Usage

Start EPICS IOC

fast@merlot $ cd ~/epics/synApps/support/robot/iocBoot/iocRobot
fast@merlot $ ./start_IOC

at the end of the start up process you will get the IOC console:

Starting iocInit
############################################################################
## EPICS R7.0.6.2-DEV
## Rev. R7.0.6.1-75-g91941af992f6c32ef4f4
############################################################################
reboot_restore: entry for file 'auto_settings.sav'
reboot_restore: Found filename 'auto_settings.sav' in restoreFileList.
*** restoring from './autosave/auto_settings.sav' at initHookState 6 (before record/device init) ***
reboot_restore: done with file 'auto_settings.sav'

reboot_restore: entry for file 'auto_settings.sav'
reboot_restore: Found filename 'auto_settings.sav' in restoreFileList.
*** restoring from './autosave/auto_settings.sav' at initHookState 7 (after record/device init) ***
reboot_restore: done with file 'auto_settings.sav'

cas WARNING: Configured TCP port was unavailable.
cas WARNING: Using dynamically assigned TCP port 44367,
cas WARNING: but now two or more servers share the same UDP port.
cas WARNING: Depending on your IP kernel this server may not be
cas WARNING: reachable with UDP unicast (a host's IP in EPICS_CA_ADDR_LIST)
iocRun: All initialization complete
create_monitor_set("auto_settings.req", 30, "P=32id:,R=Robot:")
save_restore:readReqFile: unable to open file robot.req. Exiting.
epics> auto_settings.sav: 8 of 8 PV's connected
epics>

If you do any modification to the robot_settings.req or robot.template files in:

~/epics/synApps/support/robot/robotApp/Db

you neeed to rebuld the epics IOC:

epics> exit
fast@merlot $ cd ../..
fast@merlot $ make -sj
fast@merlot $ cd iocBoot/iocRobot

and restart the IOC:

fast@merlot $ ./start_IOC

You can accomplish the same with a single line command:

fast@merlot $ cd ../.. ; make -sj ; cd iocBoot/iocRobot ; ./start_IOC

Start MEDM screen

fast@merlot $ cd ~/epics/synApps/support/robot/iocBoot/iocRobot
fast@merlot $ ./start_medm

Start python server

$ bash
(base) $ conda activate robot
(robot) fast@merlot $ cd ~/epics/synApps/support/robot/iocBoot/iocRobot
(robot) fast@merlot $ python -i start_robot.py
configPVS:
CameraPVPrefix : 2bmbSP2:
ExamplePVName : 32id:m1
RayleighLength : 50.00
BeamWaist : 0
BeamWaistYPosition : 0
DesiredBeamDiameter : 0
SampleHeight : 0

controlPVS:
Example : None
Go : Done
RobotStatus :
Watchdog : -38

pv_prefixes:
Camera : 2bmbSP2:
>>>

If you do any modification to the python source code files in:

~/epics/synApps/support/robot/robot/

you neeed to rebuld the python server code:

>>> exit()
(robot) fast@merlot $ cd ../..
(robot) fast@merlot $ python setup.py install
(robot) fast@merlot $ cd iocBoot/iocRobot/
(robot) fast@merlot $ python -i start_robot.py

You can accomplish the same with a single line command:

(robot) fast@merlot $ cd ../../; python setup.py install; cd iocBoot/iocRobot/; python -i start_robot.py