lin-epics-modules/mastermacs
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Fixed moving after enable bug

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When a MasterMacs motor is powered for the first time, it does not have
a target set. Therefore, the targetReached bit is 0, which the driver
used to interpret as "moving". This is solved now by an additional flag
which checks if the motor did a handshake.

Additionally, the communication module was simplified and new utility
scripts were added. It is now made sure that the communication timeout
for enabling and sending move commands is now at least equal to
PowerCycleTimeout defined in src/masterMacsAxis.cpp.
This commit is contained in:
mathis_s
2025-04-17 16:34:14 +02:00
parent 699b588ba5
commit 60053244a1
7 changed files with 292 additions and 132 deletions
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139
src/masterMacsController.cpp
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@@ -70,7 +70,7 @@ masterMacsController::masterMacsController(const char *portName,
the message length is encoded in the message header.
*/
const char *message_from_device = "\x0D"; // Hex-code for CR
status = pasynOctetSyncIO->setInputEos(ipPortAsynOctetSyncIO_,
status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
message_from_device,
strlen(message_from_device));
if (status != asynSuccess) {
@@ -79,7 +79,7 @@ masterMacsController::masterMacsController(const char *portName,
"input EOS failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(ipPortAsynOctetSyncIO_);
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
exit(-1);
}
@@ -90,7 +90,7 @@ masterMacsController::masterMacsController(const char *portName,
"ParamLib callbacks failed with %s).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
pasynOctetSyncIO->disconnect(ipPortAsynOctetSyncIO_);
pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
exit(-1);
}
}
@@ -133,8 +133,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
asynStatus pl_status = asynSuccess;
char fullCommand[MAXBUF_] = {0};
char fullResponse[MAXBUF_] = {0};
char printableCommand[MAXBUF_] = {0};
char printableResponse[MAXBUF_] = {0};
char drvMessageText[MAXBUF_] = {0};
int motorStatusProblem = 0;
@@ -158,7 +156,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
// =========================================================================
// Check if a timeout has been given
// Check if a custom timeout has been given
if (comTimeout < 0.0) {
comTimeout = comTimeout_;
}
@@ -169,6 +167,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
return asynError;
}
// Build the full command depending on the inputs to this function
if (isRead) {
snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
} else {
@@ -183,95 +182,39 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
// Calculate the command length
const size_t fullCommandLength = strlen(fullCommand);
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
// Flush the IOC-side socket, then write the command and wait for the
// response.
status = pasynOctetSyncIO->writeRead(
pasynOctetSyncIOipPort(), fullCommand, fullCommandLength, fullResponse,
MAXBUF_, comTimeout, &nbytesOut, &nbytesIn, &eomReason);
// Send out the command
status = pasynOctetSyncIO->write(ipPortAsynOctetSyncIO_, fullCommand,
fullCommandLength, comTimeout, &nbytesOut);
if (status != asynSuccess) {
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));
}
msgPrintControlKey writeKey =
// If a communication error occured, print this message to the
msgPrintControlKey comKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (status == asynSuccess) {
msgPrintControl_.resetCount(writeKey, pasynUserSelf);
// Try to read the answer repeatedly
int maxTrials = 2;
for (int i = 0; i < maxTrials; i++) {
/*
A typical response of the MasterMacs controller looks like this:
(.. TCP Header ...) 31 20 52 20 31 31 3d 35 31 32 2e 30 30 30 30 06
0d 00 00 00 00 00 00 00 00 00 00 00 00 00
The message terminator is the carriage return (0d), which is
specified in the controller constructor as the end-of-string (EOS)
character. However, we also need to remove the buffer zeros at the
end, because they will otherwise confuse the
pasynOctetSyncIO->read() during the next call. The
pasynOctetSyncIO->flush() method does exactly that: it takes all
bytes it can find in the socket and throws them away. We don't check
the return value of flush(), because it is always asynSuccess (see
https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
*/
status = pasynOctetSyncIO->read(ipPortAsynOctetSyncIO_,
fullResponse, MAXBUF_, comTimeout,
&nbytesIn, &eomReason);
pasynOctetSyncIO->flush(ipPortAsynOctetSyncIO_);
if (status == asynSuccess) {
status = parseResponse(fullCommand, fullResponse,
drvMessageText, &valueStart, &valueStop,
axisNo, tcpCmd, isRead);
if (status == asynSuccess) {
// Received the correct message
break;
}
} else {
if (status != asynTimeout) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError "
"%s while reading from the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
break;
}
}
if (i + 1 == maxTrials && status == asynError) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFailed "
"%d times to get the correct response. Aborting read.\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, maxTrials);
}
if (status != asynSuccess) {
if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUserSelf)) {
char printableCommand[MAXBUF_] = {0};
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError "
"%s while sending command %s to the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status), printableCommand);
}
} else {
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());
}
msgPrintControl_.resetCount(comKey, pasynUserSelf);
}
// Create custom error messages for different failure modes
switch (status) {
case asynSuccess:
// We did get a response, but does it make sense and is it designated as
// OK from the controller? This is checked here.
status = parseResponse(fullCommand, fullResponse, drvMessageText,
&valueStart, &valueStop, axisNo, tcpCmd, isRead);
if (isRead) {
// Read out the important information from the response
if (status == asynSuccess && isRead) {
/*
If a property has been read, we need just the part between the
"=" (0x3D) and the [ACK] (0x06). Therefore, we remove all
@@ -282,31 +225,30 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
response[i] = fullResponse[i + valueStart];
}
}
break;
case asynTimeout:
snprintf(drvMessageText, sizeof(drvMessageText),
"connection timeout for axis %d", axisNo);
"Connection timeout. Please call the support.");
break;
case asynDisconnected:
snprintf(drvMessageText, sizeof(drvMessageText),
"axis is not connected");
"Axis is not connected.");
break;
case asynDisabled:
snprintf(drvMessageText, sizeof(drvMessageText), "axis is disabled");
snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
break;
case asynError:
// Do nothing - error message drvMessageText has already been set.
break;
default:
snprintf(drvMessageText, sizeof(drvMessageText),
"Communication failed (%s)", stringifyAsynStatus(status));
"Communication failed (%s). Please call the support.",
stringifyAsynStatus(status));
break;
}
// Log the overall status (communication successfull or not)
if (status == asynSuccess) {
adjustForPrint(printableResponse, fullResponse, MAXBUF_);
pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
} else {
@@ -401,6 +343,7 @@ asynStatus masterMacsController::parseResponse(
if (msgPrintControl_.shouldBePrinted(parseKey, true,
pasynUserSelf)) {
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nTried to "
@@ -440,13 +383,13 @@ asynStatus masterMacsController::parseResponse(
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());
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_,