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Updated to sinqMotor 2.1.1 and expanded driver error messages

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Added controller name and axis number to the driver error messages.
This commit is contained in:
mathis_s
2026-06-08 14:45:15 +02:00
parent c7a2a32c73
commit ec55dd1657
3 changed files with 80 additions and 64 deletions
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sinqMotor
+1 -1
Submodule sinqMotor updated: 95bc899114...1470f901bc
src/masterMacsAxis.cpp
+35 -28
View File
@@ -81,10 +81,6 @@ void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
// fullMessage suffices. We need capacity for one additional character
// because of the linebreak.
if (lenFullMessage + lenToBeAppended + 1 < capacityFullMessage) {
// Append the linebreak and readd the null terminator behind it
// fullMessage[lenFullMessage] = '\n';
// fullMessage[lenFullMessage + 1] = '\0';
// We check before that the capacity of fullMessage is sufficient
strcat(fullMessage, toBeAppended);
}
@@ -158,9 +154,9 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
}
// Even though this happens already in sinqAxis, a default value for
// motorMessageText is set here again, because apparently the sinqAxis
// motorErrorMessage is set here again, because apparently the sinqAxis
// constructor is not run before the string is accessed?
status = setStringParam(pC_->motorMessageText(), "");
status = setStringParam(pC_->motorErrorMessage(), "");
if (status != asynSuccess) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -447,9 +443,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
if (timedOut) {
setAxisParamChecked(this, motorMessageText,
"Timed out while waiting for a handshake. "
"Please call the support.");
char msg[pC_->MAXBUF_];
snprintf(msg, sizeof(msg),
"Controller \"%s\", axis %d: Timed out while waiting for "
"a handshake. Please call the support.",
pC_->portName, axisNo());
setAxisParamChecked(this, motorErrorMessage, msg);
poll_status = asynError;
}
@@ -576,9 +575,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
pC_->getMsgPrintControl().getSuffix());
}
setAxisParamChecked(this, motorMessageText,
"Communication error between PC and motor "
"controller. Please call the support.");
char msg[pC_->MAXBUF_];
snprintf(msg, sizeof(msg),
"Controller \"%s\", axis %d: Communication error between IOC "
"and motor controller. Please call the support.",
pC_->portName, axisNo());
setAxisParamChecked(this, motorErrorMessage, msg);
poll_status = asynError;
} else {
@@ -587,13 +589,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
// error message by appending strings.
char errorMessage[pC_->MAXBUF_] = {0};
char shellMessage[pC_->MAXBUF_] = {0};
snprintf(errorMessage, sizeof(errorMessage),
"Controller \"%s\", axis %d: ", pC_->portName, axisNo());
// Concatenate all other errors
if (shortCircuit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Short circuit fault.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"Short circuit error. Please call the support.");
appendErrorMessage(
errorMessage, sizeof(errorMessage),
"Short circuit error. Please call the support. ");
poll_status = asynError;
}
@@ -602,7 +607,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Encoder error.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"Encoder error. Please call the support.");
"Encoder error. Please call the support. ");
poll_status = asynError;
}
@@ -614,7 +619,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
errorMessage, sizeof(errorMessage),
"Maximum allowed following error exceeded.Check if "
"movement range is blocked. Otherwise please call the "
"support.");
"support. ");
poll_status = asynError;
}
@@ -623,7 +628,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Feedback error.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"Feedback error. Please call the support.");
"Feedback error. Please call the support. ");
poll_status = asynError;
}
@@ -702,7 +707,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
"Software limits or end switch hit. Try homing the motor, "
"moving in the opposite direction or check the SPS for "
"errors (if available). Otherwise please call the "
"support.");
"support. ");
poll_status = asynError;
}
@@ -712,7 +717,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Overcurrent error.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"Overcurrent error. Please call the support.");
"Overcurrent error. Please call the support. ");
poll_status = asynError;
}
@@ -722,7 +727,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
"Overtemperature error.");
appendErrorMessage(
errorMessage, sizeof(errorMessage),
"Overtemperature error. Please call the support.");
"Overtemperature error. Please call the support. ");
poll_status = asynError;
}
@@ -731,7 +736,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Overvoltage error.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"Overvoltage error. Please call the support.");
"Overvoltage error. Please call the support. ");
poll_status = asynError;
}
@@ -740,7 +745,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"Undervoltage error.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"Undervoltage error. Please call the support.");
"Undervoltage error. Please call the support. ");
poll_status = asynError;
}
@@ -749,7 +754,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
appendErrorMessage(shellMessage, sizeof(shellMessage),
"STO input is on disable state.");
appendErrorMessage(errorMessage, sizeof(errorMessage),
"STO fault. Please call the support.");
"STO fault. Please call the support. ");
poll_status = asynError;
}
@@ -765,7 +770,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
}
setAxisParamChecked(this, motorMessageText, errorMessage);
setAxisParamChecked(this, motorErrorMessage, errorMessage);
}
// No error has been detected -> Reset the error count
@@ -1147,7 +1152,7 @@ asynStatus masterMacsAxis::enable(bool on) {
"idle and can therefore not be disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
setAxisParamChecked(this, motorMessageText,
setAxisParamChecked(this, motorErrorMessage,
"Axis cannot be disabled while it is moving.");
return asynError;
@@ -1214,10 +1219,12 @@ asynStatus masterMacsAxis::enable(bool on) {
on ? "enable" : "disable", PowerCycleTimeout);
// Output message to user
snprintf(msg, sizeof(msg), "Failed to %s within %f seconds",
on ? "enable" : "disable", PowerCycleTimeout);
snprintf(msg, sizeof(msg),
"Controller \"%s\", axis %d: Failed to %s within %f seconds",
pC_->portName, axisNo_, on ? "enable" : "disable",
PowerCycleTimeout);
setAxisParamChecked(this, motorMessageText, msg);
setAxisParamChecked(this, motorErrorMessage, msg);
return asynError;
}
src/masterMacsController.cpp
+44 -35
View File
@@ -171,17 +171,16 @@ masterMacsController::masterMacsController(const char *portName,
// Compare to target values
if (firmware_major_version() != major ||
firmware_minor_version() > minor) {
asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\" => %s, line %d\nFATAL ERROR "
"(Incorrect "
"version number of firmware: Expected major "
"version equal "
"to %d, got %d. Expected minor version equal to "
"or larger "
"than %d, got %d).\nTerminating IOC",
portName, __PRETTY_FUNCTION__, __LINE__,
firmware_major_version(), major,
firmware_minor_version(), minor);
asynPrint(
this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\" => %s, line %d\nFATAL ERROR "
"(Incorrect version number of firmware: Expected major "
"version equal to %d, got %d. Expected minor version "
"equal to or larger than %d, got %d).\nTerminating "
"IOC.\n",
portName, __PRETTY_FUNCTION__, __LINE__,
firmware_major_version(), major,
firmware_minor_version(), minor);
exit(-1);
}
}
@@ -189,7 +188,7 @@ masterMacsController::masterMacsController(const char *portName,
asynPrint(
this->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\" => %s, line %d\nCould not read firmware "
"version\n",
"version.\n",
portName, __PRETTY_FUNCTION__, __LINE__);
}
}
@@ -248,7 +247,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
asynStatus status = asynSuccess;
char fullCommand[MAXBUF_] = {0};
char fullResponse[MAXBUF_] = {0};
char drvMessageText[MAXBUF_] = {0};
char drvMessage[MAXBUF_] = {0};
int motorStatusProblem = 0;
int valueStart = 0;
@@ -306,7 +305,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
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",
"%s while sending command %s to the controller.\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status), printableCommand);
}
@@ -319,7 +318,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
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,
status = parseResponse(fullCommand, fullResponse, drvMessage,
&valueStart, &valueStop, axisNo, tcpCmd, isRead);
// Read out the important information from the response
@@ -336,23 +335,29 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
}
break;
case asynTimeout:
snprintf(drvMessageText, sizeof(drvMessageText),
"Connection timeout. Please call the support.");
snprintf(drvMessage, sizeof(drvMessage),
"Controller \"%s\", axis %d: Connection timeout. Please call "
"the support.",
portName, axisNo);
break;
case asynDisconnected:
snprintf(drvMessageText, sizeof(drvMessageText),
"Axis is not connected.");
snprintf(drvMessage, sizeof(drvMessage),
"Controller \"%s\", axis %d: Axis is disconnected.", portName,
axisNo);
break;
case asynDisabled:
snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
snprintf(drvMessage, sizeof(drvMessage),
"Controller \"%s\", axis %d: Axis is disabled.", portName,
axisNo);
break;
case asynError:
// Do nothing - error message drvMessageText has already been set.
// Do nothing - error message has already been set.
break;
default:
snprintf(drvMessageText, sizeof(drvMessageText),
"Communication failed (%s). Please call the support.",
stringifyAsynStatus(status));
snprintf(drvMessage, sizeof(drvMessage),
"Controller \"%s\", axis %d: Communication failed (%s). "
"Please call the support.",
portName, axisNo, stringifyAsynStatus(status));
break;
}
@@ -386,7 +391,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
if (motorStatusProblem == 0) {
setAxisParamChecked(axis, motorMessageText, drvMessageText);
setAxisParamChecked(axis, motorErrorMessage, drvMessage);
setAxisParamChecked(axis, motorStatusProblem, true);
setAxisParamChecked(axis, motorStatusCommsError, false);
}
@@ -402,11 +407,11 @@ message!):
- [ENQ][LSB][MSB][PDO1] 1 R 2=12.819[ACK][CR] (No error)
- [ENQ][LSB][MSB][PDO1] 1 R 2=12.819[NAK][CR] (Communication failed)
- [ENQ][LSB][MSB][PDO1] 1 S 10 [CAN][CR] (Driver tried to write with
a read-only command) Read out the second-to-last char of the
a read-only command). Read out the second-to-last char of the
response and check if it is NAK or CAN.
*/
asynStatus masterMacsController::parseResponse(
const char *fullCommand, const char *fullResponse, char *drvMessageText,
const char *fullCommand, const char *fullResponse, char *drvMessage,
int *valueStart, int *valueStop, int axisNo, int tcpCmd, bool isRead) {
bool responseValid = false;
@@ -469,7 +474,9 @@ asynStatus masterMacsController::parseResponse(
NAK
This indicates that the axis is not connected. This is not an error!
*/
snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
snprintf(drvMessage, MAXBUF_,
"Controller \"%s\", axis %d: Axis is disconnected.",
portName, axisNo);
// Motor was connected before -> Update the paramLib entry and PV
// to show it is now disconnected.
@@ -496,9 +503,11 @@ asynStatus masterMacsController::parseResponse(
return asynDisconnected;
} else if (fullResponse[i] == '\x18') {
// CAN
snprintf(drvMessageText, MAXBUF_,
"Tried to write with a read-only command. This is a "
"bug, please call the support.");
snprintf(
drvMessage, MAXBUF_,
"Controller \"%s\", axis %d: Tried to write with a "
"read-only command. This is a bug, please call the support.",
portName, axisNo);
if (getMsgPrintControl().shouldBePrinted(parseKey, true,
pasynUserSelf)) {
@@ -551,10 +560,10 @@ asynStatus masterMacsController::parseResponse(
getMsgPrintControl().getSuffix());
}
snprintf(drvMessageText, MAXBUF_,
"Mismatched response %s to command %s. Please call the "
"support.",
printableResponse, printableCommand);
snprintf(drvMessage, MAXBUF_,
"Controller \"%s\", axis %d: Mismatched response %s for "
"command %s. Please call the support.",
portName, axisNo, printableResponse, printableCommand);
return asynError;
} else {
getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);