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Added new feature msgPrintControl from sinqMotor 0.8.0.

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Correspondingly, the minimum version requirement for sinqMotor has been bumped to 0.8.0.
This commit is contained in:
mathis_s
2025-03-04 12:41:20 +01:00
parent cb91a8aa36
commit 4ad842c097
8 changed files with 299 additions and 408 deletions
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417
src/masterMacsAxis.cpp
View File

@@ -34,6 +34,32 @@ static void epicsInithookFunction(initHookState iState) {
}
}
void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
const char *toBeAppended) {
size_t lenFullMessage = strlen(fullMessage);
size_t lenToBeAppended = strlen(toBeAppended);
if (lenFullMessage == 0) {
// The error message is empty -> Just copy the content of toBeAppended
// into fullMessage, if the formers capacity suffices
if (lenToBeAppended < capacityFullMessage) {
strcpy(fullMessage, toBeAppended);
}
} else {
// Append the message and add a linebreak in between, if the capacity of
// 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 actual message
strcat(fullMessage, toBeAppended);
}
}
}
masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
: sinqAxis(pC, axisNo), pC_(pC) {
@@ -340,8 +366,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
return rw_status;
}
// Check if we reached the target
if (targetReached()) {
// If the motor is switched off or if it reached its target, it is not
// moving.
if (targetReached() || !switchedOn()) {
*moving = false;
} else {
*moving = true;
@@ -362,70 +389,26 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
Read out the error if either a fault condition status flag has been set or
if a movement has just ended.
*/
if (faultConditionSet()) {
msgPrintControlKey keyError = msgPrintControlKey(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (faultConditionSet() || !(*moving)) {
rw_status = readAxisError();
if (shortCircuit()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nShort "
"circuit fault.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
"Short circuit error. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (encoderError()) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nEncoder error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
"Encoder error. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (followingError()) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
"following error exceeded.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status = setStringParam(
pC_->motorMessageText_,
"Maximum allowed following error exceeded.Check if movement "
"range is blocked. Otherwise please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
/*
A communication error is a special case. If a communication between
controller and axis error occurred, all subsequent errors are ignored,
since this information is not reliable.
*/
if (communicationError()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nCommunication error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nCommunication error.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
}
pl_status =
setStringParam(pC_->motorMessageText_,
@@ -438,172 +421,164 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
poll_status = asynError;
}
} else {
if (feedbackError()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nFeedback error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
// This buffer must be initialized to zero because we build the
// error message by appending strings.
char userMessage[pC_->MAXBUF_] = {0};
char shellMessage[pC_->MAXBUF_] = {0};
pl_status =
setStringParam(pC_->motorMessageText_,
"Feedback error. Please call the support.");
// Concatenate all other errors
if (shortCircuit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Short circuit fault.");
appendErrorMessage(
userMessage, sizeof(userMessage),
"Short circuit error. Please call the support.");
poll_status = asynError;
}
if (encoderError()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Encoder error.");
appendErrorMessage(userMessage, sizeof(userMessage),
"Encoder error. Please call the support.");
poll_status = asynError;
}
if (followingError()) {
appendErrorMessage(
shellMessage, sizeof(shellMessage),
"Maximum callowed following error exceeded.");
appendErrorMessage(
userMessage, sizeof(userMessage),
"Maximum allowed following error exceeded.Check if "
"movement range is blocked. Otherwise please call the "
"support.");
poll_status = asynError;
}
if (feedbackError()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Feedback error.");
appendErrorMessage(userMessage, sizeof(userMessage),
"Feedback error. Please call the support.");
poll_status = asynError;
}
/*
Either the software limits or the end switches of the controller
have been hit. Since the EPICS limits are derived from the software
limits and are a little bit smaller, these error cases can only
happen if either the axis has an incremental encoder which is not
properly homed or if a bug occured.
*/
if (positiveLimitSwitch() || negativeLimitSwitch() ||
positiveSoftwareLimit() || negativeSoftwareLimit()) {
// Distinction for developers
if (positiveLimitSwitch()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Positive limit switch.");
}
if (negativeLimitSwitch()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Negative limit switch.");
}
if (positiveSoftwareLimit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Positive software limit.");
}
if (negativeSoftwareLimit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Negative software limit.");
}
// Generic error message for user
appendErrorMessage(
userMessage, sizeof(userMessage),
"Software limits or end switch hit. Try homing the motor, "
"moving in the opposite direction or check the SPS for "
"errors (if available). Otherwise please call the "
"support.");
poll_status = asynError;
}
if (overCurrent()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Overcurrent error.");
appendErrorMessage(
userMessage, sizeof(userMessage),
"Overcurrent error. Please call the support.");
poll_status = asynError;
}
if (overTemperature()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Overtemperature error.");
appendErrorMessage(
userMessage, sizeof(userMessage),
"Overtemperature error. Please call the support.");
poll_status = asynError;
}
if (overVoltage()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Overvoltage error.");
appendErrorMessage(
userMessage, sizeof(userMessage),
"Overvoltage error. Please call the support.");
poll_status = asynError;
}
if (underVoltage()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Undervoltage error.");
appendErrorMessage(
userMessage, sizeof(userMessage),
"Undervoltage error. Please call the support.");
poll_status = asynError;
}
if (stoFault()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"STO input is on disable state.");
appendErrorMessage(userMessage, sizeof(userMessage),
"STO fault. Please call the support.");
poll_status = asynError;
}
if (strlen(shellMessage) > 0) {
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\n%s.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__, shellMessage,
pC_->msgPrintControl_.getSuffix());
}
}
pl_status = setStringParam(pC_->motorMessageText_, userMessage);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
/*
Either the software limits or the end switches of the controller have
been hit. Since the EPICS limits are derived from the software limits
and are a little bit smaller, these error cases can only happen if
either the axis has an incremental encoder which is not properly homed
or if a bug occured.
*/
if (positiveLimitSwitch() || negativeLimitSwitch() ||
positiveSoftwareLimit() || negativeSoftwareLimit()) {
// Distinction for developers
if (positiveLimitSwitch()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis "
"hit the positive limit end switch.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
if (negativeLimitSwitch()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis "
"hit the negative limit end switch.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
if (positiveSoftwareLimit()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis "
"hit the positive software limit.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
if (negativeSoftwareLimit()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis "
"hit the negative software limit.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
// Generic error message for user
pl_status = setStringParam(
pC_->motorMessageText_,
"Software limits or end switch hit. Try homing the motor, "
"moving in the opposite direction or check the SPS for "
"errors (if available). Otherwise please call the "
"support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (overCurrent()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nOvercurrent "
"error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
"Overcurrent error. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (overTemperature()) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nOvertemperature "
"error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status = setStringParam(
pC_->motorMessageText_,
"Overtemperature error. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (overVoltage()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nOvervoltage "
"error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
"Overvoltage error. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (underVoltage()) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUndervoltage "
"error.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
"Undervoltage error. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
if (stoFault()) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nSTO fault - "
"STO input is on disable state.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status = setStringParam(pC_->motorMessageText_,
"STO fault. Please call the support.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
poll_status = asynError;
}
} else {
pC_->msgPrintControl_.resetCount(keyError);
}
// Read out the limits, if the motor is not moving

2
src/masterMacsAxis.h
View File

@@ -4,7 +4,7 @@
#include <bitset>
// Forward declaration of the controller class to resolve the cyclic dependency
// between C804Controller.h and C804Axis.h. See
// between the controller and the axis .h-file. See
// https://en.cppreference.com/w/cpp/language/class.
class masterMacsController;

113
src/masterMacsController.cpp
View File

@@ -117,39 +117,18 @@ Access one of the axes of the controller via the axis adress stored in asynUser.
If the axis does not exist or is not a Axis, a nullptr is returned and an
error is emitted.
*/
masterMacsAxis *masterMacsController::getAxis(asynUser *pasynUser) {
masterMacsAxis *masterMacsController::getMasterMacsAxis(asynUser *pasynUser) {
asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
return masterMacsController::castToAxis(asynAxis);
return dynamic_cast<masterMacsAxis *>(asynAxis);
}
/*
Access one of the axes of the controller via the axis index.
If the axis does not exist or is not a Axis, the function must return Null
*/
masterMacsAxis *masterMacsController::getAxis(int axisNo) {
masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
return masterMacsController::castToAxis(asynAxis);
}
masterMacsAxis *masterMacsController::castToAxis(asynMotorAxis *asynAxis) {
// =========================================================================
// If the axis slot of the pAxes_ array is empty, a nullptr must be returned
if (asynAxis == nullptr) {
return nullptr;
}
// Here, an error is emitted since asyn_axis is not a nullptr but also not
// an instance of Axis
masterMacsAxis *axis = dynamic_cast<masterMacsAxis *>(asynAxis);
if (axis == nullptr) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
"an instance of masterMacsAxis",
portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
}
return axis;
return dynamic_cast<masterMacsAxis *>(asynAxis);
}
asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response) {
@@ -195,7 +174,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
// =========================================================================
masterMacsAxis *axis = getAxis(axisNo);
masterMacsAxis *axis = getMasterMacsAxis(axisNo);
if (axis == nullptr) {
// We already did the error logging directly in getAxis
return asynError;
@@ -248,17 +227,17 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
fullCommand[2] = lenWithMetadataSep.quot; // MSB
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
asynPrint(
this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line %d:\nSending command %s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableCommand);
// Send out the command
status =
pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
fullCommandLength, comTimeout_, &nbytesOut);
msgPrintControlKey writeKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (status == asynSuccess) {
msgPrintControl_.resetCount(writeKey);
// Try to read the answer repeatedly
int maxTrials = 2;
@@ -294,15 +273,18 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
}
} else {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError %s while "
"writing to the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError %s while "
"writing to the controller.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status), msgPrintControl_.getSuffix());
}
}
// MasterMACS needs a bit of time between messages, therefore thr program
// execution is paused after the communication happened.
// MasterMACS needs a bit of time between messages, therefore thr
// program execution is paused after the communication happened.
// usleep(1500);
// Create custom error messages for different failure modes
@@ -345,10 +327,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
// Log the overall status (communication successfull or not)
if (status == asynSuccess) {
adjustForPrint(printableResponse, fullResponse, MAXBUF_);
asynPrint(
lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line %d:\nReturn value: %s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableResponse);
pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
} else {
@@ -408,6 +386,9 @@ asynStatus masterMacsController::parseResponse(
char printableCommand[MAXBUF_] = {0};
char printableResponse[MAXBUF_] = {0};
msgPrintControlKey parseKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
// We don't use strlen here since the C string terminator 0x00
// occurs in the middle of the char array.
for (uint32_t i = 0; i < MAXBUF_; i++) {
@@ -422,27 +403,39 @@ asynStatus masterMacsController::parseResponse(
} else if (fullResponse[i] == '\x15') {
// NAK
snprintf(drvMessageText, MAXBUF_, "Communication failed.");
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line "
"%d:\nCommunication failed\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (msgPrintControl_.shouldBePrinted(parseKey, true,
pasynUserSelf)) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\nCommunication failed.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
msgPrintControl_.getSuffix());
}
break;
} else if (fullResponse[i] == '\x18') {
// CAN
snprintf(drvMessageText, MAXBUF_,
"Tried to write with a read-only command. This is a "
"bug, please call the support.");
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nTried to "
"write with the read-only command %s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
printableCommand);
if (msgPrintControl_.shouldBePrinted(parseKey, true,
pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nTried to "
"write with the read-only command %s.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
printableCommand, msgPrintControl_.getSuffix());
}
responseValid = false;
break;
}
}
if (responseValid) {
msgPrintControl_.resetCount(parseKey);
// Check if the response matches the expectations. Each response
// contains the string "axisNo R tcpCmd" (including the spaces)
char expectedResponseSubstring[MAXBUF_] = {0};
@@ -457,22 +450,32 @@ asynStatus masterMacsController::parseResponse(
tcpCmd);
}
msgPrintControlKey responseMatchKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (strstr(&fullResponse[responseStart], expectedResponseSubstring) ==
NULL) {
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
adjustForPrint(printableResponse, fullResponse, MAXBUF_);
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line %d:\nMismatched "
"response %s to command %s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
printableResponse, printableCommand);
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);
}
}
return asynSuccess;

13
src/masterMacsController.h
View File

@@ -38,7 +38,7 @@ class masterMacsController : public sinqController {
* @return masterMacsAxis* If no axis could be found, this is a
* nullptr
*/
masterMacsAxis *getAxis(asynUser *pasynUser);
masterMacsAxis *getMasterMacsAxis(asynUser *pasynUser);
/**
* @brief Get the axis object
@@ -47,7 +47,7 @@ class masterMacsController : public sinqController {
* @return masterMacsAxis* If no axis could be found, this is a
* nullptr
*/
masterMacsAxis *getAxis(int axisNo);
masterMacsAxis *getMasterMacsAxis(int axisNo);
protected:
asynUser *lowLevelPortUser_;
@@ -114,15 +114,6 @@ class masterMacsController : public sinqController {
int *valueStop, int axisNo, int tcpCmd,
bool isRead);
/**
* @brief Save cast of the given asynAxis pointer to a masterMacsAxis
* pointer. If the cast fails, this function returns a nullptr.
*
* @param asynAxis
* @return masterMacsAxis*
*/
masterMacsAxis *castToAxis(asynMotorAxis *asynAxis);
private:
// Set the maximum buffer size. This is an empirical value which must be
// large enough to avoid overflows for all commands to the device /