Added stop and error reset function for masterMacs

Makefile

@@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.8.0
+sinqMotor_VERSION=0.9.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

README.md

@@ -4,6 +4,8 @@
 
 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.

src/masterMacsAxis.cpp

@@ -78,13 +78,13 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     bounds, asynMotorAxis prints an error. However, we want the IOC creation to
     stop completely, since this is a configuration error.
     */
-    if (axisNo >= pC->numAxes_) {
+    if (axisNo >= pC->numAxes()) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:: FATAL ERROR: "
                   "Axis index %d must be smaller than the total number of axes "
                   "%d. Call the support.",
                   pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                  pC->numAxes_);
+                  pC->numAxes());
         exit(-1);
     }
 
@@ -108,10 +108,10 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     timeAtHandshake_ = 0;
 
     // masterMacs motors can always be disabled
-    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 1);
+    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
             "(setting a parameter value failed with %s)\n. Terminating IOC",
             pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@@ -120,10 +120,10 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     }
 
     // Assume that the motor is initially not moving
-    status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving_, false);
+    status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving(), false);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
             "(setting a parameter value failed with %s)\n. Terminating IOC",
             pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@@ -163,11 +163,11 @@ asynStatus masterMacsAxis::init() {
     time_t now = time(NULL);
     time_t maxInitTime = 60;
     while (1) {
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                         &motorRecResolution);
         if (pl_status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nInitializing the parameter library failed.\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -237,7 +237,7 @@ asynStatus masterMacsAxis::init() {
 
     // Store these values in the parameter library
     pl_status =
-        pC_->setDoubleParam(axisNo_, pC_->motorPosition_, motorPosition);
+        pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -264,7 +264,7 @@ asynStatus masterMacsAxis::init() {
         // If we can't communicate with the parameter library, it doesn't
         // make sense to try and upstream this to the user -> Just log the
         // error
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line "
                   "%d:\ncallParamCallbacks failed with %s.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -303,6 +303,34 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Are we currently waiting for a handshake?
     if (waitForHandshake_) {
+
+        // Check if the handshake takes too long and communicate an error in
+        // this case. A handshake should not take more than 5 seconds.
+        time_t currentTime = time(NULL);
+        bool timedOut = (currentTime > timeAtHandshake_ + 5);
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
+                pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAsked for a "
+                      "handshake at %ld s and didn't get a positive reply yet "
+                      "(current time is %ld s).\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      timeAtHandshake_, currentTime);
+        }
+
+        if (timedOut) {
+            pl_status =
+                setStringParam(pC_->motorMessageText(),
+                               "Timed out while waiting for a handshake");
+            if (pl_status != asynSuccess) {
+                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+                                                 axisNo_, __PRETTY_FUNCTION__,
+                                                 __LINE__);
+            }
+        }
+
         pC_->read(axisNo_, 86, response);
         if (rw_status != asynSuccess) {
             return rw_status;
@@ -323,14 +351,14 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             // poll. This is already part of the movement procedure.
             *moving = true;
 
-            pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
+            pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status,
                                                  "motorStatusMoving_", axisNo_,
                                                  __PRETTY_FUNCTION__, __LINE__);
             }
 
-            pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
+            pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
                                                  axisNo_, __PRETTY_FUNCTION__,
@@ -342,7 +370,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
 
     // Motor resolution from parameter library
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                     &motorRecResolution);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -352,7 +380,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Read the previous motor position
     pl_status =
-        pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &previousPosition);
+        pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -403,17 +431,17 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         since this information is not reliable.
          */
         if (communicationError()) {
-            if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+            if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                      pC_->pasynUserSelf)) {
+                    keyError, true, pC_->asynUserSelf())) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nCommunication error.%s\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                          pC_->msgPrintControl_.getSuffix());
+                          pC_->getMsgPrintControl().getSuffix());
             }
 
             pl_status =
-                setStringParam(pC_->motorMessageText_,
+                setStringParam(pC_->motorMessageText(),
                                "Communication error between PC and motor "
                                "controller. Please call the support.");
             if (pl_status != asynSuccess) {
@@ -561,18 +589,18 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
 
             if (strlen(shellMessage) > 0) {
-                if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                if (pC_->getMsgPrintControl().shouldBePrinted(
-                                                          pC_->pasynUserSelf)) {
+                        keyError, true, pC_->asynUserSelf())) {
-                    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                               "Controller \"%s\", axis %d  => %s, line "
-                              "%d\n%s.%s\n",
+                              "%d\n%s%s\n",
                               pC_->portName, axisNo_, __PRETTY_FUNCTION__,
                               __LINE__, shellMessage,
-                              pC_->msgPrintControl_.getSuffix());
+                              pC_->getMsgPrintControl().getSuffix());
                 }
             }
 
-            pl_status = setStringParam(pC_->motorMessageText_, userMessage);
+            pl_status = setStringParam(pC_->motorMessageText(), userMessage);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                                  axisNo_, __PRETTY_FUNCTION__,
@@ -580,7 +608,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
     } else {
-        pC_->msgPrintControl_.resetCount(keyError);
+        pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
     }
 
     // Read out the limits, if the motor is not moving
@@ -618,7 +646,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         directly, but need to shrink them a bit. In this case, we're shrinking
         them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
         */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset_,
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset(),
                                         &limitsOffset);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
@@ -628,15 +656,15 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         highLimit = highLimit - limitsOffset;
         lowLimit = lowLimit + limitsOffset;
 
-        pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver_,
+        pl_status = pC_->setDoubleParam(
-                                        highLimit);
+            axisNo_, pC_->motorHighLimitFromDriver(), highLimit);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(
                 pl_status, "motorHighLimitFromDriver_", axisNo_,
                 __PRETTY_FUNCTION__, __LINE__);
         }
 
-        pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver_,
+        pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
                                         lowLimit);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
@@ -646,7 +674,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
 
     // Update the enable PV
-    pl_status = setIntegerParam(pC_->motorEnableRBV_,
+    pl_status = setIntegerParam(pC_->motorEnableRBV(),
                                 readyToBeSwitchedOn() && switchedOn());
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
@@ -664,27 +692,27 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Update the parameter library
     if (hasError) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
     }
-    pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
+    pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
 
-    pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
+    pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    pl_status = setIntegerParam(pC_->motorStatusDirection_, direction);
+    pl_status = setIntegerParam(pC_->motorStatusDirection(), direction);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -695,7 +723,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // masterMacsAxis::init())
     currentPosition = currentPosition / motorRecResolution;
 
-    pl_status = setDoubleParam(pC_->motorPosition_, currentPosition);
+    pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -723,13 +751,13 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV_, &enabled);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                     &motorRecResolution);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -738,7 +766,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     }
 
     if (enabled == 0) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is "
                   "disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -750,12 +778,12 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     motorVelocity = maxVelocity * motorRecResolution;
 
     asynPrint(
-        pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+        pC_->asynUserSelf(), ASYN_TRACE_FLOW,
         "Controller \"%s\", axis %d => %s, line %d:\nMove to position %lf.\n",
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
 
     // Check if the speed is allowed to be changed
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(),
                                      &motorCanSetSpeed);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
@@ -766,7 +794,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     // Initialize the movement handshake
     rw_status = pC_->write(axisNo_, 86, "0");
     if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -784,7 +812,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         snprintf(value, sizeof(value), "%lf", motorVelocity);
         rw_status = pC_->write(axisNo_, 05, value);
         if (rw_status != asynSuccess) {
-            pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+            pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status,
                                                  "motorStatusProblem_", axisNo_,
@@ -793,7 +821,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
             return rw_status;
         }
 
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
                   "Controller \"%s\", axis %d => %s, line %d:\nSetting speed "
                   "to %lf.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -804,7 +832,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     snprintf(value, sizeof(value), "%lf", motorCoordinatesPosition);
     rw_status = pC_->write(axisNo_, 02, value);
     if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -820,7 +848,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         rw_status = pC_->write(axisNo_, 00, "1");
     }
     if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -855,7 +883,29 @@ asynStatus masterMacsAxis::stop(double acceleration) {
 
     rw_status = pC_->write(axisNo_, 00, "8");
     if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    }
+
+    return rw_status;
+}
+
+asynStatus masterMacsAxis::reset() {
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    // =========================================================================
+
+    rw_status = pC_->write(axisNo_, 17, "");
+    if (rw_status != asynSuccess) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -882,7 +932,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
 
     // =========================================================================
 
-    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType_,
+    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
                                     sizeof(response), response);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
@@ -895,7 +945,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
         // Initialize the movement handshake
         rw_status = pC_->write(axisNo_, 86, "0");
         if (rw_status != asynSuccess) {
-            pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+            pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status,
                                                  "motorStatusProblem_", axisNo_,
@@ -955,9 +1005,9 @@ asynStatus masterMacsAxis::readEncoderType() {
     2=SSI (Absolute encoder with BiSS interface)
      */
     if (encoder_id == 0) {
-        pl_status = setStringParam(pC_->encoderType_, IncrementalEncoder);
+        pl_status = setStringParam(pC_->encoderType(), IncrementalEncoder);
     } else {
-        pl_status = setStringParam(pC_->encoderType_, AbsoluteEncoder);
+        pl_status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
     }
 
     if (pl_status != asynSuccess) {
@@ -989,13 +1039,13 @@ asynStatus masterMacsAxis::enable(bool on) {
     // axis instead of "moving", since status -6 is also moving, but the
     // motor can actually be disabled in this state!
     if (moving) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is not "
                   "idle and can therefore not be disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
         pl_status =
-            setStringParam(pC_->motorMessageText_,
+            setStringParam(pC_->motorMessageText(),
                            "Axis cannot be disabled while it is moving.");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1011,7 +1061,7 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     if ((readyToBeSwitchedOn() && switchedOn()) == on) {
         asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+            pC_->asynUserSelf(), ASYN_TRACE_WARNING,
             "Controller \"%s\", axis %d => %s, line %d:\nAxis is already %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             on ? "enabled" : "disabled");
@@ -1020,14 +1070,14 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     // Enable / disable the axis if it is not moving
     snprintf(value, sizeof(value), "%d", on);
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d => %s, line %d:\n%s axis.\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
               on ? "Enable" : "Disable");
     if (on == 0) {
-        pl_status = setStringParam(pC_->motorMessageText_, "Disabling ...");
+        pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
     } else {
-        pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
+        pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
     }
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -1061,7 +1111,7 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
               "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -1070,7 +1120,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Output message to user
     snprintf(value, sizeof(value), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    pl_status = setStringParam(pC_->motorMessageText_, "Enabling ...");
+    pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          axisNo_, __PRETTY_FUNCTION__,

src/masterMacsAxis.h

@@ -24,15 +24,6 @@ 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 +60,23 @@ 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 Reset the axis error
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus reset();
+
     /**
      * @brief Readout of some values from the controller at IOC startup
      *
@@ -273,9 +281,6 @@ class masterMacsAxis : public sinqAxis {
      * @brief Read the property from axisError_
      */
     bool stoFault() { return axisError_[15]; }
-
-  private:
-    friend class masterMacsController;
 };
 
 #endif

src/masterMacsController.cpp

@@ -49,14 +49,10 @@ 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)
 
 {
 
@@ -64,39 +60,25 @@ masterMacsController::masterMacsController(const char *portName,
     asynStatus status = asynSuccess;
 
     // Initialization of all member variables
-    lowLevelPortUser_ = nullptr;
     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(ipPortUser_, message_from_device,
-        lowLevelPortUser_, message_from_device, strlen(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(ipPortUser_);
         exit(-1);
     }
 
@@ -107,7 +89,7 @@ masterMacsController::masterMacsController(const char *portName,
                   "ParamLib callbacks failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 }
@@ -180,71 +162,53 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         return asynError;
     }
 
-    /*
-    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
-    const size_t lenWithMetadata = fullCommandLength - 2;
-
-    // Perform both division and modulo operation at once.
-    div_t lenWithMetadataSep = std::div(lenWithMetadata, 256);
-
-    // Now set the actual command length
-    fullCommand[1] = lenWithMetadataSep.rem;  // LSB
-    fullCommand[2] = lenWithMetadataSep.quot; // MSB
-
     adjustForPrint(printableCommand, fullCommand, MAXBUF_);
 
     // Send out the command
-    status =
+    status = pasynOctetSyncIO->write(
-        pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+        ipPortUser_, fullCommand, fullCommandLength, comTimeout_, &nbytesOut);
-                                fullCommandLength, comTimeout_, &nbytesOut);
 
     msgPrintControlKey writeKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     if (status == asynSuccess) {
-        msgPrintControl_.resetCount(writeKey);
+        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
 
         // 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);
+            A typical response of the MasterMacs controller looks like this:
+            (.. TCP Header ...) 31 20 52 20 31 31 3d 35 31 32 2e 30 30 30 30 06
+            0d 00 00 00 00 00 00 00 00 00 00 00 00 00
+            The message terminator is the carriage return (0d), which is
+            specified in the controller constructor as the end-of-string (EOS)
+            character. However, we also need to remove the buffer zeros at the
+            end, because they will otherwise confuse the
+            pasynOctetSyncIO->read() during the next call. The
+            pasynOctetSyncIO->flush() method does exactly that: it takes all
+            bytes it can find in the socket and throws them away. We don't check
+            the return value of flush(), because it is always asynSuccess (see
+            https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
+             */
+            status = pasynOctetSyncIO->read(ipPortUser_, fullResponse, MAXBUF_,
+                                            comTimeout_, &nbytesIn, &eomReason);
+            pasynOctetSyncIO->flush(ipPortUser_);
 
             if (status == asynSuccess) {
                 status = parseResponse(fullCommand, fullResponse,
@@ -283,10 +247,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         }
     }
 
-    // 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:
@@ -434,7 +394,7 @@ asynStatus masterMacsController::parseResponse(
     }
 
     if (responseValid) {
-        msgPrintControl_.resetCount(parseKey);
+        msgPrintControl_.resetCount(parseKey, pasynUserSelf);
 
         // Check if the response matches the expectations. Each response
         // contains the string "axisNo R tcpCmd" (including the spaces)
@@ -475,7 +435,7 @@ asynStatus masterMacsController::parseResponse(
                      printableResponse, printableCommand);
             return asynError;
         } else {
-            msgPrintControl_.resetCount(responseMatchKey);
+            msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
         }
     }
     return asynSuccess;

src/masterMacsController.h

@@ -49,9 +49,6 @@ class masterMacsController : public sinqController {
      */
     masterMacsAxis *getMasterMacsAxis(int axisNo);
 
-  protected:
-    asynUser *lowLevelPortUser_;
-
     /**
      * @brief Send a command to the hardware (S mode)
      *
@@ -114,26 +111,16 @@ class masterMacsController : public sinqController {
                              int *valueStop, int axisNo, int tcpCmd,
                              bool isRead);
 
-  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;
 
+  private:
     /*
     Stores the constructor input comTimeout
     */
     double comTimeout_;
-
-    // Indices of additional PVs
-#define FIRST_masterMacs_PARAM rereadEncoderPosition_
-    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 */