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Static linking of sinqMotor into masterMacs

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This commit is contained in:
mathis_s
2025-05-12 09:04:26 +02:00
parent cd57409f3c
commit 468ca46010
5 changed files with 80 additions and 58 deletions
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3
.gitmodules vendored Normal file
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@ -0,0 +1,3 @@
[submodule "sinqMotor"]
path = sinqMotor
url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

11
Makefile
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@ -12,18 +12,23 @@ REQUIRED+=sinqMotor
# Specify the version of asynMotor we want to build against
motorBase_VERSION=7.2.2
# Specify the version of sinqMotor we want to build against
sinqMotor_VERSION=0.14.0
# These headers allow to depend on this library for derived drivers.
HEADERS += src/masterMacsAxis.h
HEADERS += src/masterMacsController.h
# Source files to build
SOURCES += sinqMotor/src/msgPrintControl.cpp
SOURCES += sinqMotor/src/sinqAxis.cpp
SOURCES += sinqMotor/src/sinqController.cpp
SOURCES += src/masterMacsAxis.cpp
SOURCES += src/masterMacsController.cpp
# Store the record files
TEMPLATES += sinqMotor/db/asynRecord.db
TEMPLATES += sinqMotor/db/sinqMotor.db
# This file registers the motor-specific functions in the IOC shell.
DBDS += sinqMotor/src/sinqMotor.dbd
DBDS += src/masterMacs.dbd
USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wpedantic -Wextra -Werror

1
sinqMotor Submodule

Submodule sinqMotor added at 4d1c21fd74

17
src/masterMacsAxis.cpp
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@ -60,9 +60,9 @@ void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
// fullMessage suffices. We need capacity for one additional character
// because of the linebreak.
if (lenFullMessage + lenToBeAppended + 1 < capacityFullMessage) {
// Append the linebreak and readd the null terminator behind it
// fullMessage[lenFullMessage] = '\n';
// fullMessage[lenFullMessage + 1] = '\0';
// Append the linebreak and set the null terminator behind it
fullMessage[lenFullMessage] = '\n';
fullMessage[lenFullMessage + 1] = '\0';
// We check before that the capacity of fullMessage is sufficient
strcat(fullMessage, toBeAppended);
@ -356,6 +356,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// poll. This is already part of the movement procedure.
*moving = true;
setAxisParamChecked(this, motorStatusMoving, *moving);
pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
@ -919,6 +920,16 @@ asynStatus masterMacsAxis::doReset() {
}
}
rw_status = pC_->write(axisNo_, 85, "");
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;
}

106
src/masterMacsController.cpp
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@ -250,7 +250,14 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
// Log the overall status (communication successfull or not)
if (status == asynSuccess) {
pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
if (pl_status != asynSuccess) {
return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
axisNo, __PRETTY_FUNCTION__, __LINE__);
}
} else if (status == asynDisconnected) {
// Do nothing
} else {
// Set the error status bits only if the axis is not disconnected
// Check if the axis already is in an error communication mode. If
// it is not, upstream the error. This is done to avoid "flooding"
@ -303,7 +310,6 @@ asynStatus masterMacsController::parseResponse(
const char *fullCommand, const char *fullResponse, char *drvMessageText,
int *valueStart, int *valueStop, int axisNo, int tcpCmd, bool isRead) {
bool responseValid = false;
int responseStart = 0;
asynStatus status = asynSuccess;
int prevConnected = 0;
@ -330,7 +336,6 @@ asynStatus masterMacsController::parseResponse(
} else if (fullResponse[i] == '\x06') {
// ACK
*valueStop = i;
responseValid = true;
// Motor wasn't connected before -> Update the paramLib entry and PV
// to show it is now connected.
@ -362,7 +367,51 @@ asynStatus masterMacsController::parseResponse(
}
}
break;
msgPrintControl_.resetCount(parseKey, pasynUserSelf);
// Check if the response matches the expectations. Each response
// contains the string "axisNo R tcpCmd" (including the spaces)
char expectedResponseSubstring[MAXBUF_] = {0};
// The response does not contain a leading 0 if tcpCmd only has
// a single digit!
if (isRead) {
snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d R %d",
axisNo, tcpCmd);
} else {
snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d S %d",
axisNo, tcpCmd);
}
msgPrintControlKey responseMatchKey = msgPrintControlKey(
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (strstr(&fullResponse[responseStart],
expectedResponseSubstring) == NULL) {
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
adjustForPrint(printableResponse, fullResponse, MAXBUF_);
if (msgPrintControl_.shouldBePrinted(parseKey, true,
pasynUserSelf)) {
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line "
"%d:\nMismatched "
"response %s to command %s.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
printableResponse, printableCommand,
msgPrintControl_.getSuffix());
}
snprintf(
drvMessageText, MAXBUF_,
"Mismatched response %s to command %s. Please call the "
"support.",
printableResponse, printableCommand);
return asynError;
} else {
msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
}
return asynSuccess;
} else if (fullResponse[i] == '\x15') {
/*
NAK
@ -398,7 +447,7 @@ asynStatus masterMacsController::parseResponse(
return status;
}
}
break;
return asynDisconnected;
} else if (fullResponse[i] == '\x18') {
// CAN
snprintf(drvMessageText, MAXBUF_,
@ -415,57 +464,10 @@ asynStatus masterMacsController::parseResponse(
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
printableCommand, msgPrintControl_.getSuffix());
}
responseValid = false;
break;
}
}
if (responseValid) {
msgPrintControl_.resetCount(parseKey, pasynUserSelf);
// Check if the response matches the expectations. Each response
// contains the string "axisNo R tcpCmd" (including the spaces)
char expectedResponseSubstring[MAXBUF_] = {0};
// The response does not contain a leading 0 if tcpCmd only has
// a single digit!
if (isRead) {
snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d R %d", axisNo,
tcpCmd);
} else {
snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d S %d", axisNo,
tcpCmd);
}
msgPrintControlKey responseMatchKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (strstr(&fullResponse[responseStart], expectedResponseSubstring) ==
NULL) {
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
adjustForPrint(printableResponse, fullResponse, MAXBUF_);
if (msgPrintControl_.shouldBePrinted(parseKey, true,
pasynUserSelf)) {
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line "
"%d:\nMismatched "
"response %s to command %s.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
printableResponse, printableCommand,
msgPrintControl_.getSuffix());
}
snprintf(drvMessageText, MAXBUF_,
"Mismatched response %s to command %s. Please call the "
"support.",
printableResponse, printableCommand);
return asynError;
} else {
msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
}
}
return asynSuccess;
return asynError;
}
asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {