Fixed handshake detection and reset bugs

src/masterMacsAxis.cpp

@@ -357,7 +357,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
         if (timedOut) {
             setAxisParamChecked(this, motorMessageText,
-                                "Timed out while waiting for a handshake");
+                                "Timed out while waiting for a handshake. "
+                                "Please call the support.");
+
+            poll_status = asynError;
         }
 
         pC_->read(axisNo_, 86, response);
@@ -377,14 +380,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             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.
             *moving = true;
-
             setAxisParamChecked(this, motorStatusMoving, *moving);
             setAxisParamChecked(this, motorStatusDone, !(*moving));
-
+            return poll_status;
-            return asynSuccess;
         }
     }
 
@@ -403,6 +402,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         return rw_status;
     }
 
+    // If we wait for a handshake, but the motor was moving in its last poll
+    // cycle and has reached its target, it is not moving. Otherwise it is
+    // considered moving, even if we're still waiting for the handshake.
     if (pMasterMacsA_->targetReachedUninitialized) {
         *moving = false;
     } else {
@@ -679,7 +681,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     if (pl_status != asynSuccess) {
         return pl_status;
     }
-
     return poll_status;
 }
 
@@ -805,8 +806,8 @@ asynStatus masterMacsAxis::doReset() {
 
     asynStatus status = asynSuccess;
 
-    // Reset the controller ("node reset")
+    // Reset any errors
-    status = pC_->write(axisNo_, 16, "");
+    status = pC_->write(axisNo_, 17, "");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
@@ -822,9 +823,9 @@ asynStatus masterMacsAxis::nodeReset() {
 
     asynStatus status = asynSuccess;
 
-    // Reset any errors in the controller. Since the node reset results in a
+    // Reset the controller ("node reset"). Since the node reset results in a
     // power cycle, we use the corresponding timeout.
-    status = pC_->write(axisNo_, 17, "", PowerCycleTimeout);
+    status = pC_->write(axisNo_, 16, "", PowerCycleTimeout);
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
     }