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Removed friend class declaration and replaced access to private,properties with accessors

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This commit is contained in:
mathis_s
2025-03-10 17:07:33 +01:00
parent cf9899062a
commit 631ee46a50
4 changed files with 78 additions and 113 deletions
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126
src/masterMacsAxis.cpp
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@@ -78,13 +78,13 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
bounds, asynMotorAxis prints an error. However, we want the IOC creation to
stop completely, since this is a configuration error.
*/
if (axisNo >= pC->numAxes_) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
if (axisNo >= pC->numAxes()) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:: FATAL ERROR: "
"Axis index %d must be smaller than the total number of axes "
"%d. Call the support.",
pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__, axisNo_,
pC->numAxes_);
pC->numAxes());
exit(-1);
}
@@ -108,10 +108,10 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
timeAtHandshake_ = 0;
// masterMacs motors can always be disabled
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 1);
status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed with %s)\n. Terminating IOC",
pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@@ -120,10 +120,10 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
}
// Assume that the motor is initially not moving
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving_, false);
status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving(), false);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_ERROR,
pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
"(setting a parameter value failed with %s)\n. Terminating IOC",
pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@@ -163,11 +163,11 @@ asynStatus masterMacsAxis::init() {
time_t now = time(NULL);
time_t maxInitTime = 60;
while (1) {
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status == asynParamUndefined) {
if (now + maxInitTime < time(NULL)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nInitializing the parameter library failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -237,7 +237,7 @@ asynStatus masterMacsAxis::init() {
// Store these values in the parameter library
pl_status =
pC_->setDoubleParam(axisNo_, pC_->motorPosition_, motorPosition);
pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
@@ -264,7 +264,7 @@ asynStatus masterMacsAxis::init() {
// If we can't communicate with the parameter library, it doesn't
// make sense to try and upstream this to the user -> Just log the
// error
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\ncallParamCallbacks failed with %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -309,10 +309,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
time_t currentTime = time(NULL);
bool timedOut = (currentTime > timeAtHandshake_ + 5);
if (pC_->msgPrintControl_.shouldBePrinted(
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAsked for a "
"handshake at %ld s and didn't get a positive reply yet "
"(current time is %ld s).\n",
@@ -322,7 +322,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
if (timedOut) {
pl_status =
setStringParam(pC_->motorMessageText_,
setStringParam(pC_->motorMessageText(),
"Timed out while waiting for a handshake");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -351,14 +351,14 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// poll. This is already part of the movement procedure.
*moving = true;
pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
"motorStatusMoving_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
axisNo_, __PRETTY_FUNCTION__,
@@ -370,7 +370,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
// Motor resolution from parameter library
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -380,7 +380,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// Read the previous motor position
pl_status =
pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &previousPosition);
pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
@@ -431,17 +431,17 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
since this information is not reliable.
*/
if (communicationError()) {
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
if (pC_->getMsgPrintControl().shouldBePrinted(
keyError, true, pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nCommunication error.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->msgPrintControl_.getSuffix());
pC_->getMsgPrintControl().getSuffix());
}
pl_status =
setStringParam(pC_->motorMessageText_,
setStringParam(pC_->motorMessageText(),
"Communication error between PC and motor "
"controller. Please call the support.");
if (pl_status != asynSuccess) {
@@ -589,18 +589,18 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
if (strlen(shellMessage) > 0) {
if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
pC_->pasynUserSelf)) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
if (pC_->getMsgPrintControl().shouldBePrinted(
keyError, true, pC_->asynUserSelf())) {
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\n%s.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__,
__LINE__, shellMessage,
pC_->msgPrintControl_.getSuffix());
pC_->getMsgPrintControl().getSuffix());
}
}
pl_status = setStringParam(pC_->motorMessageText_, userMessage);
pl_status = setStringParam(pC_->motorMessageText(), userMessage);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,
@@ -608,7 +608,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
}
} else {
pC_->msgPrintControl_.resetCount(keyError, pC_->pasynUserSelf);
pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
}
// Read out the limits, if the motor is not moving
@@ -646,7 +646,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
directly, but need to shrink them a bit. In this case, we're shrinking
them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
*/
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset(),
&limitsOffset);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
@@ -656,15 +656,15 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
highLimit = highLimit - limitsOffset;
lowLimit = lowLimit + limitsOffset;
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver_,
highLimit);
pl_status = pC_->setDoubleParam(
axisNo_, pC_->motorHighLimitFromDriver(), highLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(
pl_status, "motorHighLimitFromDriver_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver_,
pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
lowLimit);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
@@ -674,7 +674,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
// Update the enable PV
pl_status = setIntegerParam(pC_->motorEnableRBV_,
pl_status = setIntegerParam(pC_->motorEnableRBV(),
readyToBeSwitchedOn() && switchedOn());
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
@@ -692,27 +692,27 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// Update the parameter library
if (hasError) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
}
pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusDirection_, direction);
pl_status = setIntegerParam(pC_->motorStatusDirection(), direction);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
axisNo_, __PRETTY_FUNCTION__,
@@ -723,7 +723,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// masterMacsAxis::init())
currentPosition = currentPosition / motorRecResolution;
pl_status = setDoubleParam(pC_->motorPosition_, currentPosition);
pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
@@ -751,13 +751,13 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
// =========================================================================
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -766,7 +766,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
}
if (enabled == 0) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is "
"disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -778,12 +778,12 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
motorVelocity = maxVelocity * motorRecResolution;
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_FLOW,
pC_->asynUserSelf(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d:\nMove to position %lf.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
// Check if the speed is allowed to be changed
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_,
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(),
&motorCanSetSpeed);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
@@ -794,7 +794,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
// Initialize the movement handshake
rw_status = pC_->write(axisNo_, 86, "0");
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@@ -812,7 +812,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
snprintf(value, sizeof(value), "%lf", motorVelocity);
rw_status = pC_->write(axisNo_, 05, value);
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
"motorStatusProblem_", axisNo_,
@@ -821,7 +821,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
return rw_status;
}
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d:\nSetting speed "
"to %lf.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -832,7 +832,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
snprintf(value, sizeof(value), "%lf", motorCoordinatesPosition);
rw_status = pC_->write(axisNo_, 02, value);
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@@ -848,7 +848,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
rw_status = pC_->write(axisNo_, 00, "1");
}
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@@ -883,7 +883,7 @@ asynStatus masterMacsAxis::stop(double acceleration) {
rw_status = pC_->write(axisNo_, 00, "8");
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
axisNo_, __PRETTY_FUNCTION__,
@@ -910,7 +910,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
// =========================================================================
pl_status = pC_->getStringParam(axisNo_, pC_->encoderType_,
pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
sizeof(response), response);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
@@ -923,7 +923,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
// Initialize the movement handshake
rw_status = pC_->write(axisNo_, 86, "0");
if (rw_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status,
"motorStatusProblem_", axisNo_,
@@ -983,9 +983,9 @@ asynStatus masterMacsAxis::readEncoderType() {
2=SSI (Absolute encoder with BiSS interface)
*/
if (encoder_id == 0) {
pl_status = setStringParam(pC_->encoderType_, IncrementalEncoder);
pl_status = setStringParam(pC_->encoderType(), IncrementalEncoder);
} else {
pl_status = setStringParam(pC_->encoderType_, AbsoluteEncoder);
pl_status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
}
if (pl_status != asynSuccess) {
@@ -1017,13 +1017,13 @@ asynStatus masterMacsAxis::enable(bool on) {
// axis instead of "moving", since status -6 is also moving, but the
// motor can actually be disabled in this state!
if (moving) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
"idle and can therefore not be disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
pl_status =
setStringParam(pC_->motorMessageText_,
setStringParam(pC_->motorMessageText(),
"Axis cannot be disabled while it is moving.");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1039,7 +1039,7 @@ asynStatus masterMacsAxis::enable(bool on) {
if ((readyToBeSwitchedOn() && switchedOn()) == on) {
asynPrint(
pC_->pasynUserSelf, ASYN_TRACE_WARNING,
pC_->asynUserSelf(), ASYN_TRACE_WARNING,
"Controller \"%s\", axis %d => %s, line %d:\nAxis is already %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "enabled" : "disabled");
@@ -1048,14 +1048,14 @@ asynStatus masterMacsAxis::enable(bool on) {
// Enable / disable the axis if it is not moving
snprintf(value, sizeof(value), "%d", on);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d:\n%s axis.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "Enable" : "Disable");
if (on == 0) {
pl_status = setStringParam(pC_->motorMessageText_, "Disabling ...");
pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
} else {
pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
}
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1089,7 +1089,7 @@ asynStatus masterMacsAxis::enable(bool on) {
// Failed to change axis status within timeout_enable_disable => Send a
// corresponding message
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
"within %d seconds\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -1098,7 +1098,7 @@ asynStatus masterMacsAxis::enable(bool on) {
// Output message to user
snprintf(value, sizeof(value), "Failed to %s within %d seconds",
on ? "enable" : "disable", timeout_enable_disable);
pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
axisNo_, __PRETTY_FUNCTION__,