From a179d57fbe6bdc000a8a0565a776363ff4b31041 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?= <torsten.bogershausen@esss.se>
Date: Wed, 6 Dec 2023 18:27:29 +0100
Subject: [PATCH] Add MINP for soft motors

Make it possible to set bits of the MSTA field for soft motors.
Add a new input link, called MINP, beside the existing DINP and RINP

MINP will read the new MSTA bits, but filter out the RA_DONE bit.
The RA_DONE bit will be taken from DINP (as before) and the RA_DONE bit
inside MINP will be ignored, preserving the RA_DONE coming from DINP

Note that the MINP needs to follow the bit-definition in MSTA.
It may update RA_PLUS_LS, RA_MINUS_LS.
RA_HOMED or other bits may be set as well, whatever the application needs.
MINP may be pointed to the output of a calc or transform record.
---
 motorApp/MotorSrc/motorRecord.dbd   |  6 ++++++
 motorApp/SoftMotorSrc/devSoft.cc    | 17 +++++++++++++++++
 motorApp/SoftMotorSrc/devSoft.h     |  1 +
 motorApp/SoftMotorSrc/devSoftAux.cc | 20 ++++++++++++++++++--
 4 files changed, 42 insertions(+), 2 deletions(-)

diff --git a/motorApp/MotorSrc/motorRecord.dbd b/motorApp/MotorSrc/motorRecord.dbd
index be7c549de..82106dc6f 100644
--- a/motorApp/MotorSrc/motorRecord.dbd
+++ b/motorApp/MotorSrc/motorRecord.dbd
@@ -754,6 +754,12 @@ recordtype(motor) {
                 special(SPC_MOD)
                 interest(1)
         }
+        field(MINP,DBF_INLINK) {
+                prompt("MSTA Input Link")
+                promptgroup(GUI_COMMON)
+                special(SPC_MOD)
+                interest(1)
+        }
         field(RINP,DBF_INLINK) {
                 prompt("RMP Input Link")
                 promptgroup(GUI_COMMON)
diff --git a/motorApp/SoftMotorSrc/devSoft.cc b/motorApp/SoftMotorSrc/devSoft.cc
index 55d291384..6773f001f 100644
--- a/motorApp/SoftMotorSrc/devSoft.cc
+++ b/motorApp/SoftMotorSrc/devSoft.cc
@@ -254,6 +254,23 @@ void soft_dinp_func(struct motorRecord *mr, short newdinp)
     }
 }
 
+void soft_minp_func(struct motorRecord *mr, short newminp)
+{
+    msta_field status;
+    unsigned int old_RA_DONE;
+    if (interruptAccept != TRUE)
+        return;
+
+    status.All = mr->msta;
+    old_RA_DONE = status.Bits.RA_DONE;
+    Debug(5, "update(): old msta=0x%04x newminp=0x%04x for %s.\n",
+          mr->msta, (unsigned)newminp, mr->name);
+
+    status.All = newminp;
+    status.Bits.RA_DONE = old_RA_DONE;
+    mr->msta = status.All;
+    soft_process(mr);
+}
 
 void soft_rinp_func(struct motorRecord *mr, long newrinp)
 {
diff --git a/motorApp/SoftMotorSrc/devSoft.h b/motorApp/SoftMotorSrc/devSoft.h
index 470091cd2..4f99e2f04 100644
--- a/motorApp/SoftMotorSrc/devSoft.h
+++ b/motorApp/SoftMotorSrc/devSoft.h
@@ -57,6 +57,7 @@ struct motor_node {
 extern long soft_init(int);
 extern long soft_init_record(void *);
 extern void soft_dinp_func(struct motorRecord *, short);
+extern void soft_minp_func(struct motorRecord *, short);
 extern void soft_rdbl_func(struct motorRecord *, double);
 extern void soft_rinp_func(struct motorRecord *, long);
 extern void soft_motor_callback(CALLBACK *);
diff --git a/motorApp/SoftMotorSrc/devSoftAux.cc b/motorApp/SoftMotorSrc/devSoftAux.cc
index 05a049622..289437628 100644
--- a/motorApp/SoftMotorSrc/devSoftAux.cc
+++ b/motorApp/SoftMotorSrc/devSoftAux.cc
@@ -66,6 +66,7 @@ static inline void Debug(int level, const char *format, ...)
 }
 
 STATIC void soft_dinp(struct event_handler_args);
+STATIC void soft_minp(struct event_handler_args);
 STATIC void soft_rdbl(struct event_handler_args);
 STATIC void soft_rinp(struct event_handler_args);
 STATIC EPICSTHREADFUNC soft_motor_task(void *);
@@ -78,6 +79,11 @@ STATIC void soft_dinp(struct event_handler_args args)
     soft_dinp_func((struct motorRecord *) args.usr, *((short *) args.dbr));
 }
 
+STATIC void soft_minp(struct event_handler_args args)
+{
+    soft_minp_func((struct motorRecord *) args.usr, *((short *) args.dbr));
+}
+
 
 STATIC void soft_rdbl(struct event_handler_args args)
 {
@@ -162,7 +168,7 @@ STATIC EPICSTHREADFUNC soft_motor_task(void *parm)
 {
     struct motorRecord *mr;
     struct motor_node *node;
-    chid dinp, rdbl, rinp;
+    chid dinp, minp, rdbl, rinp;
     epicsEventId wait_forever;
 
     epicsEventWait(soft_motor_sem);     /* Wait for dbLockInitRecords() to execute. */
@@ -195,7 +201,17 @@ STATIC EPICSTHREADFUNC soft_motor_task(void *parm)
         {
             ptr->default_done_behavior = true;
         }
-    
+        if (((mr->minp.type == PV_LINK) ||
+             (mr->minp.type == CA_LINK) ||
+             (mr->minp.type == DB_LINK)) &&
+             (mr->minp.value.pv_link.pvname != NULL))
+        {
+            Debug(5, "devSoftAux::soft_motor_task: adding minp link for motor %s link=%s\n", mr->name, mr->minp.value.pv_link.pvname);
+            SEVCHK(ca_search(mr->minp.value.pv_link.pvname, &minp),"ca_search() failure");
+            SEVCHK(ca_add_event(DBR_SHORT, minp, soft_minp, mr, NULL),"ca_add_event() failure");
+            SEVCHK(ca_pend_io((float) 5.0), "MINP link failure");
+        }
+
         if ((mr->urip != 0) &&
             ((mr->rdbl.type == PV_LINK) || 
              (mr->rdbl.type == CA_LINK) ||