Perform poll even if init fails

Makefile

@@ -29,8 +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
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=2 -DFIRMWARE_MINOR_VERSION=2 -Wall -Wextra -Weffc++ -Wunused-result -Wextra

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();
-        if (rw_status != asynSuccess) {
-            return rw_status;
-        }
+	// Perform the rest of the poll, but remember if sth. failed in the init.
+        poll_status = init();
     }
 
     // Are we currently waiting for a handshake?
@@ -688,6 +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;
 
@@ -790,6 +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);
@@ -845,13 +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
@@ -1246,8 +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,
-                                                        CreateAxisArgs};
+static const iocshFuncDef configMasterMacsCreateAxis = {
+    "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 max_velocity
+     * @param minVelocity
+     * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
-                      double max_velocity, double acceleration);
+    asynStatus doMove(double position, int relative, double minVelocity,
+                      double maxVelocity, double acceleration);
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis

src/masterMacsController.cpp

@@ -81,7 +81,12 @@ 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
+          }))
 
 {
 
@@ -89,11 +94,6 @@ masterMacsController::masterMacsController(const char *portName,
     asynStatus status = asynSuccess;
     char response[MAXBUF_] = {0};
 
-    pMasterMacsC_ =
-        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
-            .comTimeout = comTimeout,
-        });
-
     // =========================================================================
     // Create additional parameter library entries
 
@@ -231,7 +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);
 }
 
@@ -639,7 +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
      *