Fixed wrong doc

Also introduced graceful error handling when trying to access
interactive mode on Windows.

.gitignore

@@ -0,0 +1,4 @@
+O.*
+.cvsignore
+.vscode
+utils/__pycache__

Makefile

@@ -29,4 +29,8 @@ TEMPLATES += db/masterMacs.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Wextra -Werror
+
+# These flags define the expected firmware version. See README.md, section
+# "Firmware version checking" for details.
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=2 -DFIRMWARE_MINOR_VERSION=2 -Wall -Wextra -Weffc++ -Wunused-result -Wextra

README.md

@@ -17,15 +17,38 @@ The folder "utils" contains utility scripts for working with masterMacs motor co
 - 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
+These scripts can be run from anywhere. On Linux, the shebang (#!) automatically
+calls the system Python 3 executable:
+
+```bash
+# To show the help, use either flag -h or --help (works on all scripts)
+/path/to/mastermacs_repo/utils/decodeStatus.py -h 
+/path/to/mastermacs_repo/utils/decodeError.py --help
+/path/to/mastermacs_repo/utils/writeRead.py -h
+
+# To run in non-interactive mode, give the value as an argument
+/path/to/mastermacs_repo/utils/decodeStatus.py 1234
+/path/to/mastermacs_repo/utils/decodeError.py 5678
+/path/to/mastermacs_repo/utils/writeRead.py "R11"
+
+# To run in interactive mode, don't give any argument. This only works on Linux
+/path/to/mastermacs_repo/utils/decodeStatus.py
+/path/to/mastermacs_repo/utils/decodeError.py
+/path/to/mastermacs_repo/utils/writeRead.py
+```
+
+To use these scripts on Windows, prefix the Python 3 executable:
+```bash
+C:/path/to/python3.exe C:/path/to/mastermacs_repo/utils/decodeStatus.py 1234
+```
 
 ### Usage in IOC shell
 
-masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
+masterMacs exposes the following IOC shell functions:
 - `masterMacsController`: Create a new controller object.
 - `masterMacsAxis`: Create a new axis object.
 
-The full mcu.cmd file looks like this:
+The full masterMacsX.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
@@ -62,10 +85,38 @@ dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLE
 dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
+## Developer guide
+
 ### Versioning
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
+### Firmware version checking
+
+This driver expects a certain version of the firmware running on the controller itself.
+This is checked at IOC startup by reading the version directly from the hardware.
+If the firmware version is incompatible to the driver, the IOC will be shut down.
+If the firmware version cannot be read (e.g. because the variable used to do so
+does not exist yet on old firmware versions), the firmware is assumed to be compatible
+to the driver.
+
+The version check is separated into a check of the major and the minor firmware
+version against expected values. The firmware is seen as compatible if the following conditions hold:
+- Read-out major version == Expected major version
+- Read-out read major version >= Expected minor version
+
+The expected versions are defined via compiler flags in `Makefile`:
+
+```
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=1 -DFIRMWARE_MINOR_VERSION=0
+```
+Be aware that these flags are only used to compile C++-files (.cpp, .cxx) and not
+C-files (.c). For C-files, the Makefile variable `USR_CFLAGS` must be used.
+
+In order to disable the checks, the flags can be set to -1 or just be removed
+entirely. If one of the flags is not given, both the major and the minor version 
+checks are deactivated.
+
 ### How to build it
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

src/masterMacsAxis.cpp

@@ -85,7 +85,14 @@ void appendErrorMessage(char *fullMessage, size_t capacityFullMessage,
 }
 
 masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
-    : sinqAxis(pC, axisNo), pC_(pC) {
+    : sinqAxis(pC, axisNo), pC_(pC),
+      pMasterMacsA_(std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
+          .axisStatus = std::bitset<16>(0),
+          .axisError = std::bitset<16>(0),
+          .waitForHandshake = false,
+          .timeAtHandshake = 0,
+          .targetReachedUninitialized = true,
+      })) {
 
     asynStatus status = asynSuccess;
 
@@ -118,14 +125,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Collect all axes into this list which will be used in the hook function
     axes.push_back(this);
 
-    pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
-        .axisStatus = std::bitset<16>(0),
-        .axisError = std::bitset<16>(0),
-        .waitForHandshake = false,
-        .timeAtHandshake = 0,
-        .targetReachedUninitialized = true,
-    });
-
     // masterMacs motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
@@ -330,10 +329,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Does the axis need to be intialized?
     if (needInit()) {
-        rw_status = init();
+	// Perform the rest of the poll, but remember if sth. failed in the init.
-        if (rw_status != asynSuccess) {
+        poll_status = init();
-            return rw_status;
-        }
     }
 
     // Are we currently waiting for a handshake?
@@ -357,7 +354,10 @@ 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 +377,10 @@ 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 +399,9 @@ 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 +678,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     if (pl_status != asynSuccess) {
         return pl_status;
     }
-
     return poll_status;
 }
 
@@ -687,6 +685,11 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
                                   double minVelocity, double maxVelocity,
                                   double acceleration) {
 
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
@@ -789,6 +792,9 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
 asynStatus masterMacsAxis::stop(double acceleration) {
 
+    // Suppress unused variable warning
+    (void)acceleration;
+
     asynStatus status = pC_->write(axisNo_, 00, "8");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);
@@ -805,8 +811,8 @@ 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 +828,9 @@ 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);
     }
@@ -844,13 +850,19 @@ asynStatus masterMacsAxis::nodeReset() {
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
-asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
+asynStatus masterMacsAxis::doHome(double minVelocity, double maxVelocity,
                                   double acceleration, int forwards) {
 
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
+    // Suppress unused variable warning
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    (void)forwards;
+
     getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder
@@ -904,7 +916,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
     /*
     Defined encoder IDs:
-    0=INC (Incremental)
+    0=INC (Incremental or no encoder)
     1=SSI (Absolute encoder with SSI interface)
     2=SSI (Absolute encoder with BiSS interface)
      */
@@ -1245,8 +1257,9 @@ static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mmacs1)",
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                  &CreateAxisArg1};
-static const iocshFuncDef configMasterMacsCreateAxis = {"masterMacsAxis", 2,
+static const iocshFuncDef configMasterMacsCreateAxis = {
-                                                        CreateAxisArgs};
+    "masterMacsAxis", 2, CreateAxisArgs,
+    "Create a new instance of a MasterMACS axis."};
 static void configMasterMacsCreateAxisCallFunc(const iocshArgBuf *args) {
     masterMacsCreateAxis(args[0].sval, args[1].ival);
 }

src/masterMacsAxis.h

@@ -16,6 +16,13 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     masterMacsAxis(masterMacsController *pController, int axisNo);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    masterMacsAxis(const masterMacsAxis &) = delete;
+    masterMacsAxis &operator=(const masterMacsAxis &) = delete;
+
     /**
      * @brief Destroy the masterMacsAxis
      *
@@ -50,13 +57,13 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
+     * @param minVelocity
-     * @param max_velocity
+     * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
+    asynStatus doMove(double position, int relative, double minVelocity,
-                      double max_velocity, double acceleration);
+                      double maxVelocity, double acceleration);
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
@@ -141,163 +148,191 @@ class HIDDEN masterMacsAxis : public sinqAxis {
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store
-     * the result in axisStatus_
+     * the result in axisStatus (see masterMacsAxisImpl redefinition in
+     * masterMacsAxis.cpp)
      *
      */
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus
+    The functions below read the specified status bit from the axisStatus (see
-    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
-    boolean.
+    can either be 0 or 1, the return value is given as a boolean.
     */
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool readyToBeSwitchedOn();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool switchedOn();
 
     // Bit 2 is unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool faultConditionSet();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool voltagePresent();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool quickStopping();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool switchOnDisabled();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool warning();
 
     // Bit 8 is unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool remoteMode();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool targetReached();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool setEventHasOcurred();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool powerEnabled();
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store
+     * @brief Read the Master MACS error with the xR10 command and store
-     * the result in axisStatus_
+     * the result in axisError (see masterMacsAxisImpl redefinition in
+     * masterMacsAxis.cpp)
      *
      */
     asynStatus readAxisError();
 
     /*
-    The functions below read the specified error bit from the axisError_
+    The functions below read the specified error bit from the axisError (see
-    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
-    boolean.
+    can either be 0 or 1, the return value is given as a boolean.
     */
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool shortCircuit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool encoderError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool followingError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool communicationError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool feedbackError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool positiveLimitSwitch();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool negativeLimitSwitch();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool positiveSoftwareLimit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool negativeSoftwareLimit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overCurrent();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overTemperature();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overVoltage();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool underVoltage();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool stoFault();
 

src/masterMacsController.cpp

@@ -12,6 +12,28 @@
 #include <string>
 #include <unistd.h>
 
+/*
+These functions are used to read out the compiler flags defining the major and
+minor versions. See README.md, section "Firmware version checking" for
+details. If these flags are not given, a default value of -1 is used, which
+disables the version checks (it suffices to have one of these at -1 to disable
+both major and minor version check)
+ */
+constexpr int firmware_major_version() {
+#ifdef FIRMWARE_MAJOR_VERSION
+    return FIRMWARE_MAJOR_VERSION;
+#else
+    return -1;
+#endif
+}
+constexpr int firmware_minor_version() {
+#ifdef FIRMWARE_MINOR_VERSION
+    return FIRMWARE_MINOR_VERSION;
+#else
+    return -1;
+#endif
+}
+
 struct masterMacsControllerImpl {
     double comTimeout;
 
@@ -59,17 +81,18 @@ masterMacsController::masterMacsController(const char *portName,
     : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
                      idlePollPeriod,
                      // No additional parameter library entries
-                     0)
+                     0),
+      pMasterMacsC_(
+          std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
+              .comTimeout = comTimeout,
+              .nodeReset = 0, // Overwritten later
+          }))
 
 {
 
     // Initialization of local variables
     asynStatus status = asynSuccess;
-
+    char response[MAXBUF_] = {0};
-    pMasterMacsC_ =
-        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
-            .comTimeout = comTimeout,
-        });
 
     // =========================================================================
     // Create additional parameter library entries
@@ -116,6 +139,60 @@ masterMacsController::masterMacsController(const char *portName,
         pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
+
+    // =========================================================================
+
+    if (firmware_major_version() >= 0 && firmware_minor_version() >= 0) {
+        // Check the firmware version according to the conditions outlined in
+        // README.md
+        status = read(0, 99, response);
+
+        if (status == asynSuccess) {
+
+            // Just interpret the version if the variable already exists
+            double versionRaw = 0.0;
+            int nvals = sscanf(response, "%lf", &versionRaw);
+            if (nvals == 1 && versionRaw != 0.0) {
+                // Discard decimal part
+                long long versionInt = (long long)versionRaw;
+
+                // Extract bugfix (last 3 digits)
+                // Currently not used, just here for completions sake
+                // int bugfix = versionInt % 1000;
+                versionInt /= 1000;
+
+                // Extract minor (next 3 digits)
+                int minor = versionInt % 1000;
+                versionInt /= 1000;
+
+                // Remaining is major
+                int major = (int)versionInt;
+
+                // Compare to target values
+                if (firmware_major_version() != major ||
+                    firmware_minor_version() > minor) {
+                    asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                              "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                              "(Incorrect "
+                              "version number of firmware: Expected major "
+                              "version equal "
+                              "to %d, got %d. Expected minor version equal to "
+                              "or larger "
+                              "than %d, got %d).\nTerminating IOC",
+                              portName, __PRETTY_FUNCTION__, __LINE__,
+                              firmware_major_version(), major,
+                              firmware_minor_version(), minor);
+                    exit(-1);
+                }
+            }
+        } else {
+            asynPrint(
+                this->pasynUser(), ASYN_TRACE_ERROR,
+                "Controller \"%s\" => %s, line %d\nCould not read firmware "
+                "version\n",
+                portName, __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
 }
 
 /*
@@ -154,7 +231,7 @@ asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
 }
 
 asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
-                                      double comTimeout) {
+                                      double /*comTimeout*/) {
     return writeRead(axisNo, tcpCmd, NULL, response);
 }
 
@@ -199,12 +276,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         comTimeout = pMasterMacsC_->comTimeout;
     }
 
-    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
     // Build the full command depending on the inputs to this function
     if (isRead) {
         snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
@@ -286,32 +357,39 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     }
 
     // Log the overall status (communication successfull or not)
-    if (status == asynSuccess) {
+    if (axisNo != 0) {
-        setAxisParamChecked(axis, motorStatusCommsError, false);
+        masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    } else {
+        if (axis == nullptr) {
+            // We already did the error logging directly in getAxis
+            return asynError;
+        }
 
-        /*
+        if (status == asynSuccess) {
-        Since the communication failed, there is the possibility that the
-        controller is not connected at all to the network. In that case, we
-        cannot be sure that the information read out in the init method of the
-        axis is still up-to-date the next time we get a connection. Therefore,
-        an info flag is set which the axis object can use at the start of its
-        poll method to try to initialize itself.
-        */
-        axis->setNeedInit(true);
-
-        /*
-        Check if the axis already is in an error communication mode. If
-        it is not, upstream the error. This is done to avoid "flooding"
-        the user with different error messages if more than one error
-        ocurred before an error-free communication
-        */
-        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
-
-        if (motorStatusProblem == 0) {
-            setAxisParamChecked(axis, motorMessageText, drvMessageText);
-            setAxisParamChecked(axis, motorStatusProblem, true);
             setAxisParamChecked(axis, motorStatusCommsError, false);
+        } else {
+            /*
+            Since the communication failed, there is the possibility that the
+            controller is not connected at all to the network. In that case, we
+            cannot be sure that the information read out in the init method of
+            the axis is still up-to-date the next time we get a connection.
+            Therefore, an info flag is set which the axis object can use at the
+            start of its poll method to try to initialize itself.
+            */
+            axis->setNeedInit(true);
+
+            /*
+            Check if the axis already is in an error communication mode. If
+            it is not, upstream the error. This is done to avoid "flooding"
+            the user with different error messages if more than one error
+            ocurred before an error-free communication
+            */
+            getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
+
+            if (motorStatusProblem == 0) {
+                setAxisParamChecked(axis, motorMessageText, drvMessageText);
+                setAxisParamChecked(axis, motorStatusProblem, true);
+                setAxisParamChecked(axis, motorStatusCommsError, false);
+            }
         }
     }
 
@@ -334,7 +412,7 @@ asynStatus masterMacsController::parseResponse(
     bool responseValid = false;
     int responseStart = 0;
     asynStatus status = asynSuccess;
-    int prevConnected = 0;
+    int prevConnected = 1;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
@@ -342,12 +420,14 @@ asynStatus masterMacsController::parseResponse(
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
+    if (axisNo != 0 && axis == nullptr) {
         return asynError;
     }
 
     // Was the motor previously connected?
-    getAxisParamChecked(axis, motorConnected, &prevConnected);
+    if (axis != nullptr) {
+        getAxisParamChecked(axis, motorConnected, &prevConnected);
+    }
 
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
@@ -371,14 +451,17 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                setAxisParamChecked(axis, motorConnected, true);
+                if (axis != nullptr) {
-                status = callParamCallbacks();
+                    setAxisParamChecked(axis, motorConnected, true);
-                if (status != asynSuccess) {
+                    status = callParamCallbacks();
-                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                    if (status != asynSuccess) {
-                              "Controller \"%s\", axis %d => %s, line "
+                        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                              "%d:\nCould not update parameter library\n",
+                                  "Controller \"%s\", axis %d => %s, line "
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                  "%d:\nCould not update parameter library\n",
-                    return status;
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
+                        return status;
+                    }
                 }
             }
 
@@ -399,14 +482,17 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                setAxisParamChecked(axis, motorConnected, false);
+                if (axis != nullptr) {
-                status = callParamCallbacks();
+                    setAxisParamChecked(axis, motorConnected, false);
-                if (status != asynSuccess) {
+                    status = callParamCallbacks();
-                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                    if (status != asynSuccess) {
-                              "Controller \"%s\", axis %d => %s, line "
+                        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                              "%d:\nCould not update parameter library\n",
+                                  "Controller \"%s\", axis %d => %s, line "
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                  "%d:\nCould not update parameter library\n",
-                    return status;
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
+                        return status;
+                    }
                 }
             }
             break;
@@ -553,7 +639,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configMasterMacsCreateController = {
-    "masterMacsController", 6, CreateControllerArgs};
+    "masterMacsController", 6, CreateControllerArgs,
+    "Create a new instance of a MasterMACS controller."};
 static void configMasterMacsCreateControllerCallFunc(const iocshArgBuf *args) {
     masterMacsCreateController(args[0].sval, args[1].sval, args[2].ival,
                                args[3].dval, args[4].dval, args[5].dval);

src/masterMacsController.h

@@ -38,6 +38,13 @@ class HIDDEN masterMacsController : public sinqController {
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    masterMacsController(const masterMacsController &) = delete;
+    masterMacsController &operator=(const masterMacsController &) = delete;
+
     /**
      * @brief Overloaded version of the sinqController version
      *

utils/decodeError.py

@@ -9,73 +9,82 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, January 2025
 """
 
+import platform
+
 from decodeCommon import interactive, decode, print_decoded
 
 # List of tuples which encodes the states given in the file description.
 # Index first with the bit index, then with the bit value
 interpretation = [
-    ("Not specified", "Not specified"), # Bit 0
+    ("Not specified", "Not specified"),  # Bit 0
-    ("Ok", "Short circuit"), # Bit 1
+    ("Ok", "Short circuit"),  # Bit 1
-    ("Ok", "Encoder error"), # Bit 2
+    ("Ok", "Encoder error"),  # Bit 2
-    ("Ok", "Following error"), # Bit 3
+    ("Ok", "Following error"),  # Bit 3
-    ("Ok", "Communication error"), # Bit 4
+    ("Ok", "Communication error"),  # Bit 4
-    ("Ok", "Feedback error"), # Bit 5
+    ("Ok", "Feedback error"),  # Bit 5
-    ("Ok", "Positive limit switch hit"), # Bit 6
+    ("Ok", "Positive limit switch hit"),  # Bit 6
-    ("Ok", "Negative limit switch hit"), # Bit 7
+    ("Ok", "Negative limit switch hit"),  # Bit 7
-    ("Ok", "Positive software limit hit"), # Bit 8
+    ("Ok", "Positive software limit hit"),  # Bit 8
-    ("Ok", "Negative software limit hit"), # Bit 9
+    ("Ok", "Negative software limit hit"),  # Bit 9
-    ("Ok", "Over-current"), # Bit 10
+    ("Ok", "Over-current"),  # Bit 10
-    ("Ok", "Over-temperature drive"), # Bit 11
+    ("Ok", "Over-temperature drive"),  # Bit 11
-    ("Ok", "Over-voltage"), # Bit 12
+    ("Ok", "Over-voltage"),  # Bit 12
-    ("Ok", "Under-voltage"), # Bit 13
+    ("Ok", "Under-voltage"),  # Bit 13
-    ("Not specified", "Not specified"), # Bit 14
+    ("Not specified", "Not specified"),  # Bit 14
-    ("Ok", "STO fault (STO input is on disable state)"), # Bit 15
+    ("Ok", "STO fault (STO input is on disable state)"),  # Bit 15
 ]
 
+help = """
+Decode R11 message of MasterMACs
+------------------
+    
+MasterMACs returns its error message (R11) as a floating-point number.
+The bits of this float encode different states. These states are stored 
+in the interpretation variable.
+
+This script can be used in two different ways:
+    
+Option 1: Single Command
+------------------------
+
+Usage: decodeError.py value
+    
+'value' is the return value of a R11 command. This value is interpreted
+bit-wise and the result is printed out.
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: decodeError.py
+
+ONLY AVAILABLE ON LINUX!
+
+A prompt will be opened. Type in the return value of a R11 command, hit
+enter and the interpretation will be printed in the prompt. After that,
+the next value can be typed in. Type 'quit' to close the prompt.
+"""
+
 if __name__ == "__main__":
     from sys import argv
 
+    if "-h" or "--help" in argv:
+        print(help)
+
     if len(argv) == 1:
         # Start interactive mode
-        interactive()
+        if platform.system() == "Linux":
+            interactive()
+        else:
+            print(help)
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
-
         except:
-            print("""
+            print(help)
-            Decode R11 message of MasterMACs
-            ------------------
-                
-            MasterMACs returns its error message (R11) as a floating-point number.
-            The bits of this float encode different states. These states are stored 
-            in the interpretation variable.
-            
-            This script can be used in two different ways:
-                
-            Option 1: Single Command
-            ------------------------
-
-            Usage: decodeError.py value
-                
-            'value' is the return value of a R11 command. This value is interpreted
-            bit-wise and the result is printed out.
-
-            Option 2: CLI Mode
-            ------------------       
-
-            Usage: decodeError.py
-            
-            A prompt will be opened. Type in the return value of a R11 command, hit
-            enter and the interpretation will be printed in the prompt. After that,
-            the next value can be typed in. Type 'quit' to close the prompt.
-            """)
-
-        
         if number is not None:
             print("Motor error")
-            print("============")
+            print("===========")
             (bit_list, interpreted) = decode(number, interpretation)
             print_decoded(bit_list, interpreted)

utils/decodeStatus.py

@@ -9,71 +9,81 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, December 2024
 """
 
+import platform
+
 from decodeCommon import interactive, decode, print_decoded
 
 # List of tuples which encodes the states given in the file description.
 # Index first with the bit index, then with the bit value
 interpretation = [
-    ("Not ready to be switched on", "Ready to be switched on"), # Bit 0
+    ("Not ready to be switched on", "Ready to be switched on"),  # Bit 0
-    ("Not switched on", "Switched on"), # Bit 1
+    ("Not switched on", "Switched on"),  # Bit 1
-    ("Disabled", "Enabled"), # Bit 2
+    ("Disabled", "Enabled"),  # Bit 2
-    ("Ok", "Fault condition set"), # Bit 3
+    ("Ok", "Fault condition set"),  # Bit 3
-    ("Motor supply voltage absent ", "Motor supply voltage present"), # Bit 4
+    ("Motor supply voltage absent ", "Motor supply voltage present"),  # Bit 4
-    ("Motor performs quick stop", "Ok"), # Bit 5
+    ("Motor performs quick stop", "Ok"),  # Bit 5
-    ("Switch on enabled", "Switch on disabled"), # Bit 6
+    ("Switch on enabled", "Switch on disabled"),  # Bit 6
-    ("Ok", "Warning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
+    ("Ok", "Warning: Movement function was called while motor is still moving. The function call is ignored"),  # Bit 7
-    ("Not specified", "Not specified"), # Bit 8
+    ("Not specified", "Not specified"),  # Bit 8
-    ("Motor does not execute command messages (local mode)", "Motor does execute command messages (remote mode)"), # Bit 9
+    ("Motor does not execute command messages (local mode)",
-    ("Target not reached", "Target reached"), # Bit 10
+     "Motor does execute command messages (remote mode)"),  # Bit 9
-    ("Ok", "Internal limit active (current, voltage, velocity or position)"), # Bit 11
+    ("Target not reached", "Target reached"),  # Bit 10
-    ("Not specified", "Not specified"), # Bit 12
+    ("Ok", "Internal limit active (current, voltage, velocity or position)"),  # Bit 11
-    ("Not specified", "Not specified"), # Bit 13
+    ("Not specified", "Not specified"),  # Bit 12
-    ("Not specified", "Not specified"), # Bit 14
+    ("Not specified", "Not specified"),  # Bit 13
-    ("Not specified", "Not specified"), # Bit 15
+    ("Not specified", "Not specified"),  # Bit 14
+    ("Not specified", "Not specified"),  # Bit 15
 ]
 
+help = """
+Decode R10 message of MasterMACs
+------------------
+    
+MasterMACs returns its status message (R10) as a floating-point number.
+The bits of this float encode different states. These states are stored 
+in the interpretation variable.
+
+This script can be used in two different ways:
+    
+Option 1: Single Command
+------------------------
+
+Usage: decodeStatus.py value
+    
+'value' is the return value of a R10 command. This value is interpreted
+bit-wise and the result is printed out.
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: decodeStatus.py
+
+ONLY AVAILABLE ON LINUX!
+
+A prompt will be opened. Type in the return value of a R10 command, hit
+enter and the interpretation will be printed in the prompt. After that,
+the next value can be typed in. Type 'quit' to close the prompt.
+"""
+
 if __name__ == "__main__":
     from sys import argv
 
+    if "-h" or "--help" in argv:
+        print(help)
+
     if len(argv) == 1:
         # Start interactive mode
-        interactive()
+        if platform.system() == "Linux":
+            interactive()
+        else:
+            print(help)
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
-
         except:
-            print("""
+            print(help)
-            Decode R10 message of MasterMACs
-            ------------------
-                
-            MasterMACs returns its status message (R10) as a floating-point number.
-            The bits of this float encode different states. These states are stored 
-            in the interpretation variable.
-            
-            This script can be used in two different ways:
-                
-            Option 1: Single Command
-            ------------------------
-
-            Usage: decodeStatus.py value
-                
-            'value' is the return value of a R10 command. This value is interpreted
-            bit-wise and the result is printed out.
-
-            Option 2: CLI Mode
-            ------------------       
-
-            Usage: decodeStatus.py
-            
-            A prompt will be opened. Type in the return value of a R10 command, hit
-            enter and the interpretation will be printed in the prompt. After that,
-            the next value can be typed in. Type 'quit' to close the prompt.
-            """)
-
-        
         if number is not None:
             print("Motor status")
             print("============")

utils/writeRead.py

@@ -6,51 +6,72 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, April 2025
 """
 
+import platform
+
 import struct
 import socket
-import curses
+
+help = """
+Send commands to and receive replies from MasterMACS controllers
+
+Option 1: Single Command
+------------------------
+
+Usage: writeRead.py pmachost:port command
+This then returns the response for command. 
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: writeRead.py pmachost:port
+
+ONLY AVAILABLE ON LINUX!
+
+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.
+"""
+
 
 def packMasterMacsCommand(command):
-    # 0x0D = Carriage return 
+    # 0x0D = Carriage return
-    buf = struct.pack('B',0x0D)
+    buf = struct.pack('B', 0x0D)
-    buf = bytes(command,'utf-8') + buf
+    buf = bytes(command, 'utf-8') + buf
-    return bytes(command,'utf-8')
+    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')
+        bint = int.from_bytes(b, byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
+        if bint == 2 or bint == 7:  # STX or BELL
             expectAck = False
             continue
-        if expectAck and bint == 6: # ACK
+        if expectAck and bint == 6:  # ACK
             return bytes(msg)
         else:
-            if bint == 13 and not expectAck: # CR
+            if bint == 13 and not expectAck:  # CR
                 return bytes(msg)
             else:
                 msg.append(bint)
 
+
 if __name__ == "__main__":
     from sys import argv
 
-    try:
+    if "-h" or "--help" in argv:
-
+        print(help)
+    else:
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
+        s.connect((addr[0], int(addr[1])))
 
-        if len(argv) == 3:
+        if len(argv) == 2:
-            buf = packMasterMacsCommand(argv[2])
-            s.send(buf)
-            reply = readMasterMacsReply(s)
-            print(reply.decode('utf-8') + '\n')
 
-        else:
+            if platform.system() == "Linux":
-
+                import curses
-            try:
 
                 stdscr = curses.initscr()
                 curses.noecho()
@@ -80,13 +101,13 @@ if __name__ == "__main__":
                         if ptr > 0:
                             ptr -= 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_DOWN:
                         if ptr < len(history) - 1:
                             ptr += 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
                         if history[ptr] == 'quit':
@@ -112,7 +133,7 @@ if __name__ == "__main__":
                         stdscr.refresh()
 
                     else:
-                        if ptr < len(history) - 1: # Modifying previous input
+                        if ptr < len(history) - 1:  # Modifying previous input
                             if len(history[-1]) == 0:
                                 history[-1] = history[ptr]
                                 ptr = len(history) - 1
@@ -125,47 +146,34 @@ if __name__ == "__main__":
                             if len(history[ptr]) == 0:
                                 continue
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-4] + \
+                                history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            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:]
+                            history[ptr] = history[ptr][0:x-3] + \
+                                chr(c) + history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x+1)
                             stdscr.refresh()
-
+                    # to quit
-            finally:
+                    curses.nocbreak()
-
+                    stdscr.keypad(False)
-                # to quit
+                    curses.echo()
-                curses.nocbreak()
+                    curses.endwin()
-                stdscr.keypad(False)
+            else:
-                curses.echo()
+                print(help)
-                curses.endwin()
+        elif len(argv) == 3:
-
+            buf = packMasterMacsCommand(argv[2])
-    except:
+            s.send(buf)
-        print("""
+            reply = readMasterMacsReply(s)
-        Invalid Arguments
+            print(reply.decode('utf-8') + '\n')
-
+        else:
-        Option 1: Single Command
+            print(help)
-        ------------------------
-
-        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.
-        """)
-