Modified communication protocol for MCU software 2.0

src/masterMacsAxis.cpp

@@ -303,6 +303,34 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Are we currently waiting for a handshake?
     if (waitForHandshake_) {
+
+        // Check if the handshake takes too long and communicate an error in
+        // this case. A handshake should not take more than 5 seconds.
+        time_t currentTime = time(NULL);
+        bool timedOut = (currentTime > timeAtHandshake_ + 5);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
+                pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, 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",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      timeAtHandshake_, currentTime);
+        }
+
+        if (timedOut) {
+            pl_status =
+                setStringParam(pC_->motorMessageText_,
+                               "Timed out while waiting for a handshake");
+            if (pl_status != asynSuccess) {
+                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+                                                 axisNo_, __PRETTY_FUNCTION__,
+                                                 __LINE__);
+            }
+        }
+
         pC_->read(axisNo_, 86, response);
         if (rw_status != asynSuccess) {
             return rw_status;
@@ -580,7 +608,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
     } else {
-        pC_->msgPrintControl_.resetCount(keyError);
+        pC_->msgPrintControl_.resetCount(keyError, pC_->pasynUserSelf);
     }
 
     // Read out the limits, if the motor is not moving