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I've added the EPICS Lua support module to our build system. Lua is a scripting language
designed to be embedded, it has a small footprint and is reasonably powerful. It would
provide an alternative to jumping through hoops in st.cmd syntax but also provides a
few other options. All iocsh
commands are imported into lua and so you can do things
like:
for index=1,10,1
do
print(string.format("Loading instance: %d", index))
iocsh.dbLoadRecords("test.db", string.format("P=xxx:,Q=%d", index))
end
You execute files from st.cmd using:
epicsEnvSet("LUA_PATH", "${UTILITIES}/lua")
epicsEnvSet("LUA_SCRIPT_PATH","${TOP}/iocBoot/${IOC}")
luash("file.lua")
or just typing luash
puts you into an interactive lua shell.
The lua script record is like a calcout record but can execute lua script. It might be an alternative to e.g. aSub records for parsing stream device strings when writing C is a bit overkill.
As well as being able to read/write PVs there is also some asyn integration into lua, so you can read/write/set asyn parameters from lua command line or script record, or even talk to a device by creating an asyn IP port and sending strings. See the documentation directory in lua support module and the example scripts directory in iocBoot
To use
add LUA=$(SUPPORT)/lua/master to configure/RELEASE
add luaSupport.dbd to the IOC Makefile DBD list
add lua and asyn to the IOC Makefile _LIBS list
There are examples of a lua script used in the DETADC, Attocube and OERCONE iocs.
There is a powerpoint about lua here: https://indico.cern.ch/event/766611/contributions/3438291/attachments/1856812/3050126/Lang-Lua_Integrating_Scripting_Language.pdf
See also the documentation on our epics-lua module or the actual epics module for more information on using lua in EPICS.
Currently we have four functions available as utilities for booting iocs using lua: getMacroValue, setAsynOptions, setHardwareFlowControl, setSoftwareFlowControl.
To be able to use these you need to add this to the top of your lua file:
package.path = package.path .. ';' .. os.getenv("UTILITIES") .. '/lua/luaUtils.lua;'
local utils = require("luaUtils")
local getMacroValue = utils.getMacroValue
local setAsynOptions = utils.setAsynOptions
local setHardwareFlowControl = utils.setHardwareFlowControl
local setSoftwareFlowControl = utils.setSoftwareFlowControl
Getting a macro from the environment. If the macro cannot be retrieved from the environment the default options value is returned. If there is no default given and the macro cannot be retrieved an error is raised.
- macro: String, the macro to look up in the
- default: String, the value to return if the macro if the macro is not set in the environment
Example call: getMacroValue{macro="RECSIM", default="0"}
CMD equivalent: $(RECSIM=0)
For a real device configure the asyn serial port and set the baud, bits, parity and stop options for it.
- device: String, the name of the asyn port
- port: String, the name of the physical port the device is connected to
- baud: Integer, The baud rate of the device
- bits: Integer, the number of data bits
- parity: String, the device parity
- stop: Integer, the number of stop bits.
Example call:
if (not isRecsim and not isDevsim) then
local port = getMacroValue{macro="PORT", default="NO_PORT_MACRO"}
local baud = getMacroValue{macro="BAUD", default="9600"}
local bits = getMacroValue{macro="BITS", default="8"}
local parity = getMacroValue{macro="PARITY", default="none"}
local stop = getMacroValue{macro="STOP", default="1"}
setAsynOptions(device, port, baud, bits, parity, stop)
...
CMD eqivalent:
$(IFNOTDEVSIM) $(IFNOTRECSIM) drvAsynSerialPortConfigure("$(DEVICE)", "$(PORT=NO_PORT_MACRO)", 0, 0, 0, 0)
$(IFNOTDEVSIM) $(IFNOTRECSIM) asynSetOption("$(DEVICE)", -1, "baud", "$(BAUD=9600)")
$(IFNOTDEVSIM) $(IFNOTRECSIM) asynSetOption("$(DEVICE)", -1, "bits", "$(BITS=8)")
$(IFNOTDEVSIM) $(IFNOTRECSIM) asynSetOption("$(DEVICE)", -1, "parity", "$(PARITY=none)")
$(IFNOTDEVSIM) $(IFNOTRECSIM) asynSetOption("$(DEVICE)", -1, "stop", "$(STOP=1)")
Set the hardware flow control for when it is off or on.
- device: String, the name of the asyn port.
- flowControlOn: Boolean, true if hardware flow control is on.
Sets the software flow control for when it is off or on.
- device: String, the name of the asyn port
- flowControlOn: Boolean, true if software flow control is on.
Things to do:
- Add your function to the globals set in std.utils in the .luacheckrc file both locally and on this page for others to use (the plan is to have a .luacheckrc on github, but first it needs to be worked out how to edit the luacheck.path correctly to point at it)
- Add documentation in this page (the plan is to have documentation closer to the code, but that also needs to be worked out first)
- Add it to the imports in "Using our Lua utility functions" section above
We are using the style guide from LuaRocks as documented in https://github.com/luarocks/lua-style-guide#conditional-expressions
Either install via the hererocks python script or luacheck by itself. The hererocks way is longer but will integrate with your environment and favourite text editor nicely as it sets up parts such as luacheck.path and luarocks
Via the hererocks python script:
- Download hererocks:
- Open powershell and navigate to somewhere you would like hererocks to download to
- Run
wget https://raw.githubusercontent.com/mpeterv/hererocks/latest/hererocks.py -OutFile hererocks.py
- Install and activate lua and luarocks:
- In an EPICS terminal navigate to where you downloaded hererocks.py and run
python hererocks.py lua53 -l5.3 -rlatest
which installs lua 5.3 into$current directory$\lua53
- Add
$current directory$\lua53\bin
to your PATH where current directory is the directory you installed lua 5.3 in - Close and reopen your EPICS terminal to allow your PATH to update
- In an EPICS terminal navigate to where you downloaded hererocks.py and run
- Install luacheck:
- In your new EPICS terminal run
luarocks install luacheck
- In your new EPICS terminal run
- Luacheck is now installed
OR install luacheck by itself:
- Go to the luacheck GitHub page and under Windows binary download click the download link which will download the file luacheck.exe
- Place the luacheck.exe file in a useful place e.g. Program Files and add that location to your PATH.
- Restart any command lines you have open.
- Luacheck is now installed
Post-install step:
- Set luacheck config:
- Create a new file .luacheckrc in %LOCALAPPDATA%\Luacheck as this is where luacheck looks for config files
- Add the below information to the file to set the config
stds.epics_lib = {
read_globals = {"iocsh", "asyn", "client", "driver", "epics"}
}
stds.utils = {
globals = {"getMacroValue", "setAsynOptions", "setHardwareFlowControl", "setSoftwareFlowControl"}
}
std = "min+epics_lib+utils"
Note: If you add any functions to our utilities you must add the name of the function to the globals set in std.utils in the .luacheckrc file. Please also add it to our list here, or to one on the repository if we have added it to the repo by then.
Basic usage: luacheck file.lua
For more detailed instructions on the use of luacheck see the luacheck documentation.
The luacheck GitHub page also has information about how to use luacheck in your favourite editor.