This is the same build error as in [step 4.5](4-Deploy-motorVMC.md#45-build-motorvmc-attempt-2), so the solution is very similar.
 
 <details>
 <summary>solution</summary>
@@ -132,15 +141,19 @@ This is the same build error as 4.5, so the solution is very similar.
 ```
 $ echo "CHECK_RELEASE = NO" >> configure/CONFIG_SITE.local
 ```
+Note: The **>>** is needed here because the file already exists.  **>** was used in [step 4.6](4-Deploy-motorVMC.md#46-resolve-build-error-2) because the file needed to be created.
 </details>
 
-Note: The **>>** is needed here because the file already exists.  **>** was used in step 4.6 because the file needed to be created.
-
 ### 5.5 Rebuild the IOC
 
 ```
 $ make
 ```
+<details>
+<summary>output</summary>
+
+TODO
+</details>
 
 ### 5.6 Confirm the libvmc is included in the IOC's binary
 
@@ -164,7 +177,12 @@ $ cp -p ${SUPPORT_DIR}/motorVMC/iocs/vmcIOC/iocBoot/iocvmc/vmc.cmd ${IOC_DIR}/xx
 $ cp -p ${SUPPORT_DIR}/motorVMC/iocs/vmcIOC/iocBoot/iocvmc/vmc.substitutions ${IOC_DIR}/xxx/iocBoot/iocxxx/substitutions/
 ```
 
-#### 5.7.2 Modify vmc.cmd
+#### 5.7.2 Modify iocsh/vmc.cmd
+
+```
+$ cd ${IOC_DIR}/xxx/iocBoot/iocxxx
+$ gedit iocsh/vmc.cmd &
+```
 
 Make the following changes:
 
@@ -179,20 +197,67 @@ Make the following changes:
 <details>
 <summary>solution</summary>
 
-```
-TODO
+```diff
+diff --git a/iocBoot/iocxxx/iocsh/vmc.cmd b/iocBoot/iocxxx/iocsh/vmc.cmd
+index 229b985..3754207 100644
+--- a/iocBoot/iocxxx/iocsh/vmc.cmd
++++ b/iocBoot/iocxxx/iocsh/vmc.cmd
+@@ -1,6 +1,6 @@
+ ### Virtual Motor Controller support
+ 
+-epicsEnvSet("VMC_PORT", "31337")
++epicsEnvSet("VMC_PORT", "33333")
+ 
+ drvAsynIPPortConfigure("VMC_ETH","127.0.0.1:$(VMC_PORT)", 0, 0, 0)
+ 
+@@ -16,11 +16,11 @@ asynOctetSetInputEos("VMC_ETH",0,"\r\n")
+ asynOctetSetOutputEos("VMC_ETH",0,"\r")
+ 
+ # These motor records can get their prefix from the environment variable
+-dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m1,DTYP=asynMotor,PORT=VMC1,ADDR=0,DESC=X,EGU=mm,DIR=Pos,VELO=1,VBAS=.1,ACCL=.2,BDST=0,BVEL=1,BACC=.2,MRES=.0025,PREC=4,DHLM=100,DLLM=-100,INIT=")
+-dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m2,DTYP=asynMotor,PORT=VMC1,ADDR=1,DESC=Y,EGU=mm,DIR=Pos,VELO=1,VBAS=.1,ACCL=.2,BDST=0,BVEL=1,BACC=.2,MRES=.0025,PREC=4,DHLM=100,DLLM=-100,INIT=")
+-dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m3,DTYP=asynMotor,PORT=VMC1,ADDR=2,DESC=Z,EGU=mm,DIR=Pos,VELO=1,VBAS=.1,ACCL=.2,BDST=0,BVEL=1,BACC=.2,MRES=.0025,PREC=4,DHLM=100,DLLM=-100,INIT=")
++#!dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m1,DTYP=asynMotor,PORT=VMC1,ADDR=0,DESC=X,EGU=mm,DIR=Pos,VELO=1,VBAS=.1,ACCL=.2,BDST=0,BVEL=1,BACC=.2,MRES=.0025,PREC=4,DHLM=100,DLLM=-100,INIT=")
++#!dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m2,DTYP=asynMotor,PORT=VMC1,ADDR=1,DESC=Y,EGU=mm,DIR=Pos,VELO=1,VBAS=.1,ACCL=.2,BDST=0,BVEL=1,BACC=.2,MRES=.0025,PREC=4,DHLM=100,DLLM=-100,INIT=")
++#!dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m3,DTYP=asynMotor,PORT=VMC1,ADDR=2,DESC=Z,EGU=mm,DIR=Pos,VELO=1,VBAS=.1,ACCL=.2,BDST=0,BVEL=1,BACC=.2,MRES=.0025,PREC=4,DHLM=100,DLLM=-100,INIT=")
+ # The dbLoadTemplate approach is a cleaner way to load multiple database instances
+-#!dbLoadTemplate("vmc.substitutions", "P=$(PREFIX)")
++dbLoadTemplate("substitutions/vmc.substitutions", "P=$(PREFIX)")
+ 
+ # VirtualMotorController(
+ #    portName          The name of the asyn port that will be created for this driver
+@@ -30,12 +30,12 @@ dbLoadRecords("$(MOTOR)/db/asyn_motor.db","P=$(PREFIX),M=m3,DTYP=asynMotor,PORT=
+ #    idlePollPeriod    The time between polls when no axis is moving 
+ 
+ # 1-second idle polling
+-VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 1000)
++#!VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 1000)
+ # 10-second idle polling
+ #!VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 10000)
+ # No idle polling
+ #!VirtualMotorCreateController("VMC1", "VMC_ETH", 3, 250, 0)
+ # Extra axes, 10-second idle polling
+-#!VirtualMotorCreateController("VMC1", "VMC_ETH", 8, 250, 10000)
++VirtualMotorCreateController("VMC1", "VMC_ETH", 8, 250, 10000)
+ 
+-dbLoadRecords("$(ASYN)/db/asynRecord.db","P=$(PREFIX),R=asyn1,PORT=VMC_ETH,ADDR=0,OMAX=0,IMAX=0")
++dbLoadRecords("$(ASYN)/db/asynRecord.db","P=$(PREFIX),R=asyn_1,PORT=VMC_ETH,ADDR=0,OMAX=0,IMAX=0")
 ```
 </details>
 
 #### 5.7.3 Modify st.cmd.Linux
 
+```
+$ gedit st.cmd.Linux
+```
+
 Make the following change:
-* Added a line that sources iocsh/vmc.cmd **after** common.iocsh and **before** iocInit
+* Add a line that sources iocsh/vmc.cmd **after** common.iocsh and **before** iocInit
 
 <details>
 <summary>solution</summary>
 
-```
+```diff
 $ git diff iocBoot/iocxxx/st.cmd.Linux
 diff --git a/iocBoot/iocxxx/st.cmd.Linux b/iocBoot/iocxxx/st.cmd.Linux
 index 588dda7..b8f6949 100644
@@ -220,8 +285,8 @@ $ ./softioc/xxx.sh run
 Scroll back until you see the error connecting to the virtual motor controller:
 
 ```
-drvAsynIPPortConfigure("VMC_ETH","127.0.0.1:31337", 0, 0, 0)
-2023/01/12 14:38:30.980 VMC_ETH -1 autoConnect could not connect: Can't connect to 127.0.0.1:31337: Connection refused
+drvAsynIPPortConfigure("VMC_ETH","127.0.0.1:33333", 0, 0, 0)
+2023/01/12 14:38:30.980 VMC_ETH -1 autoConnect could not connect: Can't connect to 127.0.0.1:33333: Connection refused
 ```
 
 Ctrl+c to kill the IOC.
@@ -249,13 +314,13 @@ Options:
 #### 5.9.2 Start servery.py in a different terminal window
 
 ```
-$ xterm -e "${SUPPORT_DIR}/motorVMC/python/server.py -p 30000" &
+$ xterm -e "${SUPPORT_DIR}/motorVMC/python/server.py -p 33333" &
 ```
 <details>
 <summary>output</summary>
 
 ```
-Listening on port 30000
+Listening on port 33333
 ```
 </details>