Custom timeout for enable and position methods

Added a custom timeout for the enable command, as it takes quite a bit
of time for the motor controller to answer and we don't want to show a
premature communication timeout error. Also changed the code in order to
use the motorPosition() and setMotorPosition() methods instead of
directly accessing the paramLib.

Makefile

@@ -13,7 +13,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.9.0
+sinqMotor_VERSION=0.10.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

README.md

@@ -1,5 +1,7 @@
 # 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.

src/masterMacsAxis.cpp

@@ -190,8 +190,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorPosition);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R12", response, axisNo_,
+        return pC_->couldNotParseResponse("R12", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the current velocity
@@ -201,8 +201,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorVelocity);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R05", response, axisNo_,
+        return pC_->couldNotParseResponse("R05", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the maximum velocity
@@ -212,8 +212,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorVmax);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R26", response, axisNo_,
+        return pC_->couldNotParseResponse("R26", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the acceleration
@@ -223,8 +223,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorAccel);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R06", response, axisNo_,
+        return pC_->couldNotParseResponse("R06", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Cache the motor speed. If this value differs from the one in the motor
@@ -232,15 +232,10 @@ asynStatus masterMacsAxis::init() {
     // MasterMACS.
     lastSetSpeed_ = motorVelocity;
 
-    // Transform from motor to parameter library coordinates
+    // Store the motor position in the parameter library
-    motorPosition = motorPosition / motorRecResolution;
+    pl_status = setMotorPosition(motorPosition);
-
-    // Store these values in the parameter library
-    pl_status =
-        pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Write to the motor record fields
@@ -338,8 +333,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse("R86", response, axisNo_,
-                "R86", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (handshakePerformed == 1.0) {
@@ -379,17 +374,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
 
     // Read the previous motor position
-    pl_status =
+    pl_status = motorPosition(&previousPosition);
-        pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from EPICS to motor coordinates (see comment in
-    // masterMacsAxis::readConfig())
-    previousPosition = previousPosition * motorRecResolution;
-
     // Update the axis status
     rw_status = readAxisStatus();
     if (rw_status != asynSuccess) {
@@ -411,8 +400,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R12", response, axisNo_,
+        return pC_->couldNotParseResponse("R12", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     /*
@@ -619,8 +608,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
         nvals = sscanf(response, "%lf", &lowLimit);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse("R34", response, axisNo_,
-                "R34", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         rw_status = pC_->read(axisNo_, 33, response);
@@ -629,8 +618,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
         nvals = sscanf(response, "%lf", &highLimit);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse("R33", response, axisNo_,
-                "R33", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         /*
@@ -719,14 +708,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                          __LINE__);
     }
 
-    // Transform from motor to EPICS coordinates (see comment in
+    pl_status = setMotorPosition(currentPosition);
-    // masterMacsAxis::init())
-    currentPosition = currentPosition / motorRecResolution;
-
-    pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     return poll_status;
@@ -894,7 +878,7 @@ asynStatus masterMacsAxis::stop(double acceleration) {
     return rw_status;
 }
 
-asynStatus masterMacsAxis::reset() {
+asynStatus masterMacsAxis::doReset() {
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus rw_status = asynSuccess;
 
@@ -994,8 +978,8 @@ asynStatus masterMacsAxis::readEncoderType() {
 
     nvals = sscanf(response, "%d", &encoder_id);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     /*
@@ -1084,7 +1068,11 @@ asynStatus masterMacsAxis::enable(bool on) {
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
-    rw_status = pC_->write(axisNo_, 04, value);
+
+    // The answer to the enable command on MasterMACS might take some time,
+    // hence we wait for a custom timespan in seconds instead of
+    // pC_->comTimeout_
+    rw_status = pC_->write(axisNo_, 04, value, 1.0);
     if (rw_status != asynSuccess) {
         return rw_status;
     }
@@ -1154,8 +1142,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse("R10", response, axisNo_,
-                "R10", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         axisStatus_ = toBitset(axisStatus);
@@ -1175,8 +1163,8 @@ asynStatus masterMacsAxis::readAxisError() {
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse("R11", response, axisNo_,
-                "R11", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
         axisError_ = toBitset(axisError);
     }

src/masterMacsAxis.h

@@ -70,12 +70,12 @@ class masterMacsAxis : public sinqAxis {
     asynStatus stop(double acceleration);
 
     /**
-     * @brief Reset the axis error
+     * @brief Implementation of the `doReset` function from sinqAxis.
      *
      * @param on
      * @return asynStatus
      */
-    asynStatus reset();
+    asynStatus doReset();
 
     /**
      * @brief Readout of some values from the controller at IOC startup

src/masterMacsController.cpp

@@ -113,18 +113,19 @@ masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
     return dynamic_cast<masterMacsAxis *>(asynAxis);
 }
 
-asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response) {
+asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
+                                      double comTimeout) {
     return writeRead(axisNo, tcpCmd, NULL, response);
 }
 
 asynStatus masterMacsController::write(int axisNo, int tcpCmd,
-                                       const char *payload) {
+                                       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;
@@ -156,6 +157,11 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // =========================================================================
 
+    // Check if a timeout has been given
+    if (comTimeout < 0.0) {
+        comTimeout = comTimeout_;
+    }
+
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
     if (axis == nullptr) {
         // We already did the error logging directly in getAxis
@@ -179,8 +185,16 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     adjustForPrint(printableCommand, fullCommand, MAXBUF_);
 
     // Send out the command
-    status = pasynOctetSyncIO->write(
+    status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
-        ipPortUser_, fullCommand, fullCommandLength, comTimeout_, &nbytesOut);
+                                     fullCommandLength, comTimeout, &nbytesOut);
+
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nError "
+                  "%s while writing to the controller\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+    }
 
     msgPrintControlKey writeKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -207,24 +221,28 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
             https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
              */
             status = pasynOctetSyncIO->read(ipPortUser_, fullResponse, MAXBUF_,
-                                            comTimeout_, &nbytesIn, &eomReason);
+                                            comTimeout, &nbytesIn, &eomReason);
             pasynOctetSyncIO->flush(ipPortUser_);
 
             if (status == asynSuccess) {
                 status = parseResponse(fullCommand, fullResponse,
                                        drvMessageText, &valueStart, &valueStop,
                                        axisNo, tcpCmd, isRead);
+
                 if (status == asynSuccess) {
                     // Received the correct message
                     break;
                 }
             } else {
-                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                if (status != asynTimeout) {
-                          "Controller \"%s\", axis %d => %s, line %d:\nError "
+                    asynPrint(
-                          "%s while reading from the controller\n",
+                        this->pasynUserSelf, ASYN_TRACE_ERROR,
-                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                        "Controller \"%s\", axis %d => %s, line %d:\nError "
-                          stringifyAsynStatus(status));
+                        "%s while reading from the controller\n",
-                break;
+                        portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                        stringifyAsynStatus(status));
+                    break;
+                }
             }
 
             if (i + 1 == maxTrials && status == asynError) {

src/masterMacsController.h

@@ -57,7 +57,8 @@ 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)
@@ -68,7 +69,8 @@ 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
@@ -85,7 +87,7 @@ 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".