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Custom timeout for enable and position methods

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Added a custom timeout for the enable command, as it takes quite a bit
of time for the motor controller to answer and we don't want to show a
premature communication timeout error. Also changed the code in order to
use the motorPosition() and setMotorPosition() methods instead of
directly accessing the paramLib.
This commit is contained in:
mathis_s
2025-03-31 10:43:37 +02:00
parent a3e849f386
commit fe52245e38
4 changed files with 59 additions and 35 deletions
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2
Makefile
View File

@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
motorBase_VERSION=7.2.2
# Specify the version of sinqMotor we want to build against
sinqMotor_VERSION=mathis_s
sinqMotor_VERSION=0.10.0
# These headers allow to depend on this library for derived drivers.
HEADERS += src/masterMacsAxis.h

38
src/masterMacsAxis.cpp
View File

@ -191,7 +191,7 @@ asynStatus masterMacsAxis::init() {
nvals = sscanf(response, "%lf", &motorPosition);
if (nvals != 1) {
return pC_->couldNotParseResponse("R12", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
// Read out the current velocity
@ -202,7 +202,7 @@ asynStatus masterMacsAxis::init() {
nvals = sscanf(response, "%lf", &motorVelocity);
if (nvals != 1) {
return pC_->couldNotParseResponse("R05", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
// Read out the maximum velocity
@ -213,7 +213,7 @@ asynStatus masterMacsAxis::init() {
nvals = sscanf(response, "%lf", &motorVmax);
if (nvals != 1) {
return pC_->couldNotParseResponse("R26", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
// Read out the acceleration
@ -224,7 +224,7 @@ asynStatus masterMacsAxis::init() {
nvals = sscanf(response, "%lf", &motorAccel);
if (nvals != 1) {
return pC_->couldNotParseResponse("R06", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
// Cache the motor speed. If this value differs from the one in the motor
@ -333,8 +333,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
nvals = sscanf(response, "%lf", &handshakePerformed);
if (nvals != 1) {
return pC_->couldNotParseResponse(
"R86", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse("R86", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
if (handshakePerformed == 1.0) {
@ -401,7 +401,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
nvals = sscanf(response, "%lf", &currentPosition);
if (nvals != 1) {
return pC_->couldNotParseResponse("R12", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
/*
@ -608,8 +608,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
nvals = sscanf(response, "%lf", &lowLimit);
if (nvals != 1) {
return pC_->couldNotParseResponse(
"R34", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse("R34", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
rw_status = pC_->read(axisNo_, 33, response);
@ -618,8 +618,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
}
nvals = sscanf(response, "%lf", &highLimit);
if (nvals != 1) {
return pC_->couldNotParseResponse(
"R33", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse("R33", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
/*
@ -979,7 +979,7 @@ asynStatus masterMacsAxis::readEncoderType() {
nvals = sscanf(response, "%d", &encoder_id);
if (nvals != 1) {
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
__PRETTY_FUNCTION__, __LINE__);
}
/*
@ -1068,7 +1068,11 @@ asynStatus masterMacsAxis::enable(bool on) {
axisNo_, __PRETTY_FUNCTION__,
__LINE__);
}
rw_status = pC_->write(axisNo_, 04, value);
// The answer to the enable command on MasterMACS might take some time,
// hence we wait for a custom timespan in seconds instead of
// pC_->comTimeout_
rw_status = pC_->write(axisNo_, 04, value, 1.0);
if (rw_status != asynSuccess) {
return rw_status;
}
@ -1138,8 +1142,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
float axisStatus = 0;
int nvals = sscanf(response, "%f", &axisStatus);
if (nvals != 1) {
return pC_->couldNotParseResponse(
"R10", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse("R10", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
axisStatus_ = toBitset(axisStatus);
@ -1159,8 +1163,8 @@ asynStatus masterMacsAxis::readAxisError() {
float axisError = 0;
int nvals = sscanf(response, "%f", &axisError);
if (nvals != 1) {
return pC_->couldNotParseResponse(
"R11", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse("R11", response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
axisError_ = toBitset(axisError);
}

46
src/masterMacsController.cpp
View File

@ -113,18 +113,19 @@ masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
return dynamic_cast<masterMacsAxis *>(asynAxis);
}
asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response) {
asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
double comTimeout) {
return writeRead(axisNo, tcpCmd, NULL, response);
}
asynStatus masterMacsController::write(int axisNo, int tcpCmd,
const char *payload) {
return writeRead(axisNo, tcpCmd, payload, NULL);
const char *payload, double comTimeout) {
return writeRead(axisNo, tcpCmd, payload, NULL, comTimeout);
}
asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
const char *payload,
char *response) {
const char *payload, char *response,
double comTimeout) {
// Definition of local variables.
asynStatus status = asynSuccess;
@ -156,6 +157,11 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
// =========================================================================
// Check if a timeout has been given
if (comTimeout < 0.0) {
comTimeout = comTimeout_;
}
masterMacsAxis *axis = getMasterMacsAxis(axisNo);
if (axis == nullptr) {
// We already did the error logging directly in getAxis
@ -179,8 +185,16 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
adjustForPrint(printableCommand, fullCommand, MAXBUF_);
// Send out the command
status = pasynOctetSyncIO->write(
ipPortUser_, fullCommand, fullCommandLength, comTimeout_, &nbytesOut);
status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
fullCommandLength, comTimeout, &nbytesOut);
if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError "
"%s while writing to the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
}
msgPrintControlKey writeKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@ -207,24 +221,28 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
*/
status = pasynOctetSyncIO->read(ipPortUser_, fullResponse, MAXBUF_,
comTimeout_, &nbytesIn, &eomReason);
comTimeout, &nbytesIn, &eomReason);
pasynOctetSyncIO->flush(ipPortUser_);
if (status == asynSuccess) {
status = parseResponse(fullCommand, fullResponse,
drvMessageText, &valueStart, &valueStop,
axisNo, tcpCmd, isRead);
if (status == asynSuccess) {
// Received the correct message
break;
}
} else {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError "
"%s while reading from the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
break;
if (status != asynTimeout) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d:\nError "
"%s while reading from the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
break;
}
}
if (i + 1 == maxTrials && status == asynError) {

8
src/masterMacsController.h
View File

@ -57,7 +57,8 @@ class masterMacsController : public sinqController {
* @param payload Value send to MasterMACS.
* @return asynStatus
*/
asynStatus write(int axisNo, int tcpCmd, const char *payload);
asynStatus write(int axisNo, int tcpCmd, const char *payload,
double comTimeout = -1.0);
/**
* @brief Send a command to the hardware and receive a response (R mode)
@ -68,7 +69,8 @@ class masterMacsController : public sinqController {
* expected to have the size MAXBUF_.
* @return asynStatus
*/
asynStatus read(int axisNo, int tcpCmd, char *response);
asynStatus read(int axisNo, int tcpCmd, char *response,
double comTimeout = -1.0);
/**
* @brief Send a command to the hardware (R or S mode) and receive a
@ -85,7 +87,7 @@ class masterMacsController : public sinqController {
* @return asynStatus
*/
asynStatus writeRead(int axisNo, int tcpCmd, const char *payload,
char *response);
char *response, double comTimeout = -1.0);
/**
* @brief Parse "fullResponse" received upon sending "fullCommand".