Suppress strcpy-related errors on a global level

check the length beforehand.

.clang-format

@@ -0,0 +1,246 @@
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+---
+

.gitlab-ci.yml

@@ -1,6 +1,6 @@
 default:
   image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
+
 stages:
   - lint
   - build
@@ -9,7 +9,7 @@ stages:
 cppcheck:
   stage: lint
   script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+    - cppcheck --std=c++17 --addon=cert --addon=misc --suppress=cert-STR07-C --error-exitcode=1 src/*.cpp
   artifacts:
     expire_in: 1 week
   tags:
@@ -24,16 +24,6 @@ formatting:
   tags:
     - sinq
 
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
 build_module:
   stage: build
   script:

Makefile

@@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.7.0
+sinqMotor_VERSION=0.8.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

README.md

@@ -18,22 +18,42 @@ The folder "utils" contains utility scripts for working with masterMacs motor co
 masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
 - `masterMacsController`: Create a new controller object.
 - `masterMacsAxis`: Create a new axis object.
-These functions are parametrized as follows:
+
+The full mcu.cmd file looks like this:
+
 ```
-masterMacsController(
+# Define the name of the controller and the corresponding port
-    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+epicsEnvSet("NAME","mcu")
-    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
+epicsEnvSet("ASYN_PORT","p$(NAME)")
-    8, # Maximum number of axes
+
-    0.05, # Busy poll period in seconds
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
-    1, # Idle poll period in seconds
+drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
-    0.05 # Communication timeout in seconds
+
-    );
+# Create the controller object with the defined name and connect it to the socket via the port name.
-```
+# The other parameters are as follows:
-```
+# 8: Maximum number of axes
-masterMacsAxis(
+# 0.05: Busy poll period in seconds
-    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+# 1: Idle poll period in seconds
-    1, # Index of the axis.
+# 1: Socket communication timeout in seconds
-    );
+masterMacsController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
+masterMacsAxis("$(NAME)",1);
+masterMacsAxis("$(NAME)",2);
+masterMacsAxis("$(NAME)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
+
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
+epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
 ### Versioning

src/masterMacsAxis.cpp

@@ -34,6 +34,34 @@ static void epicsInithookFunction(initHookState iState) {
     }
 }
 
+void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
+                        const char *toBeAppended) {
+    size_t lenFullMessage = strlen(fullMessage);
+    size_t lenToBeAppended = strlen(toBeAppended);
+
+    if (lenFullMessage == 0) {
+        // The error message is empty -> Just copy the content of toBeAppended
+        // into fullMessage, if the formers capacity suffices
+        if (lenToBeAppended < capacityFullMessage) {
+
+            // We check before that the capacity of fullMessage is sufficient
+            strcpy(fullMessage, toBeAppended);
+        }
+    } else {
+        // Append the message and add a linebreak in between, if the capacity of
+        // 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);
+        }
+    }
+}
+
 masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     : sinqAxis(pC, axisNo), pC_(pC) {
 
@@ -340,8 +368,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         return rw_status;
     }
 
-    // Check if we reached the target
+    // If the motor is switched off or if it reached its target, it is not
-    if (targetReached()) {
+    // moving.
+    if (targetReached() || !switchedOn()) {
         *moving = false;
     } else {
         *moving = true;
@@ -362,70 +391,26 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     Read out the error if either a fault condition status flag has been set or
     if a movement has just ended.
      */
-    if (faultConditionSet()) {
+    msgPrintControlKey keyError = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+    if (faultConditionSet() || !(*moving)) {
         rw_status = readAxisError();
 
-        if (shortCircuit()) {
+        /*
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        A communication error is a special case. If a communication between
-                      "Controller \"%s\", axis %d  => %s, line %d\nShort "
+        controller and axis error occurred, all subsequent errors are ignored,
-                      "circuit fault.\n",
+        since this information is not reliable.
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+         */
-
-            pl_status =
-                setStringParam(pC_->motorMessageText_,
-                               "Short circuit error. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (encoderError()) {
-            asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nEncoder error.\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status =
-                setStringParam(pC_->motorMessageText_,
-                               "Encoder error. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (followingError()) {
-            asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
-                "following error exceeded.\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status = setStringParam(
-                pC_->motorMessageText_,
-                "Maximum allowed following error exceeded.Check if movement "
-                "range is blocked. Otherwise please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
         if (communicationError()) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-                      "Controller \"%s\", axis %d  => %s, line "
+                                                      pC_->pasynUserSelf)) {
-                      "%d\nCommunication error.\n",
+                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                          "Controller \"%s\", axis %d  => %s, line "
+                          "%d\nCommunication error.%s\n",
+                          pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                          pC_->msgPrintControl_.getSuffix());
+            }
 
             pl_status =
                 setStringParam(pC_->motorMessageText_,
@@ -438,172 +423,164 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
 
             poll_status = asynError;
-        }
+        } else {
 
-        if (feedbackError()) {
+            // This buffer must be initialized to zero because we build the
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            // error message by appending strings.
-                      "Controller \"%s\", axis %d  => %s, line "
+            char userMessage[pC_->MAXBUF_] = {0};
-                      "%d\nFeedback error.\n",
+            char shellMessage[pC_->MAXBUF_] = {0};
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-            pl_status =
+            // Concatenate all other errors
-                setStringParam(pC_->motorMessageText_,
+            if (shortCircuit()) {
-                               "Feedback error. Please call the support.");
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Short circuit fault.");
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "Short circuit error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (encoderError()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Encoder error.");
+                appendErrorMessage(userMessage, sizeof(userMessage),
+                                   "Encoder error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (followingError()) {
+                appendErrorMessage(
+                    shellMessage, sizeof(shellMessage),
+                    "Maximum callowed following error exceeded.");
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "Maximum allowed following error exceeded.Check if "
+                    "movement range is blocked. Otherwise please call the "
+                    "support.");
+
+                poll_status = asynError;
+            }
+
+            if (feedbackError()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Feedback error.");
+                appendErrorMessage(userMessage, sizeof(userMessage),
+                                   "Feedback error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            /*
+            Either the software limits or the end switches of the controller
+            have been hit. Since the EPICS limits are derived from the software
+            limits and are a little bit smaller, these error cases can only
+            happen if either the axis has an incremental encoder which is not
+            properly homed or if a bug occured.
+            */
+            if (positiveLimitSwitch() || negativeLimitSwitch() ||
+                positiveSoftwareLimit() || negativeSoftwareLimit()) {
+
+                // Distinction for developers
+                if (positiveLimitSwitch()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Positive limit switch.");
+                }
+                if (negativeLimitSwitch()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Negative limit switch.");
+                }
+                if (positiveSoftwareLimit()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Positive software limit.");
+                }
+                if (negativeSoftwareLimit()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Negative software limit.");
+                }
+
+                // Generic error message for user
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "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.");
+
+                poll_status = asynError;
+            }
+
+            if (overCurrent()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Overcurrent error.");
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "Overcurrent error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (overTemperature()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Overtemperature error.");
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "Overtemperature error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (overVoltage()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Overvoltage error.");
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "Overvoltage error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (underVoltage()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Undervoltage error.");
+                appendErrorMessage(
+                    userMessage, sizeof(userMessage),
+                    "Undervoltage error. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (stoFault()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "STO input is on disable state.");
+                appendErrorMessage(userMessage, sizeof(userMessage),
+                                   "STO fault. Please call the support.");
+
+                poll_status = asynError;
+            }
+
+            if (strlen(shellMessage) > 0) {
+                if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                          pC_->pasynUserSelf)) {
+                    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d  => %s, line "
+                              "%d\n%s.%s\n",
+                              pC_->portName, axisNo_, __PRETTY_FUNCTION__,
+                              __LINE__, shellMessage,
+                              pC_->msgPrintControl_.getSuffix());
+                }
+            }
+
+            pl_status = setStringParam(pC_->motorMessageText_, userMessage);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                                  axisNo_, __PRETTY_FUNCTION__,
                                                  __LINE__);
             }
-
-            poll_status = asynError;
-        }
-
-        /*
-        Either the software limits or the end switches of the controller have
-        been hit. Since the EPICS limits are derived from the software limits
-        and are a little bit smaller, these error cases can only happen if
-        either the axis has an incremental encoder which is not properly homed
-        or if a bug occured.
-        */
-        if (positiveLimitSwitch() || negativeLimitSwitch() ||
-            positiveSoftwareLimit() || negativeSoftwareLimit()) {
-
-            // Distinction for developers
-            if (positiveLimitSwitch()) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "Controller \"%s\", axis %d  => %s, line %d\nAxis "
-                          "hit the positive limit end switch.\n",
-                          pC_->portName, axisNo_, __PRETTY_FUNCTION__,
-                          __LINE__);
-            }
-            if (negativeLimitSwitch()) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "Controller \"%s\", axis %d  => %s, line %d\nAxis "
-                          "hit the negative limit end switch.\n",
-                          pC_->portName, axisNo_, __PRETTY_FUNCTION__,
-                          __LINE__);
-            }
-            if (positiveSoftwareLimit()) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "Controller \"%s\", axis %d  => %s, line %d\nAxis "
-                          "hit the positive software limit.\n",
-                          pC_->portName, axisNo_, __PRETTY_FUNCTION__,
-                          __LINE__);
-            }
-            if (negativeSoftwareLimit()) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "Controller \"%s\", axis %d  => %s, line %d\nAxis "
-                          "hit the negative software limit.\n",
-                          pC_->portName, axisNo_, __PRETTY_FUNCTION__,
-                          __LINE__);
-            }
-
-            // Generic error message for user
-            pl_status = setStringParam(
-                pC_->motorMessageText_,
-                "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.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (overCurrent()) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nOvercurrent "
-                      "error.\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status =
-                setStringParam(pC_->motorMessageText_,
-                               "Overcurrent error. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (overTemperature()) {
-            asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nOvertemperature "
-                "error.\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status = setStringParam(
-                pC_->motorMessageText_,
-                "Overtemperature error. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (overVoltage()) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nOvervoltage "
-                      "error.\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status =
-                setStringParam(pC_->motorMessageText_,
-                               "Overvoltage error. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (underVoltage()) {
-            asynPrint(
-                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nUndervoltage "
-                "error.\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status =
-                setStringParam(pC_->motorMessageText_,
-                               "Undervoltage error. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
-        }
-
-        if (stoFault()) {
-            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nSTO fault - "
-                      "STO input is on disable state.\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-            pl_status = setStringParam(pC_->motorMessageText_,
-                                       "STO fault. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            poll_status = asynError;
         }
+    } else {
+        pC_->msgPrintControl_.resetCount(keyError);
     }
 
     // Read out the limits, if the motor is not moving

src/masterMacsAxis.h

@@ -4,7 +4,7 @@
 #include <bitset>
 
 // Forward declaration of the controller class to resolve the cyclic dependency
-// between C804Controller.h and C804Axis.h. See
+// between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
 class masterMacsController;
 

src/masterMacsController.cpp

@@ -117,39 +117,18 @@ Access one of the axes of the controller via the axis adress stored in asynUser.
 If the axis does not exist or is not a Axis, a nullptr is returned and an
 error is emitted.
 */
-masterMacsAxis *masterMacsController::getAxis(asynUser *pasynUser) {
+masterMacsAxis *masterMacsController::getMasterMacsAxis(asynUser *pasynUser) {
     asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
-    return masterMacsController::castToAxis(asynAxis);
+    return dynamic_cast<masterMacsAxis *>(asynAxis);
 }
 
 /*
 Access one of the axes of the controller via the axis index.
 If the axis does not exist or is not a Axis, the function must return Null
 */
-masterMacsAxis *masterMacsController::getAxis(int axisNo) {
+masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
     asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
-    return masterMacsController::castToAxis(asynAxis);
+    return dynamic_cast<masterMacsAxis *>(asynAxis);
-}
-
-masterMacsAxis *masterMacsController::castToAxis(asynMotorAxis *asynAxis) {
-
-    // =========================================================================
-
-    // If the axis slot of the pAxes_ array is empty, a nullptr must be returned
-    if (asynAxis == nullptr) {
-        return nullptr;
-    }
-
-    // Here, an error is emitted since asyn_axis is not a nullptr but also not
-    // an instance of Axis
-    masterMacsAxis *axis = dynamic_cast<masterMacsAxis *>(asynAxis);
-    if (axis == nullptr) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
-                  "an instance of masterMacsAxis",
-                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
-    }
-    return axis;
 }
 
 asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response) {
@@ -195,7 +174,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // =========================================================================
 
-    masterMacsAxis *axis = getAxis(axisNo);
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
     if (axis == nullptr) {
         // We already did the error logging directly in getAxis
         return asynError;
@@ -248,17 +227,17 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     fullCommand[2] = lenWithMetadataSep.quot; // MSB
 
     adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-    asynPrint(
-        this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-        "Controller \"%s\", axis %d => %s, line %d:\nSending command %s\n",
-        portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableCommand);
 
     // Send out the command
     status =
         pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
                                 fullCommandLength, comTimeout_, &nbytesOut);
 
+    msgPrintControlKey writeKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
     if (status == asynSuccess) {
+        msgPrintControl_.resetCount(writeKey);
 
         // Try to read the answer repeatedly
         int maxTrials = 2;
@@ -294,15 +273,18 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         }
 
     } else {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d:\nError %s while "
+            asynPrint(
-                  "writing to the controller\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                "Controller \"%s\", axis %d => %s, line %d:\nError %s while "
-                  stringifyAsynStatus(status));
+                "writing to the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
     }
 
-    // MasterMACS needs a bit of time between messages, therefore thr program
+    // MasterMACS needs a bit of time between messages, therefore thr
-    // execution is paused after the communication happened.
+    // program execution is paused after the communication happened.
     // usleep(1500);
 
     // Create custom error messages for different failure modes
@@ -345,10 +327,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
         adjustForPrint(printableResponse, fullResponse, MAXBUF_);
-        asynPrint(
-            lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-            "Controller \"%s\", axis %d => %s, line %d:\nReturn value: %s\n",
-            portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableResponse);
         pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
 
@@ -408,6 +386,9 @@ asynStatus masterMacsController::parseResponse(
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
+    msgPrintControlKey parseKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
     for (uint32_t i = 0; i < MAXBUF_; i++) {
@@ -422,27 +403,39 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '\x15') {
             // NAK
             snprintf(drvMessageText, MAXBUF_, "Communication failed.");
-            asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+
-                      "Controller \"%s\", axis %d => %s, line "
+            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                      "%d:\nCommunication failed\n",
+                                                 pasynUserSelf)) {
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d => %s, line "
+                          "%d:\nCommunication failed.%s\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                          msgPrintControl_.getSuffix());
+            }
             break;
         } 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.");
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+
-                      "Controller \"%s\", axis %d => %s, line %d:\nTried to "
+            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                      "write with the read-only command %s\n",
+                                                 pasynUserSelf)) {
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                asynPrint(
-                      printableCommand);
+                    this->pasynUserSelf, ASYN_TRACE_ERROR,
+                    "Controller \"%s\", axis %d => %s, line %d:\nTried to "
+                    "write with the read-only command %s.%s\n",
+                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                    printableCommand, msgPrintControl_.getSuffix());
+            }
             responseValid = false;
             break;
         }
     }
 
     if (responseValid) {
+        msgPrintControl_.resetCount(parseKey);
+
         // Check if the response matches the expectations. Each response
         // contains the string "axisNo R tcpCmd" (including the spaces)
         char expectedResponseSubstring[MAXBUF_] = {0};
@@ -457,22 +450,32 @@ asynStatus masterMacsController::parseResponse(
                      tcpCmd);
         }
 
+        msgPrintControlKey responseMatchKey =
+            msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
         if (strstr(&fullResponse[responseStart], expectedResponseSubstring) ==
             NULL) {
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             adjustForPrint(printableResponse, fullResponse, MAXBUF_);
 
-            asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                      "Controller \"%s\", axis %d => %s, line %d:\nMismatched "
+                                                 pasynUserSelf)) {
-                      "response %s to command %s\n",
+                asynPrint(
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                    this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                      printableResponse, printableCommand);
+                    "Controller \"%s\", axis %d => %s, line %d:\nMismatched "
+                    "response %s to command %s.%s\n",
+                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                    printableResponse, printableCommand,
+                    msgPrintControl_.getSuffix());
+            }
 
             snprintf(drvMessageText, MAXBUF_,
                      "Mismatched response %s to command %s. Please call the "
                      "support.",
                      printableResponse, printableCommand);
             return asynError;
+        } else {
+            msgPrintControl_.resetCount(responseMatchKey);
         }
     }
     return asynSuccess;

src/masterMacsController.h

@@ -38,7 +38,7 @@ class masterMacsController : public sinqController {
      * @return masterMacsAxis*        If no axis could be found, this is a
      * nullptr
      */
-    masterMacsAxis *getAxis(asynUser *pasynUser);
+    masterMacsAxis *getMasterMacsAxis(asynUser *pasynUser);
 
     /**
      * @brief Get the axis object
@@ -47,7 +47,7 @@ class masterMacsController : public sinqController {
      * @return masterMacsAxis*        If no axis could be found, this is a
      * nullptr
      */
-    masterMacsAxis *getAxis(int axisNo);
+    masterMacsAxis *getMasterMacsAxis(int axisNo);
 
   protected:
     asynUser *lowLevelPortUser_;
@@ -114,15 +114,6 @@ class masterMacsController : public sinqController {
                              int *valueStop, int axisNo, int tcpCmd,
                              bool isRead);
 
-    /**
-     * @brief Save cast of the given asynAxis pointer to a masterMacsAxis
-     * pointer. If the cast fails, this function returns a nullptr.
-     *
-     * @param asynAxis
-     * @return masterMacsAxis*
-     */
-    masterMacsAxis *castToAxis(asynMotorAxis *asynAxis);
-
   private:
     // Set the maximum buffer size. This is an empirical value which must be
     // large enough to avoid overflows for all commands to the device /

utils/decodeCommon.py

@@ -2,9 +2,14 @@
 Code shared by "decodeError.py" and "decodeStatus.py"
 """
 
+import struct
+
 def decode(value: int, interpretation):
 
-    bit_list = [int(char) for char in bin(value)[2:]]    
+    # Pack the input as a short and unpack it as an unsigned short
+    value_uint16 = format(value, '016b')  # Format as 16-bit unsigned integer
+
+    bit_list = [int(char) for char in value_uint16]    
     bit_list.reverse()
 
     interpreted = []

utils/decodeStatus.py

@@ -32,109 +32,6 @@ interpretation = [
     ("Not specified", "Not specified"), # Bit 15
 ]
 
-def interactive():
-
-    # Imported here, because curses is not available in Windows. Using the 
-    # interactive mode therefore fails on Windows, but at least the single 
-    # command mode can be used (which would not be possible if we would import
-    # curses at the top level)
-    import curses
-
-    stdscr = curses.initscr()
-    curses.noecho()
-    curses.cbreak()
-    stdscr.keypad(True)
-    stdscr.scrollok(True)
-
-    stdscr.addstr(">> ")
-    stdscr.refresh()
-
-    history = [""]
-    ptr = len(history) - 1
-
-    while True:
-        c = stdscr.getch()
-        if c == curses.KEY_RIGHT:
-            (y, x) = stdscr.getyx()
-            if x < len(history[ptr]) + 3:
-                stdscr.move(y, x+1)
-                stdscr.refresh()
-        elif c == curses.KEY_LEFT:
-            (y, x) = stdscr.getyx()
-            if x > 3:
-                stdscr.move(y, x-1)
-                stdscr.refresh()
-        elif c == curses.KEY_UP:
-            if ptr > 0:
-                ptr -= 1
-                stdscr.addch("\r")
-                stdscr.clrtoeol() 
-                stdscr.addstr(">> " + history[ptr])
-        elif c == curses.KEY_DOWN:
-            if ptr < len(history) - 1:
-                ptr += 1
-                stdscr.addch("\r")
-                stdscr.clrtoeol() 
-                stdscr.addstr(">> " + history[ptr])
-        elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
-            if history[ptr] == 'quit':
-                break
-
-            # because of arrow keys move back to the end of the line
-            (y, x) = stdscr.getyx()
-            stdscr.move(y, 3+len(history[ptr]))
-
-            if history[ptr]:
-                (bit_list, interpreted) = decode(history[ptr])
-                for (idx, (bit_value, msg)) in enumerate(zip(bit_list, interpreted)):
-                    stdscr.addstr(f"\nBit {idx} = {bit_value}: {msg}")
-                stdscr.refresh()
-
-            if ptr == len(history) - 1 and history[ptr] != "":
-                history += [""]
-            else:
-                history[-1] = ""
-            ptr = len(history) - 1
-
-            stdscr.addstr("\n>> ")
-            stdscr.refresh()
-
-        else:
-            if ptr < len(history) - 1: # Modifying previous input
-                if len(history[-1]) == 0:
-                    history[-1] = history[ptr]
-                    ptr = len(history) - 1
-
-                else:
-                    history += [history[ptr]]
-                    ptr = len(history) - 1
-
-            if c == curses.KEY_BACKSPACE:
-                if len(history[ptr]) == 0:
-                    continue
-                (y, x) = stdscr.getyx()
-                history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
-                stdscr.addch("\r")
-                stdscr.clrtoeol() 
-                stdscr.addstr(">> " + history[ptr])
-                stdscr.move(y, x-1)
-                stdscr.refresh()
-
-            else:
-                (y, x) = stdscr.getyx()
-                history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
-                stdscr.addch("\r")
-                stdscr.clrtoeol() 
-                stdscr.addstr(">> " + history[ptr])
-                stdscr.move(y, x+1)
-                stdscr.refresh()
-
-    # to quit
-    curses.nocbreak()
-    stdscr.keypad(False)
-    curses.echo()
-    curses.endwin()
-
 if __name__ == "__main__":
     from sys import argv