From ff183576ec18ccdd1619bb198bd58b3f4f326b20 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 5 Aug 2025 08:58:50 +0200
Subject: [PATCH] Added axis reinitialization after node reset

When resetting the node, values within the controller may change, which
need to be reread by the init function.
---
 src/masterMacsAxis.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index 50472f9..ea40dc1 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -814,8 +814,9 @@ asynStatus masterMacsAxis::doReset() {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset any errors in the controller
-    status = pC_->write(axisNo_, 17, "");
+    // Reset any errors in the controller. Since the node reset results in a
+    // power cycle, we use the corresponding timeout.
+    status = pC_->write(axisNo_, 17, "", PowerCycleTimeout);
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
@@ -823,7 +824,13 @@ asynStatus masterMacsAxis::doReset() {
     // Move out of the handshake wait loop, if we're currently inside it.
     pMasterMacsA_->waitForHandshake = false;
 
-    return status;
+    // Reinitialize the axis
+    status = masterMacsAxis::init();
+    if (status != asynSuccess) {
+        return status;
+    }
+    bool moving = false;
+    return forcedPoll(&moving);
 }
 
 /*