Moved error handling out of error read condition.

Previously, error messaging was only done after the error has been read.
This means that cached errors were simply ignored, if e.g. the motor was
moving. This commit now messages an error as long as it exists in the
cache "masterMacsAxisImpl->axisError".

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitlab-ci.yml

@@ -1,48 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --suppress=cert-STR07-C --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/masterMacs/$(ls -U /ioc/modules/masterMacs/ | head -1)" "./masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

src/masterMacsAxis.cpp

@@ -19,7 +19,6 @@ struct masterMacsAxisImpl {
     std::bitset<16> axisStatus;
     std::bitset<16> axisError;
 
-    double lastSetSpeed;
     bool waitForHandshake;
     time_t timeAtHandshake;
     bool needInit = true;
@@ -122,7 +121,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
         .axisStatus = std::bitset<16>(0),
         .axisError = std::bitset<16>(0),
-        .lastSetSpeed = 0.0,
         .waitForHandshake = false,
         .timeAtHandshake = 0,
         .targetReachedUninitialized = true,
@@ -262,11 +260,6 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // 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.
-    pMasterMacsA_->lastSetSpeed = motorVelocity;
-
     // Store the motor position in the parameter library
     pl_status = setMotorPosition(motorPosition);
     if (pl_status != asynSuccess) {
@@ -439,11 +432,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     Read out the error if either a fault condition status flag has been set or
     if a movement has just ended.
      */
-    msgPrintControlKey keyError = msgPrintControlKey(
-        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
     if (faultConditionSet() || !(*moving)) {
         rw_status = readAxisError();
+    }
+
+    msgPrintControlKey keyError = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
     /*
     A communication error is a special case. If a communication between
@@ -476,8 +470,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (shortCircuit()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Short circuit fault.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Short circuit error. Please call the support.");
 
             poll_status = asynError;
@@ -493,8 +486,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (followingError()) {
-                appendErrorMessage(
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
-                    shellMessage, sizeof(shellMessage),
                                "Maximum callowed following error exceeded.");
             appendErrorMessage(
                 errorMessage, sizeof(errorMessage),
@@ -556,8 +548,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (overCurrent()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Overcurrent error.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Overcurrent error. Please call the support.");
 
             poll_status = asynError;
@@ -576,8 +567,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (overVoltage()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Overvoltage error.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Overvoltage error. Please call the support.");
 
             poll_status = asynError;
@@ -586,8 +576,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (underVoltage()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Undervoltage error.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Undervoltage error. Please call the support.");
 
             poll_status = asynError;
@@ -603,20 +592,21 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (strlen(shellMessage) > 0) {
-                if (pC_->getMsgPrintControl().shouldBePrinted(
+            if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                        keyError, true, pC_->pasynUser())) {
+                                                          pC_->pasynUser())) {
                 asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\n%s%s\n",
-                              pC_->portName, axisNo_, __PRETTY_FUNCTION__,
+                          pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                              __LINE__, shellMessage,
+                          shellMessage, pC_->getMsgPrintControl().getSuffix());
-                              pC_->getMsgPrintControl().getSuffix());
             }
         }
 
         setAxisParamChecked(this, motorMessageText, errorMessage);
     }
-    } else {
+
+    // No error has been detected -> Reset the error count
+    if (poll_status == asynSuccess) {
         pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
     }
 
@@ -741,9 +731,7 @@ 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 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
+    if (motorCanSetSpeed != 0) {
-
-        pMasterMacsA_->lastSetSpeed = motorVelocity;
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
         status = pC_->write(axisNo_, 05, value);
@@ -817,24 +805,30 @@ asynStatus masterMacsAxis::doReset() {
 
     asynStatus status = asynSuccess;
 
-    // Reset errors
+    // Reset the controller ("node reset")
     status = pC_->write(axisNo_, 16, "");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the controller
+    // Reset any errors in the controller. Since the node reset results in a
-    status = pC_->write(axisNo_, 17, "");
+    // power cycle, we use the corresponding timeout.
+    status = pC_->write(axisNo_, 17, "", PowerCycleTimeout);
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
+    // Move out of the handshake wait loop, if we're currently inside it.
-    // if we're currently inside it.
     pMasterMacsA_->waitForHandshake = false;
 
+    // Reinitialize the axis
+    status = masterMacsAxis::init();
+    if (status != asynSuccess) {
         return status;
     }
+    bool moving = false;
+    return forcedPoll(&moving);
+}
 
 /*
 Home the axis. On absolute encoder systems, this is a no-op
@@ -999,7 +993,7 @@ asynStatus masterMacsAxis::enable(bool on) {
         if (switchedOn() == on) {
             bool moving = false;
             // Perform a poll to update the parameter library
-            poll(&moving);
+            forcedPoll(&moving);
             return asynSuccess;
         }
     }