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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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113
src/masterMacsController.cpp
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@@ -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;