From b80a6b8a92aadc300bf8228533b4884c50a050b8 Mon Sep 17 00:00:00 2001
From: nwaters <nrw@slac.stanford.edu>
Date: Fri, 26 Jan 2024 10:33:01 -0800
Subject: [PATCH] ENH: add bUsePmpsDB flag to 1D,2D,3D, and ND_Core

---
 lcls-twincat-motion/Library/Library.plcproj   |  2 +-
 .../Motion/PMPS/FB_PositionStatePMPS1D.TcPOU  |  3 +++
 .../Motion/PMPS/FB_PositionStatePMPS2D.TcPOU  |  3 +++
 .../Motion/PMPS/FB_PositionStatePMPS3D.TcPOU  |  3 +++
 .../PMPS/FB_PositionStatePMPSND_Core.TcPOU    | 22 +++++++++++--------
 .../Library/Version/Global_Version.TcGVL      |  2 +-
 6 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/lcls-twincat-motion/Library/Library.plcproj b/lcls-twincat-motion/Library/Library.plcproj
index 8d7b1f24..3ad789cb 100644
--- a/lcls-twincat-motion/Library/Library.plcproj
+++ b/lcls-twincat-motion/Library/Library.plcproj
@@ -17,7 +17,7 @@
     <CombineIds>false</CombineIds>
     <Company>SLAC</Company>
     <Released>false</Released>
-    <Title>lcls-twincat-motion</Title>
+    <Title>lcls-twincat-motion-nrw</Title>
     <ProjectVersion>0.0.0</ProjectVersion>
     <WriteProductVersion>false</WriteProductVersion>
     <!--    <OutputType>Exe</OutputType>
diff --git a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS1D.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS1D.TcPOU
index d950a267..e416d098 100644
--- a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS1D.TcPOU
+++ b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS1D.TcPOU
@@ -58,6 +58,8 @@ VAR_INPUT
     stPMPSEpicsToPlc: ST_StatePMPSEpicsToPlc;
     // Set this to TRUE to re-read the loaded database immediately (useful for debug)
     bReadDBNow: BOOL;
+    // Set this to FALSE to load PMPS parameters locally
+    bUsePmpsDB: BOOL := TRUE;
 END_VAR
 VAR_OUTPUT
     // Normal EPICS outputs, gathered into a single struct
@@ -109,6 +111,7 @@ fbPMPSCore(
     nCurrGoal:=fbCore.nCurrGoal,
     bReadDBNow:=bReadDBNow,
     stDbStateParams=>stDbStateParams,
+    bUsePmpsDB:=TRUE,
 );
 
 stMotionStage := astMotionStageMax[1];
diff --git a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS2D.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS2D.TcPOU
index f8579104..14ecdb4c 100644
--- a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS2D.TcPOU
+++ b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS2D.TcPOU
@@ -67,6 +67,8 @@ VAR_INPUT
     stPMPSEpicsToPlc: ST_StatePMPSEpicsToPlc;
     // Set this to TRUE to re-read the loaded database immediately (useful for debug)
     bReadDBNow: BOOL;
+    // Set this to FALSE to load PMPS parameters locally
+    bUsePmpsDB: BOOL := TRUE;
 END_VAR
 VAR_OUTPUT
     // Normal EPICS outputs, gathered into a single struct
@@ -120,6 +122,7 @@ fbPMPSCore(
     nCurrGoal:=fbCore.nCurrGoal,
     bReadDBNow:=bReadDBNow,
     stDbStateParams=>stDbStateParams,
+    bUsePmpsDB:=TRUE,
 );
 
 stMotionStage1 := astMotionStageMax[1];
diff --git a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS3D.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS3D.TcPOU
index 8a63f222..57ea96fe 100644
--- a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS3D.TcPOU
+++ b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPS3D.TcPOU
@@ -76,6 +76,8 @@ VAR_INPUT
     stPMPSEpicsToPlc: ST_StatePMPSEpicsToPlc;
     // Set this to TRUE to re-read the loaded database immediately (useful for debug)
     bReadDBNow: BOOL;
+    // Set this to FALSE to load PMPS parameters locally
+    bUsePmpsDB: BOOL := TRUE;
 END_VAR
 VAR_OUTPUT
     // Normal EPICS outputs, gathered into a single struct
@@ -131,6 +133,7 @@ fbPMPSCore(
     nCurrGoal:=fbCore.nCurrGoal,
     bReadDBNow:=bReadDBNow,
     stDbStateParams=>stDbStateParams,
+    bUsePmpsDB:=TRUE,
 );
 
 stMotionStage1 := astMotionStageMax[1];
diff --git a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU
index 818ecb77..d4ec0e8c 100644
--- a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU
+++ b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU
@@ -44,6 +44,8 @@ VAR_INPUT
     nCurrGoal: UINT;
     // Set this to TRUE to re-read the loaded database immediately (useful for debug)
     bReadDBNow: BOOL;
+    // Set this to FALSE to load PMPS parameters locally
+    bUsePmpsDB: BOOL := TRUE;
 END_VAR
 VAR_OUTPUT
     // The PMPS database lookup associated with the current position state.
@@ -72,15 +74,17 @@ ELSE
     eStatePMPSStatus := E_StatePMPSStatus.TRANSITION;
 END_IF
 
-fbMotionReadPMPSDB(
-    astPositionState:=astPositionStateMax,
-    fbFFHWO:=fbFFHWO,
-    sTransitionKey:=sTransitionKey,
-    sDeviceName:=sDeviceName,
-    bReadNow:=bReadDBNow,
-    astDbStateParams=>,
-    bError=>,
-);
+IF bUsePmpsDB THEN
+    fbMotionReadPMPSDB(
+        astPositionState:=astPositionStateMax,
+        fbFFHWO:=fbFFHWO,
+        sTransitionKey:=sTransitionKey,
+        sDeviceName:=sDeviceName,
+        bReadNow:=bReadDBNow,
+        astDbStateParams=>,
+        bError=>,
+    );
+END_IF
 
 fbMotionBPTM(
     astMotionStage:=astMotionStageMax,
diff --git a/lcls-twincat-motion/Library/Version/Global_Version.TcGVL b/lcls-twincat-motion/Library/Version/Global_Version.TcGVL
index 037341e2..379f5e65 100644
--- a/lcls-twincat-motion/Library/Version/Global_Version.TcGVL
+++ b/lcls-twincat-motion/Library/Version/Global_Version.TcGVL
@@ -7,7 +7,7 @@
 // This function has been automatically generated from the project information.
 VAR_GLOBAL CONSTANT
     {attribute 'const_non_replaced'}
-    stLibVersion_lcls_twincat_motion : ST_LibVersion := (iMajor := 0, iMinor := 0, iBuild := 0, iRevision := 0, nFlags := 0, sVersion := '0.0.0');
+    stLibVersion_lcls_twincat_motion_nrw : ST_LibVersion := (iMajor := 0, iMinor := 0, iBuild := 0, iRevision := 0, nFlags := 0, sVersion := '0.0.0');
 END_VAR
 ]]></Declaration>
   </GVL>