Bugfix for 1.0

sinqMotor is statically compiled into this driver.

.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=0.10.0
-
 # 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

@@ -14,6 +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 +11,29 @@
 #include <string.h>
 #include <unistd.h>
 
+struct masterMacsAxisImpl {
+    /*
+    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;
+
+    double lastSetSpeed;
+    bool waitForHandshake;
+    time_t timeAtHandshake;
+    bool needInit = true;
+    bool targetReachedUninitialized;
+};
+
+/*
+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 +102,7 @@ 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.",
@@ -96,22 +119,20 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Collect all axes into this list which will be used in the hook function
     axes.push_back(this);
 
-    // Initialize all member variables
+    pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
-    axisStatus_ = std::bitset<16>(0);
+        .axisStatus = std::bitset<16>(0),
-    axisError_ = std::bitset<16>(0);
+        .axisError = std::bitset<16>(0),
-
+        .lastSetSpeed = 0.0,
-    // Initial value for the motor speed, is overwritten in atFirstPoll.
+        .waitForHandshake = false,
-    lastSetSpeed_ = 0.0;
+        .timeAtHandshake = 0,
-
+        .targetReachedUninitialized = true,
-    // Flag for handshake waiting
+    });
-    waitForHandshake_ = false;
-    timeAtHandshake_ = 0;
 
     // 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__,
@@ -123,12 +144,26 @@ 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__,
             pC_->stringifyAsynStatus(status));
     }
+
+    // Even though this happens already in sinqAxis, a default value for
+    // motorMessageText is set here again, because apparently the sinqAxis
+    // constructor is not run before the string is accessed?
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(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__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
 }
 
 masterMacsAxis::~masterMacsAxis(void) {
@@ -148,7 +183,7 @@ 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 +202,7 @@ 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__,
@@ -230,7 +265,7 @@ asynStatus masterMacsAxis::init() {
     // Cache the motor speed. If this value differs from the one in the motor
     // record at the start of a movement, the motor record value is sent to
     // MasterMACS.
-    lastSetSpeed_ = motorVelocity;
+    pMasterMacsA_->lastSetSpeed = motorVelocity;
 
     // Store the motor position in the parameter library
     pl_status = setMotorPosition(motorPosition);
@@ -259,13 +294,17 @@ 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__,
                   pC_->stringifyAsynStatus(pl_status));
         return pl_status;
     }
+
+    // Axis is fully initialized
+    setNeedInit(false);
+
     return pl_status;
 }
 
@@ -281,7 +320,7 @@ 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;
@@ -296,23 +335,31 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // =========================================================================
 
+    // Does the axis need to be intialized?
+    if (needInit()) {
+        rw_status = init();
+        if (rw_status != asynSuccess) {
+            return rw_status;
+        }
+    }
+
     // Are we currently waiting for a handshake?
-    if (waitForHandshake_) {
+    if (pMasterMacsA_->waitForHandshake) {
 
         // Check if the handshake takes too long and communicate an error in
         // this case. A handshake should not take more than 5 seconds.
         time_t currentTime = time(NULL);
-        bool timedOut = (currentTime > timeAtHandshake_ + 5);
+        bool timedOut = (currentTime > pMasterMacsA_->timeAtHandshake + 5);
 
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
-                pC_->asynUserSelf())) {
+                pC_->pasynUser())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            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",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      timeAtHandshake_, currentTime);
+                      pMasterMacsA_->timeAtHandshake, currentTime);
         }
 
         if (timedOut) {
@@ -340,7 +387,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (handshakePerformed == 1.0) {
             // Handshake has been performed successfully -> Continue with the
             // poll
-            waitForHandshake_ = false;
+            pMasterMacsA_->waitForHandshake = false;
+            pMasterMacsA_->targetReachedUninitialized = false;
         } else {
             // Still waiting for the handshake - try again in the next busy
             // poll. This is already part of the movement procedure.
@@ -385,12 +433,18 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         return rw_status;
     }
 
-    // If the motor is switched off or if it reached its target, it is not
+    if (pMasterMacsA_->targetReachedUninitialized) {
-    // moving.
-    if (targetReached() || !switchedOn()) {
         *moving = false;
     } else {
-        *moving = true;
+        if (targetReached() || !switchedOn()) {
+            *moving = false;
+        } else {
+            *moving = true;
+        }
+    }
+
+    if (targetReached()) {
+        pMasterMacsA_->targetReachedUninitialized = false;
     }
 
     // Read the current position
@@ -420,9 +474,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         since this information is not reliable.
          */
         if (communicationError()) {
-            if (pC_->getMsgPrintControl().shouldBePrinted(
+            if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                    keyError, true, pC_->asynUserSelf())) {
+                                                          pC_->pasynUser())) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nCommunication error.%s\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -444,7 +498,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
             // This buffer must be initialized to zero because we build the
             // error message by appending strings.
-            char userMessage[pC_->MAXBUF_] = {0};
+            char errorMessage[pC_->MAXBUF_] = {0};
             char shellMessage[pC_->MAXBUF_] = {0};
 
             // Concatenate all other errors
@@ -452,7 +506,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Short circuit fault.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Short circuit error. Please call the support.");
 
                 poll_status = asynError;
@@ -461,7 +515,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             if (encoderError()) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Encoder error.");
-                appendErrorMessage(userMessage, sizeof(userMessage),
+                appendErrorMessage(errorMessage, sizeof(errorMessage),
                                    "Encoder error. Please call the support.");
 
                 poll_status = asynError;
@@ -472,7 +526,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                     shellMessage, sizeof(shellMessage),
                     "Maximum callowed following error exceeded.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Maximum allowed following error exceeded.Check if "
                     "movement range is blocked. Otherwise please call the "
                     "support.");
@@ -483,7 +537,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             if (feedbackError()) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Feedback error.");
-                appendErrorMessage(userMessage, sizeof(userMessage),
+                appendErrorMessage(errorMessage, sizeof(errorMessage),
                                    "Feedback error. Please call the support.");
 
                 poll_status = asynError;
@@ -519,7 +573,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
                 // Generic error message for user
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Software limits or end switch hit. Try homing the motor, "
                     "moving in the opposite direction or check the SPS for "
                     "errors (if available). Otherwise please call the "
@@ -532,7 +586,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Overcurrent error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Overcurrent error. Please call the support.");
 
                 poll_status = asynError;
@@ -542,7 +596,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Overtemperature error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Overtemperature error. Please call the support.");
 
                 poll_status = asynError;
@@ -552,7 +606,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Overvoltage error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Overvoltage error. Please call the support.");
 
                 poll_status = asynError;
@@ -562,7 +616,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Undervoltage error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Undervoltage error. Please call the support.");
 
                 poll_status = asynError;
@@ -571,7 +625,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             if (stoFault()) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "STO input is on disable state.");
-                appendErrorMessage(userMessage, sizeof(userMessage),
+                appendErrorMessage(errorMessage, sizeof(errorMessage),
                                    "STO fault. Please call the support.");
 
                 poll_status = asynError;
@@ -579,8 +633,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
             if (strlen(shellMessage) > 0) {
                 if (pC_->getMsgPrintControl().shouldBePrinted(
-                        keyError, true, pC_->asynUserSelf())) {
+                        keyError, true, pC_->pasynUser())) {
-                    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                               "Controller \"%s\", axis %d  => %s, line "
                               "%d\n%s%s\n",
                               pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -589,7 +643,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 }
             }
 
-            pl_status = setStringParam(pC_->motorMessageText(), userMessage);
+            pl_status = setStringParam(pC_->motorMessageText(), errorMessage);
             if (pl_status != asynSuccess) {
                 return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                                  axisNo_, __PRETTY_FUNCTION__,
@@ -597,7 +651,7 @@ 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
@@ -750,7 +804,7 @@ 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__);
@@ -762,7 +816,7 @@ 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);
 
@@ -789,9 +843,9 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // Set the new motor speed, if the user is allowed to do so and if the
     // motor speed changed since the last move command.
-    if (motorCanSetSpeed != 0 && lastSetSpeed_ != motorVelocity) {
+    if (motorCanSetSpeed != 0 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
 
-        lastSetSpeed_ = motorVelocity;
+        pMasterMacsA_->lastSetSpeed = motorVelocity;
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
         rw_status = pC_->write(axisNo_, 05, value);
@@ -805,7 +859,7 @@ 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__,
@@ -825,11 +879,18 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return rw_status;
     }
 
+    // If the motor has just been enabled, use Enable
+    double timeout = pC_->comTimeout();
+    if (pMasterMacsA_->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);
@@ -843,8 +904,8 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // In the next poll, we will check if the handshake has been performed in a
     // reasonable time
-    waitForHandshake_ = true;
+    pMasterMacsA_->waitForHandshake = true;
-    timeAtHandshake_ = time(NULL);
+    pMasterMacsA_->timeAtHandshake = time(NULL);
 
     // Waiting for a handshake is already part of the movement procedure =>
     // Start the watchdog
@@ -875,6 +936,10 @@ asynStatus masterMacsAxis::stop(double acceleration) {
         }
     }
 
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
     return rw_status;
 }
 
@@ -897,6 +962,10 @@ asynStatus masterMacsAxis::doReset() {
         }
     }
 
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
     return rw_status;
 }
 
@@ -912,7 +981,7 @@ 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};
 
     // =========================================================================
 
@@ -945,8 +1014,8 @@ asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
 
         // In the next poll, we will check if the handshake has been performed
         // in a reasonable time
-        waitForHandshake_ = true;
+        pMasterMacsA_->waitForHandshake = true;
-        timeAtHandshake_ = time(NULL);
+        pMasterMacsA_->timeAtHandshake = time(NULL);
         return asynSuccess;
     } else {
         return asynError;
@@ -964,7 +1033,8 @@ 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;
 
@@ -1012,10 +1082,22 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    bool moving = false;
-
     // =========================================================================
 
+    /*
+    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.
+    */
+    pMasterMacsA_->targetReachedUninitialized = true;
+
+    /*
+    Continue regardless of the status returned by the poll; we just want to
+    find out whether the motor is currently moving or not. If the poll
+    function fails before it can determine that, it is assumed that the motor
+    is not moving.
+    */
+    bool moving = false;
     doPoll(&moving);
 
     // If the axis is currently moving, it cannot be disabled. Ignore the
@@ -1023,7 +1105,7 @@ 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__);
@@ -1045,7 +1127,7 @@ 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");
@@ -1054,25 +1136,21 @@ 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");
-    if (on == 0) {
-        pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
-    } else {
-        pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
-    }
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     // 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);
+    double timeout = pC_->comTimeout();
+    if (pMasterMacsA_->targetReachedUninitialized &&
+        timeout < PowerCycleTimeout) {
+        timeout = PowerCycleTimeout;
+    }
+
+    rw_status = pC_->write(axisNo_, 04, value, timeout);
     if (rw_status != asynSuccess) {
         return rw_status;
     }
@@ -1099,7 +1177,7 @@ 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__,
@@ -1108,7 +1186,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Output message to user
     snprintf(value, sizeof(value), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
+    pl_status = setStringParam(pC_->motorMessageText(), value);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -1117,6 +1195,17 @@ asynStatus masterMacsAxis::enable(bool on) {
     return asynError;
 }
 
+bool masterMacsAxis::needInit() { return pMasterMacsA_->needInit; }
+
+/**
+ * @brief Instruct the axis to run its init() function during the next poll
+ *
+ * @param needInit
+ */
+void masterMacsAxis::setNeedInit(bool needInit) {
+    pMasterMacsA_->needInit = needInit;
+}
+
 /**
 Convert a float to an unint16_t bitset
 */
@@ -1132,7 +1221,7 @@ std::bitset<16> toBitset(float val) {
 }
 
 asynStatus masterMacsAxis::readAxisStatus() {
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1146,14 +1235,14 @@ asynStatus masterMacsAxis::readAxisStatus() {
                                               __PRETTY_FUNCTION__, __LINE__);
         }
 
-        axisStatus_ = toBitset(axisStatus);
+        pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
     return rw_status;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1166,11 +1255,83 @@ asynStatus masterMacsAxis::readAxisError() {
             return pC_->couldNotParseResponse("R11", response, axisNo_,
                                               __PRETTY_FUNCTION__, __LINE__);
         }
-        axisError_ = toBitset(axisError);
+        pMasterMacsA_->axisError = toBitset(axisError);
     }
     return rw_status;
 }
 
+bool masterMacsAxis::readyToBeSwitchedOn() {
+    return pMasterMacsA_->axisStatus[0];
+}
+
+bool masterMacsAxis::switchedOn() { return pMasterMacsA_->axisStatus[1]; }
+
+bool masterMacsAxis::faultConditionSet() {
+    return pMasterMacsA_->axisStatus[3];
+}
+
+bool masterMacsAxis::voltagePresent() { return pMasterMacsA_->axisStatus[4]; }
+
+bool masterMacsAxis::quickStopping() {
+    return pMasterMacsA_->axisStatus[5] == 0;
+}
+
+bool masterMacsAxis::switchOnDisabled() { return pMasterMacsA_->axisStatus[6]; }
+
+bool masterMacsAxis::warning() { return pMasterMacsA_->axisStatus[7]; }
+
+bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
+
+bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
+
+bool masterMacsAxis::internalLimitActive() {
+    return pMasterMacsA_->axisStatus[11];
+}
+
+bool masterMacsAxis::setEventHasOcurred() {
+    return pMasterMacsA_->axisStatus[14];
+}
+
+bool masterMacsAxis::powerEnabled() { return pMasterMacsA_->axisStatus[15]; }
+
+bool masterMacsAxis::shortCircuit() { return pMasterMacsA_->axisError[1]; }
+
+bool masterMacsAxis::encoderError() { return pMasterMacsA_->axisError[2]; }
+
+bool masterMacsAxis::followingError() { return pMasterMacsA_->axisError[3]; }
+
+bool masterMacsAxis::communicationError() {
+    return pMasterMacsA_->axisError[4];
+}
+
+bool masterMacsAxis::feedbackError() { return pMasterMacsA_->axisError[5]; }
+
+bool masterMacsAxis::positiveLimitSwitch() {
+    return pMasterMacsA_->axisError[6];
+}
+
+bool masterMacsAxis::negativeLimitSwitch() {
+    return pMasterMacsA_->axisError[7];
+}
+
+bool masterMacsAxis::positiveSoftwareLimit() {
+    return pMasterMacsA_->axisError[8];
+}
+
+bool masterMacsAxis::negativeSoftwareLimit() {
+    return pMasterMacsA_->axisError[9];
+}
+
+bool masterMacsAxis::overCurrent() { return pMasterMacsA_->axisError[10]; }
+
+bool masterMacsAxis::overTemperature() { return pMasterMacsA_->axisError[11]; }
+
+bool masterMacsAxis::overVoltage() { return pMasterMacsA_->axisError[12]; }
+
+bool masterMacsAxis::underVoltage() { return pMasterMacsA_->axisError[13]; }
+
+bool masterMacsAxis::stoFault() { return pMasterMacsA_->axisError[15]; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsAxis.h

@@ -1,13 +1,15 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_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:
     /**
@@ -105,21 +107,23 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus readEncoderType();
 
-  protected:
+    /**
-    masterMacsController *pC_;
+     * @brief Check if the axis needs to run its initialization function
-    double lastSetSpeed_;
+     *
-    bool waitForHandshake_;
+     * @return true
-    time_t timeAtHandshake_;
+     * @return false
+     */
+    bool needInit();
+
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
 
     asynStatus readConfig();
 
-    /*
-    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 Read the Master MACS status with the xR10 command and store the
      * result in axisStatus_
@@ -128,7 +132,7 @@ 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 +140,68 @@ 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 +219,76 @@ 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
+    pMasterMacsC_ =
-    comTimeout_ = comTimeout;
+        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);
     }
 }
@@ -132,8 +139,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     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;
 
@@ -157,9 +162,9 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // =========================================================================
 
-    // Check if a timeout has been given
+    // Check if a custom timeout has been given
     if (comTimeout < 0.0) {
-        comTimeout = comTimeout_;
+        comTimeout = pMasterMacsC_->comTimeout;
     }
 
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
@@ -168,6 +173,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         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 {
@@ -182,94 +188,39 @@ 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
+    // If a communication error occured, print this message to the
-    status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
+    msgPrintControlKey comKey =
-                                     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__);
-
+    if (status != asynSuccess) {
-    if (status == asynSuccess) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUserSelf)) {
-        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
+            char printableCommand[MAXBUF_] = {0};
-
+            adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-        // Try to read the answer repeatedly
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-        int maxTrials = 2;
+                      "Controller \"%s\", axis %d => %s, line %d:\nError "
-        for (int i = 0; i < maxTrials; i++) {
+                      "%s while sending command %s to the controller\n",
-
+                      portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-            /*
+                      stringifyAsynStatus(status), printableCommand);
-            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 {
-                if (status != asynTimeout) {
-                    asynPrint(
-                        this->pasynUserSelf, ASYN_TRACE_ERROR,
-                        "Controller \"%s\", axis %d => %s, line %d:\nError "
-                        "%s while reading from the controller\n",
-                        portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                        stringifyAsynStatus(status));
-                    break;
-                }
-            }
-
-            if (i + 1 == maxTrials && status == asynError) {
-                asynPrint(
-                    this->pasynUserSelf, ASYN_TRACE_ERROR,
-                    "Controller \"%s\", axis %d => %s, line %d:\nFailed "
-                    "%d times to get the correct response. Aborting read.\n",
-                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__, maxTrials);
-            }
         }
-
     } else {
-        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+        getMsgPrintControl().resetCount(comKey, 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());
-        }
     }
 
     // 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
@@ -280,49 +231,61 @@ 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 {
 
-        // Check if the axis already is in an error communication mode. If
+        /*
-        // it is not, upstream the error. This is done to avoid "flooding"
+        Since the communication failed, there is the possibility that the
-        // the user with different error messages if more than one error
+        controller is not connected at all to the network. In that case, we
-        // ocurred before an error-free communication
+        cannot be sure that the information read out in the init method of the
+        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
+        */
         pl_status =
             getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
         if (pl_status != asynSuccess) {
-            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
+            return paramLibAccessFailed(pl_status, "motorStatusProblem", axisNo,
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                        __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (motorStatusProblem == 0) {
-            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
+            pl_status =
+                axis->setStringParam(motorMessageText(), drvMessageText);
             if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorMessageText_",
+                return paramLibAccessFailed(pl_status, "motorMessageText",
                                             axisNo, __PRETTY_FUNCTION__,
                                             __LINE__);
             }
@@ -361,12 +324,21 @@ 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__);
 
+    // Was the motor previously connected?
+    status = getIntegerParam(axisNo, motorConnected(), &prevConnected);
+    if (status != asynSuccess) {
+        return paramLibAccessFailed(status, "motorConnected", axisNo,
+                                    __PRETTY_FUNCTION__, __LINE__);
+    }
+
     // 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++) {
@@ -375,20 +347,75 @@ 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,
+            // Motor wasn't connected before -> Update the paramLib entry and PV
-                                                 pasynUserSelf)) {
+            // 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",
+                          "%d:\nAxis connection status has changed to "
-                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                          "connected.\n",
-                          msgPrintControl_.getSuffix());
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis == nullptr) {
+                    return asynError;
+                }
+                status = axis->setIntegerParam(motorConnected(), 1);
+                if (status != asynSuccess) {
+                    return paramLibAccessFailed(status, "motorConnected",
+                                                axisNo, __PRETTY_FUNCTION__,
+                                                __LINE__);
+                }
+                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__);
+
+                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis == nullptr) {
+                    return asynError;
+                }
+                status = axis->setIntegerParam(motorConnected(), 0);
+                if (status != asynSuccess) {
+                    return paramLibAccessFailed(status, "motorConnected",
+                                                axisNo, __PRETTY_FUNCTION__,
+                                                __LINE__);
+                }
+                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') {
@@ -397,14 +424,15 @@ asynStatus masterMacsController::parseResponse(
                      "Tried to write with a read-only command. This is a "
                      "bug, please call the support.");
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
+            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+                                                     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;
@@ -412,7 +440,7 @@ 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)
@@ -436,15 +464,15 @@ asynStatus masterMacsController::parseResponse(
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             adjustForPrint(printableResponse, fullResponse, MAXBUF_);
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
+            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+                                                     pasynUserSelf)) {
-                asynPrint(
+                asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                    this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+                          "Controller \"%s\", axis %d => %s, line "
-                    "Controller \"%s\", axis %d => %s, line %d:\nMismatched "
+                          "%d:\nMismatched "
-                    "response %s to command %s.%s\n",
+                          "response %s to command %s.%s\n",
-                    portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                    printableResponse, printableCommand,
+                          printableResponse, printableCommand,
-                    msgPrintControl_.getSuffix());
+                          getMsgPrintControl().getSuffix());
             }
 
             snprintf(drvMessageText, MAXBUF_,
@@ -453,15 +481,16 @@ 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 {
@@ -469,6 +498,8 @@ 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

@@ -11,6 +11,9 @@
 #include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
+#include <memory>
+
+struct masterMacsControllerImpl;
 
 class masterMacsController : public sinqController {
 
@@ -31,6 +34,15 @@ 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
      *
@@ -118,11 +130,15 @@ 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:
-    /*
+    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
-    Stores the constructor input comTimeout
-    */
-    double comTimeout_;
 };
 
 #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.
+        """)
+