Fixed sinqMotor version for tagging

When a MasterMacs motor is powered for the first time, it does not have
a target set. Therefore, the targetReached bit is 0, which the driver
used to interpret as "moving". This is solved now by an additional flag
which checks if the motor did a handshake.

Additionally, the communication module was simplified and new utility
scripts were added. It is now made sure that the communication timeout
for enabling and sending move commands is now at least equal to
PowerCycleTimeout defined in src/masterMacsAxis.cpp.

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=0.13.0
 
 # 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.
@@ -12,6 +14,8 @@ This driver is a standard sinqMotor-derived driver and does not need any specifi
 
 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
 

src/masterMacsAxis.cpp

@@ -11,6 +11,14 @@
 #include <string.h>
 #include <unistd.h>
 
+/*
+A special communication timeout is used in the following two cases:
+1) Enable command
+2) First move command after enabling the motor
+This is due to MasterMACS running a powerup cycle, which can delay the answer.
+ */
+#define PowerCycleTimeout 10.0 // Value in seconds
+
 /*
 Contains all instances of turboPmacAxis which have been created and is used in
 the initialization hook function.
@@ -79,7 +87,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     stop completely, since this is a configuration error.
     */
     if (axisNo >= pC->numAxes()) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), 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.",
@@ -106,12 +114,13 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Flag for handshake waiting
     waitForHandshake_ = false;
     timeAtHandshake_ = 0;
+    targetReachedUninitialized_ = true;
 
     // masterMacs motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), 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__,
@@ -123,7 +132,7 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving(), false);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), 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__,
@@ -148,7 +157,7 @@ asynStatus masterMacsAxis::init() {
 
     // Local variable declaration
     asynStatus pl_status = asynSuccess;
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
     double motorRecResolution = 0.0;
     double motorPosition = 0.0;
@@ -167,7 +176,7 @@ asynStatus masterMacsAxis::init() {
                                         &motorRecResolution);
         if (pl_status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nInitializing the parameter library failed.\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -190,8 +199,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorPosition);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R12", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+        return pC_->couldNotParseResponse("R12", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the current velocity
@@ -201,8 +210,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorVelocity);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R05", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+        return pC_->couldNotParseResponse("R05", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the maximum velocity
@@ -212,8 +221,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorVmax);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R26", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+        return pC_->couldNotParseResponse("R26", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Read out the acceleration
@@ -223,8 +232,8 @@ asynStatus masterMacsAxis::init() {
     }
     nvals = sscanf(response, "%lf", &motorAccel);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R06", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+        return pC_->couldNotParseResponse("R06", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Cache the motor speed. If this value differs from the one in the motor
@@ -232,15 +241,10 @@ asynStatus masterMacsAxis::init() {
     // MasterMACS.
     lastSetSpeed_ = motorVelocity;
 
-    // Transform from motor to parameter library coordinates
-    motorPosition = motorPosition / motorRecResolution;
-
-    // Store these values in the parameter library
-    pl_status =
-        pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
+    // Store the motor position in the parameter library
+    pl_status = setMotorPosition(motorPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pl_status;
     }
 
     // Write to the motor record fields
@@ -264,7 +268,7 @@ 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_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line "
                   "%d:\ncallParamCallbacks failed with %s.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -286,7 +290,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
 
     int direction = 0;
@@ -311,8 +315,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
-                pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                pC_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), 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",
@@ -338,14 +342,15 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
-                "R86", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            return pC_->couldNotParseResponse("R86", response, axisNo_,
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (handshakePerformed == 1.0) {
             // Handshake has been performed successfully -> Continue with the
             // poll
             waitForHandshake_ = false;
+            targetReachedUninitialized_ = false;
         } else {
             // Still waiting for the handshake - try again in the next busy
             // poll. This is already part of the movement procedure.
@@ -379,29 +384,29 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
 
     // Read the previous motor position
-    pl_status =
-        pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
+    pl_status = motorPosition(&previousPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pl_status;
     }
 
-    // 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) {
         return rw_status;
     }
 
-    // If the motor is switched off or if it reached its target, it is not
-    // moving.
-    if (targetReached() || !switchedOn()) {
+    if (targetReachedUninitialized_) {
         *moving = false;
     } else {
-        *moving = true;
+        if (targetReached() || !switchedOn()) {
+            *moving = false;
+        } else {
+            *moving = true;
+        }
+    }
+
+    if (targetReached()) {
+        targetReachedUninitialized_ = false;
     }
 
     // Read the current position
@@ -411,8 +416,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse("R12", response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+        return pC_->couldNotParseResponse("R12", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     /*
@@ -431,9 +436,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         since this information is not reliable.
          */
         if (communicationError()) {
-            if (pC_->getMsgPrintControl().shouldBePrinted(
-                    keyError, true, pC_->asynUserSelf())) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                          pC_->pasynUser())) {
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nCommunication error.%s\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -590,8 +595,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
             if (strlen(shellMessage) > 0) {
                 if (pC_->getMsgPrintControl().shouldBePrinted(
-                        keyError, true, pC_->asynUserSelf())) {
-                    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                        keyError, true, pC_->pasynUser())) {
+                    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                               "Controller \"%s\", axis %d  => %s, line "
                               "%d\n%s%s\n",
                               pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -608,7 +613,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
     } else {
-        pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
+        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
     }
 
     // Read out the limits, if the motor is not moving
@@ -619,8 +624,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
         nvals = sscanf(response, "%lf", &lowLimit);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
-                "R34", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            return pC_->couldNotParseResponse("R34", response, axisNo_,
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         rw_status = pC_->read(axisNo_, 33, response);
@@ -629,8 +634,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
         nvals = sscanf(response, "%lf", &highLimit);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
-                "R33", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            return pC_->couldNotParseResponse("R33", response, axisNo_,
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         /*
@@ -719,14 +724,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                          __LINE__);
     }
 
-    // Transform from motor to EPICS coordinates (see comment in
-    // masterMacsAxis::init())
-    currentPosition = currentPosition / motorRecResolution;
-
-    pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
+    pl_status = setMotorPosition(currentPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pl_status;
     }
 
     return poll_status;
@@ -766,7 +766,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     }
 
     if (enabled == 0) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is "
                   "disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -778,7 +778,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
     motorVelocity = maxVelocity * motorRecResolution;
 
     asynPrint(
-        pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+        pC_->pasynUser(), ASYN_TRACE_FLOW,
         "Controller \"%s\", axis %d => %s, line %d:\nMove to position %lf.\n",
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
 
@@ -821,7 +821,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
             return rw_status;
         }
 
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
                   "Controller \"%s\", axis %d => %s, line %d:\nSetting speed "
                   "to %lf.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -841,11 +841,17 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return rw_status;
     }
 
+    // If the motor has just been enabled, use Enable
+    double timeout = pC_->comTimeout();
+    if (targetReachedUninitialized_ && timeout < PowerCycleTimeout) {
+        timeout = PowerCycleTimeout;
+    }
+
     // Start the move
     if (relative) {
-        rw_status = pC_->write(axisNo_, 00, "2");
+        rw_status = pC_->write(axisNo_, 00, "2", timeout);
     } else {
-        rw_status = pC_->write(axisNo_, 00, "1");
+        rw_status = pC_->write(axisNo_, 00, "1", timeout);
     }
     if (rw_status != asynSuccess) {
         pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
@@ -894,7 +900,7 @@ 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;
 
@@ -928,7 +934,7 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -980,7 +986,8 @@ asynStatus masterMacsAxis::readEncoderType() {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
     int encoder_id = 0;
 
@@ -994,8 +1001,8 @@ asynStatus masterMacsAxis::readEncoderType() {
 
     nvals = sscanf(response, "%d", &encoder_id);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+        return pC_->couldNotParseResponse(command, response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     /*
@@ -1032,6 +1039,13 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     // =========================================================================
 
+    /*
+    When the motor is changing its enable state, its targetReached bit is set to
+    0. In order to prevent the poll method in interpreting the motor state as
+    "moving", this flag is used. It is reset in the handshake.
+    */
+    targetReachedUninitialized_ = true;
+
     doPoll(&moving);
 
     // If the axis is currently moving, it cannot be disabled. Ignore the
@@ -1039,7 +1053,7 @@ 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_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), 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__);
@@ -1061,7 +1075,7 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     if ((readyToBeSwitchedOn() && switchedOn()) == on) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_WARNING,
+            pC_->pasynUser(), ASYN_TRACE_WARNING,
             "Controller \"%s\", axis %d => %s, line %d:\nAxis is already %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             on ? "enabled" : "disabled");
@@ -1070,7 +1084,7 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     // Enable / disable the axis if it is not moving
     snprintf(value, sizeof(value), "%d", on);
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d => %s, line %d:\n%s axis.\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
               on ? "Enable" : "Disable");
@@ -1084,7 +1098,16 @@ 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_
+    double timeout = pC_->comTimeout();
+    if (targetReachedUninitialized_ && timeout < PowerCycleTimeout) {
+        timeout = PowerCycleTimeout;
+    }
+
+    rw_status = pC_->write(axisNo_, 04, value, timeout);
     if (rw_status != asynSuccess) {
         return rw_status;
     }
@@ -1111,7 +1134,7 @@ asynStatus masterMacsAxis::enable(bool on) {
 
     // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
               "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -1144,7 +1167,7 @@ std::bitset<16> toBitset(float val) {
 }
 
 asynStatus masterMacsAxis::readAxisStatus() {
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1154,8 +1177,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
-                "R10", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            return pC_->couldNotParseResponse("R10", response, axisNo_,
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         axisStatus_ = toBitset(axisStatus);
@@ -1165,7 +1188,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
 }
 
 asynStatus masterMacsAxis::readAxisError() {
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1175,8 +1198,8 @@ asynStatus masterMacsAxis::readAxisError() {
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
-                "R11", response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            return pC_->couldNotParseResponse("R11", response, axisNo_,
+                                              __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
@@ -111,6 +111,8 @@ class masterMacsAxis : public sinqAxis {
     bool waitForHandshake_;
     time_t timeAtHandshake_;
 
+    bool targetReachedUninitialized_;
+
     asynStatus readConfig();
 
     /*

src/masterMacsController.cpp

@@ -70,7 +70,8 @@ masterMacsController::masterMacsController(const char *portName,
     the message length is encoded in the message header.
     */
     const char *message_from_device = "\x0D"; // Hex-code for CR
-    status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
+                                           message_from_device,
                                            strlen(message_from_device));
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -78,7 +79,7 @@ masterMacsController::masterMacsController(const char *portName,
                   "input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(ipPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -89,7 +90,7 @@ masterMacsController::masterMacsController(const char *portName,
                   "ParamLib callbacks failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(ipPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 }
@@ -113,26 +114,25 @@ 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) {
-    return writeRead(axisNo, tcpCmd, payload, NULL);
+                                       const char *payload, double comTimeout) {
+    return writeRead(axisNo, tcpCmd, payload, NULL, comTimeout);
 }
 
 asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
-                                           const char *payload,
-                                           char *response) {
+                                           const char *payload, 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;
 
@@ -156,12 +156,18 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // =========================================================================
 
+    // Check if a custom 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
         return asynError;
     }
 
+    // Build the full command depending on the inputs to this function
     if (isRead) {
         snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
     } else {
@@ -176,82 +182,39 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     // Calculate the command length
     const size_t fullCommandLength = strlen(fullCommand);
 
-    adjustForPrint(printableCommand, fullCommand, MAXBUF_);
+    // Flush the IOC-side socket, then write the command and wait for the
+    // response.
+    status = pasynOctetSyncIO->writeRead(
+        pasynOctetSyncIOipPort(), fullCommand, fullCommandLength, fullResponse,
+        MAXBUF_, comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
-    // Send out the command
-    status = pasynOctetSyncIO->write(
-        ipPortUser_, fullCommand, fullCommandLength, comTimeout_, &nbytesOut);
-
-    msgPrintControlKey writeKey =
+    // If a communication error occured, print this message to the
+    msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-
-    if (status == asynSuccess) {
-        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
-
-        // Try to read the answer repeatedly
-        int maxTrials = 2;
-        for (int i = 0; i < maxTrials; i++) {
-
-            /*
-            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,
-                                       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);
-            }
+    if (status != asynSuccess) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUserSelf)) {
+            char printableCommand[MAXBUF_] = {0};
+            adjustForPrint(printableCommand, fullCommand, MAXBUF_);
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d:\nError "
+                      "%s while sending command %s to the controller\n",
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                      stringifyAsynStatus(status), printableCommand);
         }
-
     } else {
-        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
-            asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d => %s, line %d:\nError %s while "
-                "writing to the controller.%s\n",
-                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
-        }
+        msgPrintControl_.resetCount(comKey, pasynUserSelf);
     }
 
     // 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
@@ -262,31 +225,30 @@ 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_);
         pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
 
@@ -381,6 +343,7 @@ asynStatus masterMacsController::parseResponse(
 
             if (msgPrintControl_.shouldBePrinted(parseKey, true,
                                                  pasynUserSelf)) {
+                adjustForPrint(printableCommand, fullCommand, MAXBUF_);
                 asynPrint(
                     this->pasynUserSelf, ASYN_TRACE_ERROR,
                     "Controller \"%s\", axis %d => %s, line %d:\nTried to "
@@ -420,13 +383,13 @@ asynStatus masterMacsController::parseResponse(
 
             if (msgPrintControl_.shouldBePrinted(parseKey, true,
                                                  pasynUserSelf)) {
-                asynPrint(
-                    this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                    "Controller \"%s\", axis %d => %s, line %d:\nMismatched "
-                    "response %s to command %s.%s\n",
-                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                    printableResponse, printableCommand,
-                    msgPrintControl_.getSuffix());
+                asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+                          "Controller \"%s\", axis %d => %s, line "
+                          "%d:\nMismatched "
+                          "response %s to command %s.%s\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                          printableResponse, printableCommand,
+                          msgPrintControl_.getSuffix());
             }
 
             snprintf(drvMessageText, MAXBUF_,

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".
@@ -116,6 +118,13 @@ class masterMacsController : public sinqController {
     // responses from it.
     static const uint32_t MAXBUF_ = 200;
 
+    /**
+     * @brief Get the communication timeout used in the writeRead command
+     *
+     * @return double Timeout in seconds
+     */
+    double comTimeout() { return comTimeout_; }
+
   private:
     /*
     Stores the constructor input comTimeout

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.
+        """)
+