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Added motorConnected logic

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mathis_s
2025-04-25 15:58:03 +02:00
parent 21ffcba8be
commit cd57409f3c
2 changed files with 74 additions and 10 deletions
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2
Makefile
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@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
motorBase_VERSION=7.2.2 motorBase_VERSION=7.2.2
# Specify the version of sinqMotor we want to build against # Specify the version of sinqMotor we want to build against
sinqMotor_VERSION=mathis_s sinqMotor_VERSION=0.14.0
# These headers allow to depend on this library for derived drivers. # These headers allow to depend on this library for derived drivers.
HEADERS += src/masterMacsAxis.h HEADERS += src/masterMacsAxis.h

82
src/masterMacsController.cpp
View File

@ -305,12 +305,21 @@ asynStatus masterMacsController::parseResponse(
bool responseValid = false; bool responseValid = false;
int responseStart = 0; int responseStart = 0;
asynStatus status = asynSuccess;
int prevConnected = 0;
char printableCommand[MAXBUF_] = {0}; char printableCommand[MAXBUF_] = {0};
char printableResponse[MAXBUF_] = {0}; char printableResponse[MAXBUF_] = {0};
msgPrintControlKey parseKey = msgPrintControlKey parseKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__); msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
// Was the motor previously connected?
status = getIntegerParam(axisNo, motorConnected(), &prevConnected);
if (status != asynSuccess) {
return paramLibAccessFailed(status, "motorConnected", axisNo,
__PRETTY_FUNCTION__, __LINE__);
}
// We don't use strlen here since the C string terminator 0x00 // We don't use strlen here since the C string terminator 0x00
// occurs in the middle of the char array. // occurs in the middle of the char array.
for (uint32_t i = 0; i < MAXBUF_; i++) { for (uint32_t i = 0; i < MAXBUF_; i++) {
@ -319,20 +328,75 @@ asynStatus masterMacsController::parseResponse(
} else if (fullResponse[i] == '=') { } else if (fullResponse[i] == '=') {
*valueStart = i + 1; *valueStart = i + 1;
} else if (fullResponse[i] == '\x06') { } else if (fullResponse[i] == '\x06') {
// ACK
*valueStop = i; *valueStop = i;
responseValid = true; responseValid = true;
break;
} else if (fullResponse[i] == '\x15') {
// NAK
snprintf(drvMessageText, MAXBUF_, "Communication failed.");
if (msgPrintControl_.shouldBePrinted(parseKey, true, // Motor wasn't connected before -> Update the paramLib entry and PV
pasynUserSelf)) { // to show it is now connected.
if (prevConnected == 0) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line " "Controller \"%s\", axis %d => %s, line "
"%d:\nCommunication failed.%s\n", "%d:\nAxis connection status has changed to "
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, "connected.\n",
msgPrintControl_.getSuffix()); portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
masterMacsAxis *axis = getMasterMacsAxis(axisNo);
if (axis == nullptr) {
return asynError;
}
status = axis->setIntegerParam(motorConnected(), 1);
if (status != asynSuccess) {
return paramLibAccessFailed(status, "motorConnected",
axisNo, __PRETTY_FUNCTION__,
__LINE__);
}
status = callParamCallbacks();
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\nCould not update parameter library\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
return status;
}
}
break;
} else if (fullResponse[i] == '\x15') {
/*
NAK
This indicates that the axis is not connected. This is not an error!
*/
snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
// Motor was connected before -> Update the paramLib entry and PV
// to show it is now disconnected.
if (prevConnected == 1) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\nAxis connection status has changed to "
"disconnected.\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
masterMacsAxis *axis = getMasterMacsAxis(axisNo);
if (axis == nullptr) {
return asynError;
}
status = axis->setIntegerParam(motorConnected(), 0);
if (status != asynSuccess) {
return paramLibAccessFailed(status, "motorConnected",
axisNo, __PRETTY_FUNCTION__,
__LINE__);
}
status = callParamCallbacks();
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d:\nCould not update parameter library\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
return status;
}
} }
break; break;
} else if (fullResponse[i] == '\x18') { } else if (fullResponse[i] == '\x18') {