lin-epics-modules/mastermacs
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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 10:48:41 +02:00
parent a3e849f386
commit fe52245e38
4 changed files with 59 additions and 35 deletions
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src/masterMacsController.cpp
+32 -14
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@@ -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) {