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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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src/masterMacsController.cpp
+44 -35
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@@ -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);