From db8d3f73685b80de5f8ff8725e17df3c1f630a72 Mon Sep 17 00:00:00 2001
From: Nicholas Lentz <nlentz@slac.stanford.edu>
Date: Tue, 20 Aug 2024 10:31:17 -0700
Subject: [PATCH] Fixed another bug in a description field causing db to not
 load.

---
 iocBoot/ioc-mrco-motion/mrco_motion.db        |  48 +++---
 .../DUTs/ST_MotionTransform3D.TcDUT           |   6 +-
 .../mrco_motion/mrco_motion.tmc               | 149 +++++++++++++-----
 3 files changed, 139 insertions(+), 64 deletions(-)

diff --git a/iocBoot/ioc-mrco-motion/mrco_motion.db b/iocBoot/ioc-mrco-motion/mrco_motion.db
index ec4f51c..a16a3f6 100644
--- a/iocBoot/ioc-mrco-motion/mrco_motion.db
+++ b/iocBoot/ioc-mrco-motion/mrco_motion.db
@@ -4577,8 +4577,8 @@ record(ao, "TMO:MRCO:SP:Gamma") {
 }
 
 record(ai, "TMO:MRCO:SP:PTransform3D:fADeg_RBV") {
-  # alpha, the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
-  field(DESC, "alpha, the acute ang...inate system "x".")
+  # alpha, the acute angle in degrees between motor axis x and resultant coordinate system x.
+  field(DESC, "alpha, the acute ang...rdinate system x.")
   field(SCAN, "I/O Intr")
   field(PINI, "1")
   field(TSE, "-2")
@@ -4590,8 +4590,8 @@ record(ai, "TMO:MRCO:SP:PTransform3D:fADeg_RBV") {
 }
 
 record(ao, "TMO:MRCO:SP:PTransform3D:fADeg") {
-  # alpha, the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
-  field(DESC, "alpha, the acute ang...inate system "x".")
+  # alpha, the acute angle in degrees between motor axis x and resultant coordinate system x.
+  field(DESC, "alpha, the acute ang...rdinate system x.")
   field(DTYP, "asynFloat64")
   field(UDFS, "0")
   field(OUT, "@asyn($(PORT),0,1)ADSPORT=851/Main.stPMotionTransform3D.fADeg=")
@@ -4601,8 +4601,8 @@ record(ao, "TMO:MRCO:SP:PTransform3D:fADeg") {
 }
 
 record(ai, "TMO:MRCO:SP:PTransform3D:fBDeg_RBV") {
-  # beta, the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
-  field(DESC, "beta, the acute angl...inate system "y".")
+  # beta, the acute angle in degrees between motor axis y and resultant coordinate system y.
+  field(DESC, "beta, the acute angl...rdinate system y.")
   field(SCAN, "I/O Intr")
   field(PINI, "1")
   field(TSE, "-2")
@@ -4614,8 +4614,8 @@ record(ai, "TMO:MRCO:SP:PTransform3D:fBDeg_RBV") {
 }
 
 record(ao, "TMO:MRCO:SP:PTransform3D:fBDeg") {
-  # beta, the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
-  field(DESC, "beta, the acute angl...inate system "y".")
+  # beta, the acute angle in degrees between motor axis y and resultant coordinate system y.
+  field(DESC, "beta, the acute angl...rdinate system y.")
   field(DTYP, "asynFloat64")
   field(UDFS, "0")
   field(OUT, "@asyn($(PORT),0,1)ADSPORT=851/Main.stPMotionTransform3D.fBDeg=")
@@ -4625,8 +4625,8 @@ record(ao, "TMO:MRCO:SP:PTransform3D:fBDeg") {
 }
 
 record(ai, "TMO:MRCO:SP:PTransform3D:fGDeg_RBV") {
-  # gamma, the acute angle in degrees between motor axis "z" and resultant coordinate system "z".
-  field(DESC, "gamma, the acute ang...inate system "z".")
+  # gamma, the acute angle in degrees between motor axis z and resultant coordinate system z.
+  field(DESC, "gamma, the acute ang...rdinate system z.")
   field(SCAN, "I/O Intr")
   field(PINI, "1")
   field(TSE, "-2")
@@ -4638,8 +4638,8 @@ record(ai, "TMO:MRCO:SP:PTransform3D:fGDeg_RBV") {
 }
 
 record(ao, "TMO:MRCO:SP:PTransform3D:fGDeg") {
-  # gamma, the acute angle in degrees between motor axis "z" and resultant coordinate system "z".
-  field(DESC, "gamma, the acute ang...inate system "z".")
+  # gamma, the acute angle in degrees between motor axis z and resultant coordinate system z.
+  field(DESC, "gamma, the acute ang...rdinate system z.")
   field(DTYP, "asynFloat64")
   field(UDFS, "0")
   field(OUT, "@asyn($(PORT),0,1)ADSPORT=851/Main.stPMotionTransform3D.fGDeg=")
@@ -4838,8 +4838,8 @@ record(ao, "TMO:MRCO:SP:PTransform3D:fZSP") {
 }
 
 record(ai, "TMO:MRCO:SP:VTransform3D:fADeg_RBV") {
-  # alpha, the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
-  field(DESC, "alpha, the acute ang...inate system "x".")
+  # alpha, the acute angle in degrees between motor axis x and resultant coordinate system x.
+  field(DESC, "alpha, the acute ang...rdinate system x.")
   field(SCAN, "I/O Intr")
   field(PINI, "1")
   field(TSE, "-2")
@@ -4851,8 +4851,8 @@ record(ai, "TMO:MRCO:SP:VTransform3D:fADeg_RBV") {
 }
 
 record(ao, "TMO:MRCO:SP:VTransform3D:fADeg") {
-  # alpha, the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
-  field(DESC, "alpha, the acute ang...inate system "x".")
+  # alpha, the acute angle in degrees between motor axis x and resultant coordinate system x.
+  field(DESC, "alpha, the acute ang...rdinate system x.")
   field(DTYP, "asynFloat64")
   field(UDFS, "0")
   field(OUT, "@asyn($(PORT),0,1)ADSPORT=851/Main.stVMotionTransform3D.fADeg=")
@@ -4862,8 +4862,8 @@ record(ao, "TMO:MRCO:SP:VTransform3D:fADeg") {
 }
 
 record(ai, "TMO:MRCO:SP:VTransform3D:fBDeg_RBV") {
-  # beta, the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
-  field(DESC, "beta, the acute angl...inate system "y".")
+  # beta, the acute angle in degrees between motor axis y and resultant coordinate system y.
+  field(DESC, "beta, the acute angl...rdinate system y.")
   field(SCAN, "I/O Intr")
   field(PINI, "1")
   field(TSE, "-2")
@@ -4875,8 +4875,8 @@ record(ai, "TMO:MRCO:SP:VTransform3D:fBDeg_RBV") {
 }
 
 record(ao, "TMO:MRCO:SP:VTransform3D:fBDeg") {
-  # beta, the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
-  field(DESC, "beta, the acute angl...inate system "y".")
+  # beta, the acute angle in degrees between motor axis y and resultant coordinate system y.
+  field(DESC, "beta, the acute angl...rdinate system y.")
   field(DTYP, "asynFloat64")
   field(UDFS, "0")
   field(OUT, "@asyn($(PORT),0,1)ADSPORT=851/Main.stVMotionTransform3D.fBDeg=")
@@ -4886,8 +4886,8 @@ record(ao, "TMO:MRCO:SP:VTransform3D:fBDeg") {
 }
 
 record(ai, "TMO:MRCO:SP:VTransform3D:fGDeg_RBV") {
-  # gamma, the acute angle in degrees between motor axis "z" and resultant coordinate system "z".
-  field(DESC, "gamma, the acute ang...inate system "z".")
+  # gamma, the acute angle in degrees between motor axis z and resultant coordinate system z.
+  field(DESC, "gamma, the acute ang...rdinate system z.")
   field(SCAN, "I/O Intr")
   field(PINI, "1")
   field(TSE, "-2")
@@ -4899,8 +4899,8 @@ record(ai, "TMO:MRCO:SP:VTransform3D:fGDeg_RBV") {
 }
 
 record(ao, "TMO:MRCO:SP:VTransform3D:fGDeg") {
-  # gamma, the acute angle in degrees between motor axis "z" and resultant coordinate system "z".
-  field(DESC, "gamma, the acute ang...inate system "z".")
+  # gamma, the acute angle in degrees between motor axis z and resultant coordinate system z.
+  field(DESC, "gamma, the acute ang...rdinate system z.")
   field(DTYP, "asynFloat64")
   field(UDFS, "0")
   field(OUT, "@asyn($(PORT),0,1)ADSPORT=851/Main.stVMotionTransform3D.fGDeg=")
diff --git a/lcls-plc-mrco-motion/mrco_motion/DUTs/ST_MotionTransform3D.TcDUT b/lcls-plc-mrco-motion/mrco_motion/DUTs/ST_MotionTransform3D.TcDUT
index b573a57..76fb5c8 100644
--- a/lcls-plc-mrco-motion/mrco_motion/DUTs/ST_MotionTransform3D.TcDUT
+++ b/lcls-plc-mrco-motion/mrco_motion/DUTs/ST_MotionTransform3D.TcDUT
@@ -8,19 +8,19 @@ STRUCT
     {attribute 'pytmc' := '
         pv: fADeg
         io: io
-        field: DESC alpha, the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
+        field: DESC alpha, the acute angle in degrees between motor axis x and resultant coordinate system x.
     '}
     fADeg: LREAL; // "alpha" - the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
     {attribute 'pytmc' := '
         pv: fBDeg
         io: io
-        field: DESC beta, the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
+        field: DESC beta, the acute angle in degrees between motor axis y and resultant coordinate system y.
     '}
     fBDeg: LREAL; // "beta" - the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
     {attribute 'pytmc' := '
         pv: fGDeg
         io: io
-        field: DESC gamma, the acute angle in degrees between motor axis "z" and resultant coordinate system "z".
+        field: DESC gamma, the acute angle in degrees between motor axis z and resultant coordinate system z.
     '}
     fGDeg: LREAL; // "gamma" - The acute angle in degrees between motor axis "z" and resultant coordinate system "z".
 
diff --git a/lcls-plc-mrco-motion/mrco_motion/mrco_motion.tmc b/lcls-plc-mrco-motion/mrco_motion/mrco_motion.tmc
index bffeb9e..e960f24 100644
--- a/lcls-plc-mrco-motion/mrco_motion/mrco_motion.tmc
+++ b/lcls-plc-mrco-motion/mrco_motion/mrco_motion.tmc
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{6917A7D8-0F8A-EF7D-A16D-C9273EA74502}" GeneratedBy="TwinCAT XAE Plc">
+<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{C6B1A2E3-85B5-A6CE-6614-D1915930377A}" GeneratedBy="TwinCAT XAE Plc">
   <DataTypes>
     <DataType>
       <Name Namespace="Tc2_System">T_AmsNetID</Name>
@@ -19386,6 +19386,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>FindTestSuiteInstancePath</Name>
@@ -19644,6 +19649,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_BYTE</Name>
@@ -19748,6 +19758,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_DATE</Name>
@@ -19904,6 +19919,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_LTIME</Name>
@@ -20029,6 +20049,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_LREAL</Name>
@@ -20170,6 +20195,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals</Name>
@@ -20928,6 +20958,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>SetHasStartedRunning</Name>
@@ -21088,6 +21123,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>GetHasStartedRunning</Name>
@@ -21193,6 +21233,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_WSTRING</Name>
@@ -21344,6 +21389,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_DINT</Name>
@@ -21469,6 +21519,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_STRING</Name>
@@ -21644,6 +21699,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertArray3dEquals_LREAL</Name>
@@ -21926,6 +21986,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>CalculateAndSetNumberOfAssertsForTest</Name>
@@ -22719,6 +22784,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_UDINT</Name>
@@ -22813,6 +22883,11 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
+        <Local>
+          <Name>__Index__0</Name>
+          <Type>DINT</Type>
+          <BitSize>32</BitSize>
+        </Local>
       </Method>
       <Properties>
         <Property>
@@ -37341,7 +37416,7 @@ External Setpoint Generation:
             <Value>
         pv: fADeg
         io: io
-        field: DESC alpha, the acute angle in degrees between motor axis "x" and resultant coordinate system "x".
+        field: DESC alpha, the acute angle in degrees between motor axis x and resultant coordinate system x.
     </Value>
           </Property>
         </Properties>
@@ -37358,7 +37433,7 @@ External Setpoint Generation:
             <Value>
         pv: fBDeg
         io: io
-        field: DESC beta, the acute angle in degrees between motor axis "y" and resultant coordinate system "y".
+        field: DESC beta, the acute angle in degrees between motor axis y and resultant coordinate system y.
     </Value>
           </Property>
         </Properties>
@@ -37375,7 +37450,7 @@ External Setpoint Generation:
             <Value>
         pv: fGDeg
         io: io
-        field: DESC gamma, the acute angle in degrees between motor axis "z" and resultant coordinate system "z".
+        field: DESC gamma, the acute angle in degrees between motor axis z and resultant coordinate system z.
     </Value>
           </Property>
         </Properties>
@@ -39164,7 +39239,7 @@ External Setpoint Generation:
           <AreaNo AreaType="InputDst" CreateSymbols="true">0</AreaNo>
           <Name>PlcTask Inputs</Name>
           <ContextId>0</ContextId>
-          <ByteSize>80609280</ByteSize>
+          <ByteSize>80478208</ByteSize>
           <Symbol>
             <Name>Main.M1.Axis.NcToPlc</Name>
             <BitSize>2048</BitSize>
@@ -40295,7 +40370,7 @@ External Setpoint Generation:
           <AreaNo AreaType="OutputSrc" CreateSymbols="true">1</AreaNo>
           <Name>PlcTask Outputs</Name>
           <ContextId>0</ContextId>
-          <ByteSize>80609280</ByteSize>
+          <ByteSize>80478208</ByteSize>
           <Symbol>
             <Name>Main.M1.Axis.PlcToNc</Name>
             <BitSize>1024</BitSize>
@@ -40685,7 +40760,7 @@ External Setpoint Generation:
           <AreaNo AreaType="Internal" CreateSymbols="true">3</AreaNo>
           <Name>PlcTask Internal</Name>
           <ContextId>0</ContextId>
-          <ByteSize>80609280</ByteSize>
+          <ByteSize>80478208</ByteSize>
           <Symbol>
             <Name>MOTION_GVL.fbPmpsFileReader</Name>
             <Comment> Global file reader instance, used in fbStandardPMPSDB</Comment>
@@ -47011,12 +47086,40 @@ External Setpoint Generation:
             </Properties>
             <BitOffs>638608248</BitOffs>
           </Symbol>
+          <Symbol>
+            <Name>Main.stPMotionTransform3D</Name>
+            <BitSize>960</BitSize>
+            <BaseType>ST_MotionTransform3D</BaseType>
+            <Properties>
+              <Property>
+                <Name>pytmc</Name>
+                <Value>
+        pv: TMO:MRCO:SP:PTransform3D
+    </Value>
+              </Property>
+            </Properties>
+            <BitOffs>638608256</BitOffs>
+          </Symbol>
           <Symbol>
             <Name>Main.fbPMotionTransform3D</Name>
             <BitSize>1536</BitSize>
             <BaseType>FB_MotionTransform3D</BaseType>
             <BitOffs>638609216</BitOffs>
           </Symbol>
+          <Symbol>
+            <Name>Main.stVMotionTransform3D</Name>
+            <BitSize>960</BitSize>
+            <BaseType>ST_MotionTransform3D</BaseType>
+            <Properties>
+              <Property>
+                <Name>pytmc</Name>
+                <Value>
+        pv: TMO:MRCO:SP:VTransform3D
+    </Value>
+              </Property>
+            </Properties>
+            <BitOffs>638610752</BitOffs>
+          </Symbol>
           <Symbol>
             <Name>Main.fbVMotionTransform3D</Name>
             <BitSize>1536</BitSize>
@@ -47746,40 +47849,12 @@ External Setpoint Generation:
             </Properties>
             <BitOffs>638667936</BitOffs>
           </Symbol>
-          <Symbol>
-            <Name>Main.stPMotionTransform3D</Name>
-            <BitSize>960</BitSize>
-            <BaseType>ST_MotionTransform3D</BaseType>
-            <Properties>
-              <Property>
-                <Name>pytmc</Name>
-                <Value>
-        pv: TMO:MRCO:SP:PTransform3D
-    </Value>
-              </Property>
-            </Properties>
-            <BitOffs>643476416</BitOffs>
-          </Symbol>
-          <Symbol>
-            <Name>Main.stVMotionTransform3D</Name>
-            <BitSize>960</BitSize>
-            <BaseType>ST_MotionTransform3D</BaseType>
-            <Properties>
-              <Property>
-                <Name>pytmc</Name>
-                <Value>
-        pv: TMO:MRCO:SP:VTransform3D
-    </Value>
-              </Property>
-            </Properties>
-            <BitOffs>643477376</BitOffs>
-          </Symbol>
         </DataArea>
         <DataArea>
           <AreaNo AreaType="RetainSrc" CreateSymbols="true">4</AreaNo>
           <Name>PlcTask Retains</Name>
           <ContextId>0</ContextId>
-          <ByteSize>80609280</ByteSize>
+          <ByteSize>80478208</ByteSize>
           <Symbol>
             <Name>PMPS_GVL.SuccessfulPreemption</Name>
             <Comment> Any time BPTM applies a new BP request which is confirmed</Comment>
@@ -47862,7 +47937,7 @@ External Setpoint Generation:
         </Property>
         <Property>
           <Name>ChangeDate</Name>
-          <Value>2024-08-20T10:20:40</Value>
+          <Value>2024-08-20T10:29:46</Value>
         </Property>
         <Property>
           <Name>GeneratedCodeSize</Name>