Updated sinqMotor

Reviewed-on: #1

.gitmodules

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

Makefile

@@ -6,24 +6,26 @@ BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
-# Additional module dependencies
-REQUIRED+=sinqMotor
-
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
 
-# Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.9.0
-
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
 HEADERS += src/masterMacsController.h
 
 # Source files to build
+SOURCES += sinqMotor/src/msgPrintControl.cpp
+SOURCES += sinqMotor/src/sinqAxis.cpp
+SOURCES += sinqMotor/src/sinqController.cpp
 SOURCES += src/masterMacsAxis.cpp
 SOURCES += src/masterMacsController.cpp
 
+# Store the record files
+TEMPLATES += sinqMotor/db/asynRecord.db
+TEMPLATES += sinqMotor/db/sinqMotor.db
+
 # This file registers the motor-specific functions in the IOC shell.
+DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wpedantic -Wextra -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror

README.md

@@ -1,5 +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.h

@@ -1,12 +1,10 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
+#include "masterMacsController.h"
 #include "sinqAxis.h"
-#include <bitset>
+#include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class masterMacsController;
+struct masterMacsAxisImpl;
 
 class masterMacsAxis : public sinqAxis {
   public:
@@ -70,12 +68,12 @@ 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
@@ -105,20 +103,25 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus readEncoderType();
 
-  protected:
-    masterMacsController *pC_;
-    double lastSetSpeed_;
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
+    /**
+     * @brief Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
 
-    asynStatus readConfig();
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
 
-    /*
-    The axis status and axis error of MasterMACS are given as an integer from
-    the controller. The 16 individual bits contain the actual information.
-    */
-    std::bitset<16> axisStatus_;
-    std::bitset<16> axisError_;
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual masterMacsController *pController() override { return pC_; };
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -128,7 +131,7 @@ class masterMacsAxis : public sinqAxis {
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus_
+    The functions below read the specified status bit from the axisStatus
     bitset. Since a bit can either be 0 or 1, the return value is given as a
     boolean.
     */
@@ -136,68 +139,68 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
+    bool readyToBeSwitchedOn();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchedOn() { return axisStatus_[1]; }
+    bool switchedOn();
 
     // Bit 2 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool faultConditionSet() { return axisStatus_[3]; }
+    bool faultConditionSet();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool voltagePresent() { return axisStatus_[4]; }
+    bool voltagePresent();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool quickStopping() { return axisStatus_[5] == 0; }
+    bool quickStopping();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchOnDisabled() { return axisStatus_[6]; }
+    bool switchOnDisabled();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool warning() { return axisStatus_[7]; }
+    bool warning();
 
     // Bit 8 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool remoteMode() { return axisStatus_[9]; }
+    bool remoteMode();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool targetReached() { return axisStatus_[10]; }
+    bool targetReached();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool internalLimitActive() { return axisStatus_[11]; }
+    bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool setEventHasOcurred() { return axisStatus_[14]; }
+    bool setEventHasOcurred();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool powerEnabled() { return axisStatus_[15]; }
+    bool powerEnabled();
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -215,72 +218,76 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisError_
      */
-    bool shortCircuit() { return axisError_[1]; }
+    bool shortCircuit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool encoderError() { return axisError_[2]; }
+    bool encoderError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool followingError() { return axisError_[3]; }
+    bool followingError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool communicationError() { return axisError_[4]; }
+    bool communicationError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool feedbackError() { return axisError_[5]; }
+    bool feedbackError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveLimitSwitch() { return axisError_[6]; }
+    bool positiveLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeLimitSwitch() { return axisError_[7]; }
+    bool negativeLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveSoftwareLimit() { return axisError_[8]; }
+    bool positiveSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeSoftwareLimit() { return axisError_[9]; }
+    bool negativeSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overCurrent() { return axisError_[10]; }
+    bool overCurrent();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overTemperature() { return axisError_[11]; }
+    bool overTemperature();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overVoltage() { return axisError_[12]; }
+    bool overVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool underVoltage() { return axisError_[13]; }
+    bool underVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool stoFault() { return axisError_[15]; }
+    bool stoFault();
+
+  private:
+    masterMacsController *pC_;
+    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
 };
 
 #endif

src/masterMacsController.cpp

@@ -12,6 +12,10 @@
 #include <string>
 #include <unistd.h>
 
+struct masterMacsControllerImpl {
+    double comTimeout;
+};
+
 /**
  * @brief Copy src into dst and replace all NULL terminators up to the carriage
  * return with spaces. This allows to print *dst with asynPrint.
@@ -59,8 +63,10 @@ masterMacsController::masterMacsController(const char *portName,
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
-    // Initialization of all member variables
-    comTimeout_ = comTimeout;
+    pMasterMacsC_ =
+        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
+            .comTimeout = comTimeout,
+        });
 
     // =========================================================================
 
@@ -70,7 +76,8 @@ 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 +85,7 @@ 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 +96,7 @@ 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 +120,24 @@ 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 +161,18 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // =========================================================================
 
+    // Check if a custom timeout has been given
+    if (comTimeout < 0.0) {
+        comTimeout = pMasterMacsC_->comTimeout;
+    }
+
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
     if (axis == nullptr) {
         // We already did the error logging directly in getAxis
         return asynError;
     }
 
+    // Build the full command depending on the inputs to this function
     if (isRead) {
         snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
     } else {
@@ -176,82 +187,39 @@ 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 (getMsgPrintControl().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());
-        }
+        getMsgPrintControl().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
@@ -262,66 +230,55 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                 response[i] = fullResponse[i + valueStart];
             }
         }
-
         break;
     case asynTimeout:
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "connection timeout for axis %d", axisNo);
+                 "Connection timeout. Please call the support.");
         break;
     case asynDisconnected:
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "axis is not connected");
+                 "Axis is not connected.");
         break;
     case asynDisabled:
-        snprintf(drvMessageText, sizeof(drvMessageText), "axis is disabled");
+        snprintf(drvMessageText, sizeof(drvMessageText), "Axis is disabled.");
         break;
     case asynError:
         // Do nothing - error message drvMessageText has already been set.
         break;
     default:
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Communication failed (%s)", stringifyAsynStatus(status));
+                 "Communication failed (%s). Please call the support.",
+                 stringifyAsynStatus(status));
         break;
     }
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        adjustForPrint(printableResponse, fullResponse, MAXBUF_);
-        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        setAxisParamChecked(axis, motorStatusCommsError, false);
     } else {
 
-        // Check if the axis already is in an error communication mode. If
-        // it is not, upstream the error. This is done to avoid "flooding"
-        // the user with different error messages if more than one error
-        // ocurred before an error-free communication
-        pl_status =
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        if (pl_status != asynSuccess) {
-            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
-        }
+        /*
+        Since the communication failed, there is the possibility that the
+        controller is not connected at all to the network. In that case, we
+        cannot be sure that the information read out in the init method of the
+        axis is still up-to-date the next time we get a connection. Therefore,
+        an info flag is set which the axis object can use at the start of its
+        poll method to try to initialize itself.
+        */
+        axis->setNeedInit(true);
+
+        /*
+        Check if the axis already is in an error communication mode. If
+        it is not, upstream the error. This is done to avoid "flooding"
+        the user with different error messages if more than one error
+        ocurred before an error-free communication
+        */
+        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorMessageText_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusProblem",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
+            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            setAxisParamChecked(axis, motorStatusProblem, true);
+            setAxisParamChecked(axis, motorStatusCommsError, false);
         }
     }
 
@@ -343,12 +300,22 @@ asynStatus masterMacsController::parseResponse(
 
     bool responseValid = false;
     int responseStart = 0;
+    asynStatus status = asynSuccess;
+    int prevConnected = 0;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
     msgPrintControlKey parseKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+    if (axis == nullptr) {
+        return asynError;
+    }
+
+    // Was the motor previously connected?
+    getAxisParamChecked(axis, motorConnected, &prevConnected);
+
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
     for (uint32_t i = 0; i < MAXBUF_; i++) {
@@ -357,20 +324,57 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '=') {
             *valueStart = i + 1;
         } else if (fullResponse[i] == '\x06') {
+            // ACK
             *valueStop = i;
             responseValid = true;
-            break;
-        } else if (fullResponse[i] == '\x15') {
-            // NAK
-            snprintf(drvMessageText, MAXBUF_, "Communication failed.");
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+            // Motor wasn't connected before -> Update the paramLib entry and PV
+            // to show it is now connected.
+            if (prevConnected == 0) {
+
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d => %s, line "
-                          "%d:\nCommunication failed.%s\n",
-                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                          msgPrintControl_.getSuffix());
+                          "%d:\nAxis connection status has changed to "
+                          "connected.\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                setAxisParamChecked(axis, motorConnected, true);
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
+                }
+            }
+
+            break;
+        } else if (fullResponse[i] == '\x15') {
+            /*
+            NAK
+            This indicates that the axis is not connected. This is not an error!
+            */
+            snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
+
+            // Motor was connected before -> Update the paramLib entry and PV
+            // to show it is now disconnected.
+            if (prevConnected == 1) {
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d => %s, line "
+                          "%d:\nAxis connection status has changed to "
+                          "disconnected.\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                setAxisParamChecked(axis, motorConnected, false);
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
+                }
             }
             break;
         } else if (fullResponse[i] == '\x18') {
@@ -379,14 +383,15 @@ asynStatus masterMacsController::parseResponse(
                      "Tried to write with a read-only command. This is a "
                      "bug, please call the support.");
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
+                                                     pasynUserSelf)) {
+                adjustForPrint(printableCommand, fullCommand, MAXBUF_);
                 asynPrint(
                     this->pasynUserSelf, ASYN_TRACE_ERROR,
                     "Controller \"%s\", axis %d => %s, line %d:\nTried to "
                     "write with the read-only command %s.%s\n",
                     portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                    printableCommand, msgPrintControl_.getSuffix());
+                    printableCommand, getMsgPrintControl().getSuffix());
             }
             responseValid = false;
             break;
@@ -394,7 +399,7 @@ asynStatus masterMacsController::parseResponse(
     }
 
     if (responseValid) {
-        msgPrintControl_.resetCount(parseKey, pasynUserSelf);
+        getMsgPrintControl().resetCount(parseKey, pasynUserSelf);
 
         // Check if the response matches the expectations. Each response
         // contains the string "axisNo R tcpCmd" (including the spaces)
@@ -418,15 +423,15 @@ asynStatus masterMacsController::parseResponse(
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             adjustForPrint(printableResponse, fullResponse, MAXBUF_);
 
-            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());
+            if (getMsgPrintControl().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,
+                          getMsgPrintControl().getSuffix());
             }
 
             snprintf(drvMessageText, MAXBUF_,
@@ -435,15 +440,16 @@ asynStatus masterMacsController::parseResponse(
                      printableResponse, printableCommand);
             return asynError;
         } else {
-            msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
+            getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);
         }
     }
     return asynSuccess;
 }
 
-asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+asynStatus masterMacsController::readInt32(asynUser *pasynUser,
+                                           epicsInt32 *value) {
     // masterMacs can be disabled
-    if (pasynUser->reason == motorCanDisable_) {
+    if (pasynUser->reason == motorCanDisable()) {
         *value = 1;
         return asynSuccess;
     } else {
@@ -451,6 +457,8 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
     }
 }
 
+double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsController.h

@@ -8,9 +8,16 @@
 
 #ifndef masterMacsController_H
 #define masterMacsController_H
-#include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
+#include <memory>
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class masterMacsAxis;
+
+struct masterMacsControllerImpl;
 
 class masterMacsController : public sinqController {
 
@@ -31,6 +38,15 @@ class masterMacsController : public sinqController {
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);
 
+    /**
+     * @brief Overloaded version of the sinqController version
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
     /**
      * @brief Get the axis object
      *
@@ -57,7 +73,8 @@ class masterMacsController : public sinqController {
      * @param payload             Value send to MasterMACS.
      * @return asynStatus
      */
-    asynStatus write(int axisNo, int tcpCmd, const char *payload);
+    asynStatus write(int axisNo, int tcpCmd, const char *payload,
+                     double comTimeout = -1.0);
 
     /**
      * @brief Send a command to the hardware and receive a response (R mode)
@@ -68,7 +85,8 @@ class masterMacsController : public sinqController {
      * expected to have the size MAXBUF_.
      * @return asynStatus
      */
-    asynStatus read(int axisNo, int tcpCmd, char *response);
+    asynStatus read(int axisNo, int tcpCmd, char *response,
+                    double comTimeout = -1.0);
 
     /**
      * @brief Send a command to the hardware (R or S mode) and receive a
@@ -85,7 +103,7 @@ class masterMacsController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, int tcpCmd, const char *payload,
-                         char *response);
+                         char *response, double comTimeout = -1.0);
 
     /**
      * @brief Parse "fullResponse" received upon sending "fullCommand".
@@ -116,11 +134,15 @@ 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();
+
   private:
-    /*
-    Stores the constructor input comTimeout
-    */
-    double comTimeout_;
+    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
 };
 
 #endif /* masterMacsController_H */

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.
+        """)
+