From 16564011a6b5ff0886d4b14588adecaad77b5946 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Wed, 19 Mar 2025 15:06:45 +0100
Subject: [PATCH] Added stop and error reset function for masterMacs

---
 Makefile                     |  2 +-
 src/masterMacsAxis.cpp       | 24 +++++++++++++++++++++++-
 src/masterMacsAxis.h         | 26 +++++++++++++++++---------
 src/masterMacsController.cpp |  9 ++++++---
 4 files changed, 47 insertions(+), 14 deletions(-)

diff --git a/Makefile b/Makefile
index 7dd9222..fa60d1a 100644
--- a/Makefile
+++ b/Makefile
@@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=mathis_s
+sinqMotor_VERSION=0.9.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index b282abd..8516120 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -593,7 +593,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                         keyError, true, pC_->asynUserSelf())) {
                     asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                               "Controller \"%s\", axis %d  => %s, line "
-                              "%d\n%s.%s\n",
+                              "%d\n%s%s\n",
                               pC_->portName, axisNo_, __PRETTY_FUNCTION__,
                               __LINE__, shellMessage,
                               pC_->getMsgPrintControl().getSuffix());
@@ -894,6 +894,28 @@ asynStatus masterMacsAxis::stop(double acceleration) {
     return rw_status;
 }
 
+asynStatus masterMacsAxis::reset() {
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    // =========================================================================
+
+    rw_status = pC_->write(axisNo_, 17, "");
+    if (rw_status != asynSuccess) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    }
+
+    return rw_status;
+}
+
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
diff --git a/src/masterMacsAxis.h b/src/masterMacsAxis.h
index 1fa0182..98c55cb 100644
--- a/src/masterMacsAxis.h
+++ b/src/masterMacsAxis.h
@@ -24,15 +24,6 @@ class masterMacsAxis : public sinqAxis {
      */
     virtual ~masterMacsAxis();
 
-    /**
-     * @brief Implementation of the `stop` function from asynMotorAxis
-     *
-     * @param acceleration        Acceleration ACCEL from the motor record. This
-     * value is currently not used.
-     * @return asynStatus
-     */
-    asynStatus stop(double acceleration);
-
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
      * parameters are described in the documentation of `sinqAxis::doHome`.
@@ -69,6 +60,23 @@ class masterMacsAxis : public sinqAxis {
     asynStatus doMove(double position, int relative, double min_velocity,
                       double max_velocity, double acceleration);
 
+    /**
+     * @brief Implementation of the `stop` function from asynMotorAxis
+     *
+     * @param acceleration        Acceleration ACCEL from the motor record. This
+     * value is currently not used.
+     * @return asynStatus
+     */
+    asynStatus stop(double acceleration);
+
+    /**
+     * @brief Reset the axis error
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus reset();
+
     /**
      * @brief Readout of some values from the controller at IOC startup
      *
diff --git a/src/masterMacsController.cpp b/src/masterMacsController.cpp
index 43dacf1..6d18652 100644
--- a/src/masterMacsController.cpp
+++ b/src/masterMacsController.cpp
@@ -162,12 +162,15 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         return asynError;
     }
 
-    // TODO: CR at the end
     if (isRead) {
         snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
     } else {
-        snprintf(fullCommand, MAXBUF_ - 1, "%dS%02d=%s\x0D", axisNo, tcpCmd,
-                 payload);
+        if (strlen(payload) == 0) {
+            snprintf(fullCommand, MAXBUF_ - 1, "%dS%02d\x0D", axisNo, tcpCmd);
+        } else {
+            snprintf(fullCommand, MAXBUF_ - 1, "%dS%02d=%s\x0D", axisNo, tcpCmd,
+                     payload);
+        }
     }
 
     // Calculate the command length