Added new feature msgPrintControl from sinqMotor 0.8.0.
Correspondingly, the minimum version requirement for sinqMotor has been bumped to 0.8.0.
This commit is contained in:
@@ -34,6 +34,32 @@ static void epicsInithookFunction(initHookState iState) {
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}
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}
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void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
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const char *toBeAppended) {
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size_t lenFullMessage = strlen(fullMessage);
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size_t lenToBeAppended = strlen(toBeAppended);
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if (lenFullMessage == 0) {
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// The error message is empty -> Just copy the content of toBeAppended
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// into fullMessage, if the formers capacity suffices
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if (lenToBeAppended < capacityFullMessage) {
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strcpy(fullMessage, toBeAppended);
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}
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} else {
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// Append the message and add a linebreak in between, if the capacity of
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// fullMessage suffices. We need capacity for one additional character
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// because of the linebreak.
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if (lenFullMessage + lenToBeAppended + 1 < capacityFullMessage) {
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// Append the linebreak and readd the null terminator behind it
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// fullMessage[lenFullMessage] = '\n';
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// fullMessage[lenFullMessage + 1] = '\0';
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// Append the actual message
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strcat(fullMessage, toBeAppended);
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}
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}
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}
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masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
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: sinqAxis(pC, axisNo), pC_(pC) {
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@@ -340,8 +366,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
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return rw_status;
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}
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// Check if we reached the target
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if (targetReached()) {
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// If the motor is switched off or if it reached its target, it is not
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// moving.
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if (targetReached() || !switchedOn()) {
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*moving = false;
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} else {
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*moving = true;
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@@ -362,70 +389,26 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
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Read out the error if either a fault condition status flag has been set or
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if a movement has just ended.
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*/
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if (faultConditionSet()) {
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msgPrintControlKey keyError = msgPrintControlKey(
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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if (faultConditionSet() || !(*moving)) {
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rw_status = readAxisError();
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if (shortCircuit()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nShort "
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"circuit fault.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status =
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setStringParam(pC_->motorMessageText_,
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"Short circuit error. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (encoderError()) {
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nEncoder error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status =
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setStringParam(pC_->motorMessageText_,
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"Encoder error. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (followingError()) {
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
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"following error exceeded.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status = setStringParam(
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pC_->motorMessageText_,
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"Maximum allowed following error exceeded.Check if movement "
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"range is blocked. Otherwise please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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/*
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A communication error is a special case. If a communication between
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controller and axis error occurred, all subsequent errors are ignored,
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since this information is not reliable.
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*/
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if (communicationError()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line "
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"%d\nCommunication error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
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pC_->pasynUserSelf)) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line "
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"%d\nCommunication error.%s\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
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pC_->msgPrintControl_.getSuffix());
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}
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pl_status =
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setStringParam(pC_->motorMessageText_,
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@@ -438,172 +421,164 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
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}
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poll_status = asynError;
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}
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} else {
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if (feedbackError()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line "
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"%d\nFeedback error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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// This buffer must be initialized to zero because we build the
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// error message by appending strings.
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char userMessage[pC_->MAXBUF_] = {0};
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char shellMessage[pC_->MAXBUF_] = {0};
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pl_status =
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setStringParam(pC_->motorMessageText_,
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"Feedback error. Please call the support.");
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// Concatenate all other errors
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if (shortCircuit()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Short circuit fault.");
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Short circuit error. Please call the support.");
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poll_status = asynError;
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}
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if (encoderError()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Encoder error.");
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appendErrorMessage(userMessage, sizeof(userMessage),
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"Encoder error. Please call the support.");
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poll_status = asynError;
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}
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if (followingError()) {
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appendErrorMessage(
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shellMessage, sizeof(shellMessage),
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"Maximum callowed following error exceeded.");
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Maximum allowed following error exceeded.Check if "
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"movement range is blocked. Otherwise please call the "
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"support.");
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poll_status = asynError;
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}
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if (feedbackError()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Feedback error.");
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appendErrorMessage(userMessage, sizeof(userMessage),
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"Feedback error. Please call the support.");
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poll_status = asynError;
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}
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/*
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Either the software limits or the end switches of the controller
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have been hit. Since the EPICS limits are derived from the software
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limits and are a little bit smaller, these error cases can only
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happen if either the axis has an incremental encoder which is not
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properly homed or if a bug occured.
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*/
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if (positiveLimitSwitch() || negativeLimitSwitch() ||
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positiveSoftwareLimit() || negativeSoftwareLimit()) {
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// Distinction for developers
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if (positiveLimitSwitch()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Positive limit switch.");
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}
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if (negativeLimitSwitch()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Negative limit switch.");
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}
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if (positiveSoftwareLimit()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Positive software limit.");
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}
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if (negativeSoftwareLimit()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Negative software limit.");
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}
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// Generic error message for user
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Software limits or end switch hit. Try homing the motor, "
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"moving in the opposite direction or check the SPS for "
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"errors (if available). Otherwise please call the "
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"support.");
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poll_status = asynError;
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}
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if (overCurrent()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Overcurrent error.");
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Overcurrent error. Please call the support.");
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poll_status = asynError;
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}
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if (overTemperature()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Overtemperature error.");
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Overtemperature error. Please call the support.");
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poll_status = asynError;
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}
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if (overVoltage()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Overvoltage error.");
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Overvoltage error. Please call the support.");
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poll_status = asynError;
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}
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if (underVoltage()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"Undervoltage error.");
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appendErrorMessage(
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userMessage, sizeof(userMessage),
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"Undervoltage error. Please call the support.");
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poll_status = asynError;
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}
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if (stoFault()) {
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appendErrorMessage(shellMessage, sizeof(shellMessage),
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"STO input is on disable state.");
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appendErrorMessage(userMessage, sizeof(userMessage),
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"STO fault. Please call the support.");
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poll_status = asynError;
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}
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if (strlen(shellMessage) > 0) {
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if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
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pC_->pasynUserSelf)) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line "
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"%d\n%s.%s\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__,
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__LINE__, shellMessage,
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pC_->msgPrintControl_.getSuffix());
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}
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}
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pl_status = setStringParam(pC_->motorMessageText_, userMessage);
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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/*
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Either the software limits or the end switches of the controller have
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been hit. Since the EPICS limits are derived from the software limits
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and are a little bit smaller, these error cases can only happen if
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either the axis has an incremental encoder which is not properly homed
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or if a bug occured.
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*/
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if (positiveLimitSwitch() || negativeLimitSwitch() ||
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positiveSoftwareLimit() || negativeSoftwareLimit()) {
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// Distinction for developers
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if (positiveLimitSwitch()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nAxis "
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"hit the positive limit end switch.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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if (negativeLimitSwitch()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nAxis "
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"hit the negative limit end switch.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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if (positiveSoftwareLimit()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nAxis "
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"hit the positive software limit.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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if (negativeSoftwareLimit()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nAxis "
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"hit the negative software limit.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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// Generic error message for user
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pl_status = setStringParam(
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pC_->motorMessageText_,
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"Software limits or end switch hit. Try homing the motor, "
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"moving in the opposite direction or check the SPS for "
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"errors (if available). Otherwise please call the "
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"support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (overCurrent()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nOvercurrent "
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"error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status =
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setStringParam(pC_->motorMessageText_,
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"Overcurrent error. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (overTemperature()) {
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nOvertemperature "
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"error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status = setStringParam(
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pC_->motorMessageText_,
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"Overtemperature error. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (overVoltage()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nOvervoltage "
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"error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status =
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setStringParam(pC_->motorMessageText_,
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"Overvoltage error. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (underVoltage()) {
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nUndervoltage "
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"error.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status =
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setStringParam(pC_->motorMessageText_,
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"Undervoltage error. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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if (stoFault()) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"Controller \"%s\", axis %d => %s, line %d\nSTO fault - "
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"STO input is on disable state.\n",
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pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
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pl_status = setStringParam(pC_->motorMessageText_,
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"STO fault. Please call the support.");
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if (pl_status != asynSuccess) {
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return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
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axisNo_, __PRETTY_FUNCTION__,
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__LINE__);
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}
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poll_status = asynError;
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}
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} else {
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pC_->msgPrintControl_.resetCount(keyError);
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}
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// Read out the limits, if the motor is not moving
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Reference in New Issue
Block a user