Add default value for motorMessageText

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

@@ -12,18 +12,23 @@ 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=0.13.0
-
 # 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

src/masterMacsAxis.cpp

@@ -138,6 +138,20 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
             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) {
@@ -460,7 +474,7 @@ 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
@@ -468,7 +482,7 @@ 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;
@@ -477,7 +491,7 @@ 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;
@@ -488,7 +502,7 @@ 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.");
@@ -499,7 +513,7 @@ 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;
@@ -535,7 +549,7 @@ 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 "
@@ -548,7 +562,7 @@ 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;
@@ -558,7 +572,7 @@ 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;
@@ -568,7 +582,7 @@ 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;
@@ -578,7 +592,7 @@ 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;
@@ -587,7 +601,7 @@ 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;
@@ -605,7 +619,7 @@ 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__,
@@ -1035,8 +1049,6 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    bool moving = false;
-
     // =========================================================================
 
     /*
@@ -1046,6 +1058,13 @@ asynStatus masterMacsAxis::enable(bool on) {
     */
     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
@@ -1088,16 +1107,6 @@ asynStatus masterMacsAxis::enable(bool on) {
               "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
@@ -1143,7 +1152,7 @@ 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__,

src/masterMacsController.cpp

@@ -305,12 +305,21 @@ 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++) {
@@ -319,20 +328,75 @@ 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') {
@@ -404,7 +468,8 @@ asynStatus masterMacsController::parseResponse(
     return asynSuccess;
 }
 
-asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+asynStatus masterMacsController::readInt32(asynUser *pasynUser,
+                                           epicsInt32 *value) {
     // masterMacs can be disabled
     if (pasynUser->reason == motorCanDisable_) {
         *value = 1;

src/masterMacsController.h

@@ -31,6 +31,15 @@ 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
      *