# Database for GroupKill, GroupInitialize, GroupReferencingStart, GroupReferencingStop and GroupReferencingActionExecute for XPS  with asynMotor
#              positionerError,positionerHardwareStatus,...
#
#    Vanik Kakoyan
#    March 21, 2016
#
#
# Macro paramters:
#   $(P)        - PV name prefix (halldxps1:,...)
#   $(R)        - PV base record name (m1,...)
#   $(G)        - Group name 
#   $(PORT)     - asyn port for this controller
#   $(TIMEOUT)  - asyn timeout
#   $(ADDR)     - asyn addr for this axis

#
# PVs for GroupReferencingActionExecute(Action,Sensor,Parameter) command 
#
record(busy,"$(P)$(R):positRefActionExecute") {
    field(DESC,"GroupRefActionExecute command")
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))GROUP_REFERENCING_ACTIONEXECUTE")
    field(ZNAM, "Done")
    field(ONAM, "GroupReferencingStop")
}
record(mbbi,"$(P)$(R):positRefActionExecuteStat") {
    field(DESC,"GroupRefActionExecute command status")
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))GROUP_REFERENCING_ACTIONEXECUTE_STATUS")
    field(ZRVL, "0")
    field(ZRST, "Undefined")
    field(ZRSV, "INVALID")
    field(ONVL, "1")
    field(ONST, "Success")
    field(ONSV, "NO_ALARM")
    field(TWVL, "2")
    field(TWST, "Failure")
    field(TWSV, "MAJOR")
    field(SCAN, "I/O Intr")
}
#
#-- "Action" for GroupReferencingActionExecute command
#

record(mbbo,"$(P)$(R):positRefAction") {
    field(DESC, "Action for GroupRefActionExecute command")
    field(PINI, "YES")
    field(VAL , "0")
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))GROUP_REFERENCING_ACTION")
    field(ZRVL, "0")
    field(ZRST, "LatchOnLowToHighTransit")
    field(ONVL, "1")
    field(ONST, "LatchOnHighToLowTransit")
    field(TWVL, "2")
    field(TWST, "LatchOnIndex")
    field(THVL, "3")
    field(THST, "LatchOnIndexAfterHighToLo")
    field(FRVL, "4")
    field(FRST, "SetPosition")
    field(FVVL, "5")
    field(FVST, "SetPositionToHomePreset")
    field(SXVL, "6")
    field(SXST, "MoveToPrevLatchedPos")
    field(SVVL, "7")
    field(SVST, "MoveRelative")
}
#
#-- "Sensor" for GroupReferencingActionExecute command
#
record(mbbo,"$(P)$(R):positRefSensor") {
    field(DESC, "Sensor for GroupRefActionExecute command")
    field(PINI, "YES")
    field(VAL , "0")
    field(DTYP, "asynInt32")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))GROUP_REFERENCING_SENSOR")
    field(ZRVL, "0")
    field(ZRST, "MinusEndOfRun")
    field(ONVL, "1")
    field(ONST, "MechanicalZero")
    field(TWVL, "2")
    field(TWST, "PlusEndOfRun")
    field(THVL, "3")
    field(THST, "None")
}
#
#-- "Parameter" for GroupReferencingActionExecute command
#
record(ao,"$(P)$(R):positRefParameter") {
    field(DESC, "Parameter for GroupRefActionExecute")
    field(PINI, "NO")
    field(DTYP, "asynFloat64")
    field(OUT,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))GROUP_REFERENCING_PARAMETER")
    field(VAL,  "0")
    field(PREC, "$(PREC)")
    }
#
# axisReferencing Operations Message
#
record(waveform,"$(P)$(R):positRefMessage") {
    field(DESC, "positReferencing Operations message")
    field(DTYP, "asynOctetRead")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))GROUP_REFERENCING_MESSAGE")
    field(FTVL, "CHAR")
    field(NELM, "256")
    field(SCAN, "I/O Intr")
}
#----------------------------------------------------------------------
#
# PV  '$(P):$(R):positionerError' from PositionerErrorRead(PositionerName) command 
#
record(longin,"$(P)$(R):positError") {
    field(DESC, "PositionerError")
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))POSITIONER_ERROR")
    field(SCAN, "I/O Intr")
}
#
# PV '$(P):$(R):positionerHardwareStatus'  from PositionerHardwareStatusGet(PositionerName) command 
#
record(longin,"$(P)$(R):positHardwareStat") {
    field(DESC, "PositionerHardwareStatus")
    field(DTYP, "asynInt32")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))POSITIONER_HARDWARE_STATUS")
    field(SCAN, "I/O Intr")
}
#
# positionerHardwareStatus String
#
record(waveform,"$(P)$(R):positHardwareStatStr") {
    field(DESC, "positionerHardwareStatus String")
    field(DTYP, "asynOctetRead")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))POSITIONER_HARDWARE_STATUS_STRING")
    field(FTVL, "CHAR")
    field(NELM, "256")
    field(SCAN, "I/O Intr")
}
#
# positionerError String 
#
record(waveform,"$(P)$(R):positErrorStr") {
    field(DESC, "positionerError message")
    field(DTYP, "asynOctetRead")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))POSITIONER_ERROR_STRING")
    field(FTVL, "CHAR")
    field(NELM, "256")
    field(SCAN, "I/O Intr")
}
#
#-- HomeSearchMaximumVelocity parameter from stages.ini file
#
record(ai,"$(P)$(R):positHomeSearchMaxVel") {
    field(DESC, "HomeSearchMaxVelocity param")
    field(PINI, "YES")
    field(DTYP, "asynFloat64")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))HOME_SEARCH_MAX_VEL")
    field(PREC, "$(PREC)")
    field(SCAN, "I/O Intr")
}
#
#-- HomePreset parameter from stages.ini file
#
record(ai,"$(P)$(R):positHomePreset") {
    field(DESC, "HomePreset parameter")
    field(PINI, "YES")
    field(DTYP, "asynFloat64")
    field(INP,  "@asyn($(PORT),$(ADDR),$(TIMEOUT))HOME_PRESET")
    field(PREC, "$(PREC)")
    field(SCAN, "I/O Intr")
    field(FLNK, "$(P)$(R):setOffset" )
 }

# Change motor records offset field
record(calcout, "$(P)$(R):setOffset") {
  field(INPA, "$(P)$(R):positHomePreset")
  field(CALC, "-1*A")
  field(SCAN, "Passive")
  field(OUT,  "$(P)$(R).OFF NMS")
  field(OOPT, "Every Time")
  field(DOPT, "Use CALC" )
}