From 798971aba0578e1118b501ca6730c93fe0253d36 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 20 Oct 2026 13:14:25 +0200
Subject: [PATCH] Graceful handling of short-lived communication errors.

If a communication error between the MACS controller and a slave controller is short-lived, it shouldn't be reported to the user.
---
 src/masterMacsAxis.cpp | 21 +++++++++++++++++++--
 1 file changed, 19 insertions(+), 2 deletions(-)

diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index 0777ab6..30e67b5 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -575,7 +575,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     msgPrintControlKey commError = msgPrintControlKey(
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-        {.maxRepetitions = 5, .minRepetitions = 1});
+        {.maxRepetitions = 2000, .minRepetitions = 100});
 
     /*
     A communication error is a special case. If a communication between
@@ -583,7 +583,14 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     since this information is not reliable.
      */
     if (communicationError()) {
-
+        /*
+        Only emit an error message if the communication error was set at least
+        minRepetitions times. This is to avoid reporting communication errors
+        which only occur very temporarily and are not relevant. As a concrete
+        example, if an axis is connected to the controller, the MACS might
+        detect that it is connected, but establishing the communication might
+        take a short time. This is not an error which should be reported.
+         */
         if (pC_->getMsgPrintControl().repetitionCount(commError) >=
             commError.options_.minRepetitions) {
             if (pC_->getMsgPrintControl().shouldBePrinted(commError, true,
@@ -604,6 +611,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             poll_status = asynError;
         } else {
             pC_->getMsgPrintControl().incrementRepetitionCount(commError);
+
+            /*
+            If the error shouldn't be reported yet (see text above), reset the
+            error message on the controller, as it will otherwise persist even
+            though the communication has been established.
+            */
+            rwStatus = pC_->write(axisNo_, 17, "");
+            if (rwStatus != asynSuccess) {
+                setAxisParamChecked(this, motorStatusProblem, true);
+            }
         }
 
     } else {