Updated sinqMotor

Reviewed-on: #1

.clang-format

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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:

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "sinqMotor"]
+	path = sinqMotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

Makefile

@@ -6,24 +6,26 @@ BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
-# Additional module dependencies
-REQUIRED+=sinqMotor
-
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
 
-# Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.7.0
-
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
 HEADERS += src/masterMacsController.h
 
 # Source files to build
+SOURCES += sinqMotor/src/msgPrintControl.cpp
+SOURCES += sinqMotor/src/sinqAxis.cpp
+SOURCES += sinqMotor/src/sinqController.cpp
 SOURCES += src/masterMacsAxis.cpp
 SOURCES += src/masterMacsController.cpp
 
+# Store the record files
+TEMPLATES += sinqMotor/db/asynRecord.db
+TEMPLATES += sinqMotor/db/sinqMotor.db
+
 # This file registers the motor-specific functions in the IOC shell.
+DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wpedantic -Wextra -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror

README.md

@@ -1,15 +1,21 @@
 # masterMacs
 
+## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+
 ## Overview
 
 This is a driver for the masterMacs motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
 
+Compatible to MasterMACS software 2.0.0.
+
 ## User guide
 
 This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
 The folder "utils" contains utility scripts for working with masterMacs motor controllers:
 - decodeStatus.py: Take the return message of a R10 (read status) command and print it in human-readable form.
+- decodeError.py: Take the return message of a R11 (read error) command and print it in human-readable form.
+- writeRead.py: Send messages to the controller and receive answers.
 
 ## Developer guide
 
@@ -18,22 +24,42 @@ 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.h

@@ -1,12 +1,10 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
+#include "masterMacsController.h"
 #include "sinqAxis.h"
-#include <bitset>
+#include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
+struct masterMacsAxisImpl;
-// between C804Controller.h and C804Axis.h. See
-// https://en.cppreference.com/w/cpp/language/class.
-class masterMacsController;
 
 class masterMacsAxis : public sinqAxis {
   public:
@@ -24,15 +22,6 @@ class masterMacsAxis : public sinqAxis {
      */
     virtual ~masterMacsAxis();
 
-    /**
-     * @brief Implementation of the `stop` function from asynMotorAxis
-     *
-     * @param acceleration        Acceleration ACCEL from the motor record. This
-     * value is currently not used.
-     * @return asynStatus
-     */
-    asynStatus stop(double acceleration);
-
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
      * parameters are described in the documentation of `sinqAxis::doHome`.
@@ -69,6 +58,23 @@ class masterMacsAxis : public sinqAxis {
     asynStatus doMove(double position, int relative, double min_velocity,
                       double max_velocity, double acceleration);
 
+    /**
+     * @brief Implementation of the `stop` function from asynMotorAxis
+     *
+     * @param acceleration        Acceleration ACCEL from the motor record. This
+     * value is currently not used.
+     * @return asynStatus
+     */
+    asynStatus stop(double acceleration);
+
+    /**
+     * @brief Implementation of the `doReset` function from sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus doReset();
+
     /**
      * @brief Readout of some values from the controller at IOC startup
      *
@@ -97,20 +103,25 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus readEncoderType();
 
-  protected:
+    /**
-    masterMacsController *pC_;
+     * @brief Check if the axis needs to run its initialization function
-    double lastSetSpeed_;
+     *
-    bool waitForHandshake_;
+     * @return true
-    time_t timeAtHandshake_;
+     * @return false
+     */
+    bool needInit();
 
-    asynStatus readConfig();
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
 
-    /*
+    /**
-    The axis status and axis error of MasterMACS are given as an integer from
+     * @brief Return a pointer to the axis controller
-    the controller. The 16 individual bits contain the actual information.
+     */
-    */
+    virtual masterMacsController *pController() override { return pC_; };
-    std::bitset<16> axisStatus_;
-    std::bitset<16> axisError_;
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -120,7 +131,7 @@ class masterMacsAxis : public sinqAxis {
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus_
+    The functions below read the specified status bit from the axisStatus
     bitset. Since a bit can either be 0 or 1, the return value is given as a
     boolean.
     */
@@ -128,68 +139,68 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
+    bool readyToBeSwitchedOn();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchedOn() { return axisStatus_[1]; }
+    bool switchedOn();
 
     // Bit 2 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool faultConditionSet() { return axisStatus_[3]; }
+    bool faultConditionSet();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool voltagePresent() { return axisStatus_[4]; }
+    bool voltagePresent();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool quickStopping() { return axisStatus_[5] == 0; }
+    bool quickStopping();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchOnDisabled() { return axisStatus_[6]; }
+    bool switchOnDisabled();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool warning() { return axisStatus_[7]; }
+    bool warning();
 
     // Bit 8 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool remoteMode() { return axisStatus_[9]; }
+    bool remoteMode();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool targetReached() { return axisStatus_[10]; }
+    bool targetReached();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool internalLimitActive() { return axisStatus_[11]; }
+    bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool setEventHasOcurred() { return axisStatus_[14]; }
+    bool setEventHasOcurred();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool powerEnabled() { return axisStatus_[15]; }
+    bool powerEnabled();
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -207,75 +218,76 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisError_
      */
-    bool shortCircuit() { return axisError_[1]; }
+    bool shortCircuit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool encoderError() { return axisError_[2]; }
+    bool encoderError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool followingError() { return axisError_[3]; }
+    bool followingError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool communicationError() { return axisError_[4]; }
+    bool communicationError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool feedbackError() { return axisError_[5]; }
+    bool feedbackError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveLimitSwitch() { return axisError_[6]; }
+    bool positiveLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeLimitSwitch() { return axisError_[7]; }
+    bool negativeLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveSoftwareLimit() { return axisError_[8]; }
+    bool positiveSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeSoftwareLimit() { return axisError_[9]; }
+    bool negativeSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overCurrent() { return axisError_[10]; }
+    bool overCurrent();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overTemperature() { return axisError_[11]; }
+    bool overTemperature();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overVoltage() { return axisError_[12]; }
+    bool overVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool underVoltage() { return axisError_[13]; }
+    bool underVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool stoFault() { return axisError_[15]; }
+    bool stoFault();
 
   private:
-    friend class masterMacsController;
+    masterMacsController *pC_;
+    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
 };
 
 #endif

src/masterMacsController.cpp

@@ -12,6 +12,10 @@
 #include <string>
 #include <unistd.h>
 
+struct masterMacsControllerImpl {
+    double comTimeout;
+};
+
 /**
  * @brief Copy src into dst and replace all NULL terminators up to the carriage
  * return with spaces. This allows to print *dst with asynPrint.
@@ -49,54 +53,39 @@ masterMacsController::masterMacsController(const char *portName,
                                            int numAxes, double movingPollPeriod,
                                            double idlePollPeriod,
                                            double comTimeout)
-    : sinqController(
+    : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
-          portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
+                     idlePollPeriod,
-          /*
+                     // No additional parameter library entries
-          The following parameter library entries are added in this driver:
+                     0)
-          - REREAD_ENCODER_POSITION
-          - READ_CONFIG
-          */
-          NUM_masterMacs_DRIVER_PARAMS)
 
 {
 
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
-    // Initialization of all member variables
+    pMasterMacsC_ =
-    lowLevelPortUser_ = nullptr;
+        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
-    comTimeout_ = comTimeout;
+            .comTimeout = comTimeout,
+        });
 
-    // =========================================================================;
+    // =========================================================================
-
-    /*
-    We try to connect to the port via the port name provided by the constructor.
-    If this fails, the function is terminated via exit
-    */
-    pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
-    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
-        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
-                     "connect to MCU controller).\nTerminating IOC",
-                     portName, __PRETTY_FUNCTION__, __LINE__);
-        exit(-1);
-    }
 
     /*
     Define the end-of-string of a message coming from the device to EPICS.
     It is not necessary to append a terminator to outgoing messages, since
-    the message length is encoded in the message header in the getSetResponse
+    the message length is encoded in the message header.
-    method.
     */
-    const char *message_from_device = "\x03"; // Hex-code for ETX
+    const char *message_from_device = "\x0D"; // Hex-code for CR
-    status = pasynOctetSyncIO->setInputEos(
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
-        lowLevelPortUser_, message_from_device, strlen(message_from_device));
+                                           message_from_device,
+                                           strlen(message_from_device));
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (setting "
                   "input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -107,7 +96,7 @@ masterMacsController::masterMacsController(const char *portName,
                   "ParamLib callbacks failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 }
@@ -117,61 +106,38 @@ 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) {
+asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
-
+                                      double comTimeout) {
-    // =========================================================================
-
-    // 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) {
     return writeRead(axisNo, tcpCmd, NULL, response);
 }
 
 asynStatus masterMacsController::write(int axisNo, int tcpCmd,
-                                       const char *payload) {
+                                       const char *payload, double comTimeout) {
-    return writeRead(axisNo, tcpCmd, payload, NULL);
+    return writeRead(axisNo, tcpCmd, payload, NULL, comTimeout);
 }
 
 asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
-                                           const char *payload,
+                                           const char *payload, char *response,
-                                           char *response) {
+                                           double comTimeout) {
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
-    asynStatus pl_status = asynSuccess;
     char fullCommand[MAXBUF_] = {0};
     char fullResponse[MAXBUF_] = {0};
-    char printableCommand[MAXBUF_] = {0};
-    char printableResponse[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
     int motorStatusProblem = 0;
 
@@ -195,121 +161,65 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // =========================================================================
 
-    masterMacsAxis *axis = getAxis(axisNo);
+    // Check if a custom timeout has been given
+    if (comTimeout < 0.0) {
+        comTimeout = pMasterMacsC_->comTimeout;
+    }
+
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
     if (axis == nullptr) {
         // We already did the error logging directly in getAxis
         return asynError;
     }
 
-    /*
+    // Build the full command depending on the inputs to this function
-    PSI SINQ uses a custom protocol which is described in
-    PSI_TCP_Interface_V1-8.pdf (p. // 4-17).
-    A special case is the message length, which is specified by two bytes
-    LSB and MSB: MSB = message length / 256 LSB = message length % 256. For
-    example, a message length of 47 chars would result in MSB = 0, LSB = 47,
-    whereas a message length of 356 would result in MSB = 1, LSB = 100.
-
-    The full protocol looks as follows:
-    0x05 -> Start of protocol frame ENQ
-    [LSB]
-    [MSB]
-    0x19 -> Data type PDO1
-    value [Actual message] It is not necessary to append a terminator, since
-    this protocol encodes the message length in LSB and MSB.
-    0x0D -> Carriage return (ASCII alias \r)
-    0x03 -> End of text ETX
-    */
-
-    fullCommand[0] = '\x05'; // ENQ
-    fullCommand[1] = 1;      // Placeholder value, can be anything other than 0
-    fullCommand[2] = 1;      // Placeholder value, can be anything other than 0
-    fullCommand[3] = '\x19'; // PD01
-
-    // Create the command and add CR and ETX at the end
     if (isRead) {
-        snprintf(&fullCommand[4], MAXBUF_ - 4, "%dR%02d\x0D\x03", axisNo,
+        snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
-                 tcpCmd);
     } else {
-        snprintf(&fullCommand[4], MAXBUF_ - 4, "%dS%02d=%s\x0D\x03", axisNo,
+        if (strlen(payload) == 0) {
-                 tcpCmd, payload);
+            snprintf(fullCommand, MAXBUF_ - 1, "%dS%02d\x0D", axisNo, tcpCmd);
+        } else {
+            snprintf(fullCommand, MAXBUF_ - 1, "%dS%02d=%s\x0D", axisNo, tcpCmd,
+                     payload);
+        }
     }
 
     // Calculate the command length
     const size_t fullCommandLength = strlen(fullCommand);
 
-    // Length of the command without ENQ and ETX
+    // Flush the IOC-side socket, then write the command and wait for the
-    const size_t lenWithMetadata = fullCommandLength - 2;
+    // response.
+    status = pasynOctetSyncIO->writeRead(
+        pasynOctetSyncIOipPort(), fullCommand, fullCommandLength, fullResponse,
+        MAXBUF_, comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
-    // Perform both division and modulo operation at once.
+    // If a communication error occured, print this message to the
-    div_t lenWithMetadataSep = std::div(lenWithMetadata, 256);
+    msgPrintControlKey comKey =
-
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    // Now set the actual command length
+    if (status != asynSuccess) {
-    fullCommand[1] = lenWithMetadataSep.rem;  // LSB
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUserSelf)) {
-    fullCommand[2] = lenWithMetadataSep.quot; // MSB
+            char printableCommand[MAXBUF_] = {0};
-
+            adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-    adjustForPrint(printableCommand, fullCommand, MAXBUF_);
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-    asynPrint(
+                      "Controller \"%s\", axis %d => %s, line %d:\nError "
-        this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+                      "%s while sending command %s to the controller\n",
-        "Controller \"%s\", axis %d => %s, line %d:\nSending command %s\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-        portName, axisNo, __PRETTY_FUNCTION__, __LINE__, printableCommand);
+                      stringifyAsynStatus(status), printableCommand);
-
-    // Send out the command
-    status =
-        pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
-                                fullCommandLength, comTimeout_, &nbytesOut);
-
-    if (status == asynSuccess) {
-
-        // Try to read the answer repeatedly
-        int maxTrials = 2;
-        for (int i = 0; i < maxTrials; i++) {
-            status =
-                pasynOctetSyncIO->read(lowLevelPortUser_, fullResponse, MAXBUF_,
-                                       comTimeout_, &nbytesIn, &eomReason);
-
-            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 (i + 1 == maxTrials && status == asynError) {
-                asynPrint(
-                    this->pasynUserSelf, ASYN_TRACE_ERROR,
-                    "Controller \"%s\", axis %d => %s, line %d:\nFailed "
-                    "%d times to get the correct response. Aborting read.\n",
-                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__, maxTrials);
-            }
         }
-
     } else {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        getMsgPrintControl().resetCount(comKey, pasynUserSelf);
-                  "Controller \"%s\", axis %d => %s, line %d:\nError %s while "
-                  "writing to the controller\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                  stringifyAsynStatus(status));
     }
 
-    // MasterMACS needs a bit of time between messages, therefore thr program
-    // execution is paused after the communication happened.
-    // usleep(1500);
-
     // Create custom error messages for different failure modes
     switch (status) {
     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,
+                               &valueStart, &valueStop, axisNo, tcpCmd, isRead);
 
-        if (isRead) {
+        // Read out the important information from the response
+        if (status == asynSuccess && isRead) {
             /*
             If a property has been read, we need just the part between the
             "=" (0x3D) and the [ACK] (0x06). Therefore, we remove all
@@ -320,70 +230,55 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                 response[i] = fullResponse[i + valueStart];
             }
         }
-
         break;
     case asynTimeout:
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "connection timeout for axis %d", axisNo);
+                 "Connection timeout. Please call the support.");
         break;
     case asynDisconnected:
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "axis is not connected");
+                 "Axis is not connected.");
         break;
     case asynDisabled:
-        snprintf(drvMessageText, sizeof(drvMessageText), "axis is disabled");
+        snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
         break;
     case asynError:
         // Do nothing - error message drvMessageText has already been set.
         break;
     default:
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Communication failed (%s)", stringifyAsynStatus(status));
+                 "Communication failed (%s). Please call the support.",
+                 stringifyAsynStatus(status));
         break;
     }
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        adjustForPrint(printableResponse, fullResponse, MAXBUF_);
+        setAxisParamChecked(axis, motorStatusCommsError, false);
-        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 {
 
-        // Check if the axis already is in an error communication mode. If
+        /*
-        // it is not, upstream the error. This is done to avoid "flooding"
+        Since the communication failed, there is the possibility that the
-        // the user with different error messages if more than one error
+        controller is not connected at all to the network. In that case, we
-        // ocurred before an error-free communication
+        cannot be sure that the information read out in the init method of the
-        pl_status =
+        axis is still up-to-date the next time we get a connection. Therefore,
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
+        an info flag is set which the axis object can use at the start of its
-        if (pl_status != asynSuccess) {
+        poll method to try to initialize itself.
-            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
+        */
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
+        axis->setNeedInit(true);
-        }
+
+        /*
+        Check if the axis already is in an error communication mode. If
+        it is not, upstream the error. This is done to avoid "flooding"
+        the user with different error messages if more than one error
+        ocurred before an error-free communication
+        */
+        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
+            setAxisParamChecked(axis, motorMessageText, drvMessageText);
-            if (pl_status != asynSuccess) {
+            setAxisParamChecked(axis, motorStatusProblem, true);
-                return paramLibAccessFailed(pl_status, "motorMessageText_",
+            setAxisParamChecked(axis, motorStatusCommsError, false);
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusProblem",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
         }
     }
 
@@ -405,9 +300,22 @@ asynStatus masterMacsController::parseResponse(
 
     bool responseValid = false;
     int responseStart = 0;
+    asynStatus status = asynSuccess;
+    int prevConnected = 0;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
+    msgPrintControlKey parseKey =
+        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+    if (axis == nullptr) {
+        return asynError;
+    }
+
+    // Was the motor previously connected?
+    getAxisParamChecked(axis, motorConnected, &prevConnected);
+
     // 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++) {
@@ -416,33 +324,83 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '=') {
             *valueStart = i + 1;
         } else if (fullResponse[i] == '\x06') {
+            // ACK
             *valueStop = i;
             responseValid = true;
+
+            // Motor wasn't connected before -> Update the paramLib entry and PV
+            // to show it is now connected.
+            if (prevConnected == 0) {
+
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d => %s, line "
+                          "%d:\nAxis connection status has changed to "
+                          "connected.\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                setAxisParamChecked(axis, motorConnected, true);
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
+                }
+            }
+
             break;
         } else if (fullResponse[i] == '\x15') {
-            // NAK
+            /*
-            snprintf(drvMessageText, MAXBUF_, "Communication failed.");
+            NAK
-            asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+            This indicates that the axis is not connected. This is not an error!
-                      "Controller \"%s\", axis %d => %s, line "
+            */
-                      "%d:\nCommunication failed\n",
+            snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+            // Motor was connected before -> Update the paramLib entry and PV
+            // to show it is now disconnected.
+            if (prevConnected == 1) {
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d => %s, line "
+                          "%d:\nAxis connection status has changed to "
+                          "disconnected.\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                setAxisParamChecked(axis, motorConnected, false);
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
+                }
+            }
             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 (getMsgPrintControl().shouldBePrinted(parseKey, true,
-                      "write with the read-only command %s\n",
+                                                     pasynUserSelf)) {
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-                      printableCommand);
+                asynPrint(
+                    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, getMsgPrintControl().getSuffix());
+            }
             responseValid = false;
             break;
         }
     }
 
     if (responseValid) {
+        getMsgPrintControl().resetCount(parseKey, pasynUserSelf);
+
         // Check if the response matches the expectations. Each response
         // contains the string "axisNo R tcpCmd" (including the spaces)
         char expectedResponseSubstring[MAXBUF_] = {0};
@@ -457,30 +415,41 @@ 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 (getMsgPrintControl().shouldBePrinted(parseKey, true,
-                      "Controller \"%s\", axis %d => %s, line %d:\nMismatched "
+                                                     pasynUserSelf)) {
-                      "response %s to command %s\n",
+                asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                          "Controller \"%s\", axis %d => %s, line "
-                      printableResponse, printableCommand);
+                          "%d:\nMismatched "
+                          "response %s to command %s.%s\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                          printableResponse, printableCommand,
+                          getMsgPrintControl().getSuffix());
+            }
 
             snprintf(drvMessageText, MAXBUF_,
                      "Mismatched response %s to command %s. Please call the "
                      "support.",
                      printableResponse, printableCommand);
             return asynError;
+        } else {
+            getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);
         }
     }
     return asynSuccess;
 }
 
-asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+asynStatus masterMacsController::readInt32(asynUser *pasynUser,
+                                           epicsInt32 *value) {
     // masterMacs can be disabled
-    if (pasynUser->reason == motorCanDisable_) {
+    if (pasynUser->reason == motorCanDisable()) {
         *value = 1;
         return asynSuccess;
     } else {
@@ -488,6 +457,8 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
     }
 }
 
+double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsController.h

@@ -8,9 +8,16 @@
 
 #ifndef masterMacsController_H
 #define masterMacsController_H
-#include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
+#include <memory>
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class masterMacsAxis;
+
+struct masterMacsControllerImpl;
 
 class masterMacsController : public sinqController {
 
@@ -31,6 +38,15 @@ class masterMacsController : public sinqController {
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);
 
+    /**
+     * @brief Overloaded version of the sinqController version
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
     /**
      * @brief Get the axis object
      *
@@ -38,7 +54,7 @@ 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
@@ -47,10 +63,7 @@ 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_;
 
     /**
      * @brief Send a command to the hardware (S mode)
@@ -60,7 +73,8 @@ 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)
@@ -71,7 +85,8 @@ 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
@@ -88,7 +103,7 @@ 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".
@@ -114,35 +129,20 @@ 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 /
     // responses from it.
     static const uint32_t MAXBUF_ = 200;
 
-    /*
+    /**
-    Stores the constructor input comTimeout
+     * @brief Get the communication timeout used in the writeRead command
-    */
+     *
-    double comTimeout_;
+     * @return double Timeout in seconds
+     */
+    double comTimeout();
 
-    // Indices of additional PVs
+  private:
-#define FIRST_masterMacs_PARAM rereadEncoderPosition_
+    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
-    int rereadEncoderPosition_;
-    int readConfig_;
-#define LAST_masterMacs_PARAM readConfig_
-
-    friend class masterMacsAxis;
 };
-#define NUM_masterMacs_DRIVER_PARAMS                                           \
-    (&LAST_masterMacs_PARAM - &FIRST_masterMacs_PARAM + 1)
 
 #endif /* masterMacsController_H */

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
 

utils/writeRead.py

@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+"""
+This script allows direct interaction with a MasterMACS-Controller over an ethernet connection.
+To read the manual, simply run this script without any arguments.
+
+Stefan Mathis, April 2025
+"""
+
+import struct
+import socket
+import curses
+
+def packMasterMacsCommand(command):
+    # 0x0D = Carriage return 
+    buf = struct.pack('B',0x0D)
+    buf = bytes(command,'utf-8') + buf
+    return bytes(command,'utf-8')
+
+def readMasterMacsReply(input):
+    msg = bytearray()
+    expectAck = True
+    while True:
+        b = input.recv(1)
+        bint = int.from_bytes(b,byteorder='little')
+        if bint == 2 or bint == 7: #STX or BELL
+            expectAck = False
+            continue
+        if expectAck and bint == 6: # ACK
+            return bytes(msg)
+        else:
+            if bint == 13 and not expectAck: # CR
+                return bytes(msg)
+            else:
+                msg.append(bint)
+
+if __name__ == "__main__":
+    from sys import argv
+
+    try:
+
+        addr = argv[1].split(':')
+        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        s.connect((addr[0],int(addr[1])))
+
+        if len(argv) == 3:
+            buf = packMasterMacsCommand(argv[2])
+            s.send(buf)
+            reply = readMasterMacsReply(s)
+            print(reply.decode('utf-8') + '\n')
+
+        else:
+
+            try:
+
+                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]:
+                            buf = packMasterMacsCommand(history[ptr])
+                            s.send(buf)
+                            reply = readMasterMacsReply(s)
+                            stdscr.addstr("\n" + reply.decode('utf-8')[0:-1])
+
+                        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()
+
+            finally:
+
+                # to quit
+                curses.nocbreak()
+                stdscr.keypad(False)
+                curses.echo()
+                curses.endwin()
+
+    except:
+        print("""
+        Invalid Arguments
+
+        Option 1: Single Command
+        ------------------------
+
+        Usage: writeRead.py pmachost:port command
+        This then returns the response for command. 
+
+        Option 2: CLI Mode
+        ------------------
+
+        Usage: writeRead.py pmachost:port
+
+        You can then type in a command, hit enter, and the response will see
+        the reponse, before being prompted to again enter a command. Type
+        'quit' to close prompt.
+        """)
+