Guard against race condition with targetReached

If the byte 15 is encountered in the message, the parseResponse function
must return asynDisconnected (instead of asynSuccess) so the state of
the axis is accounted for properly.

Makefile

@@ -7,7 +7,7 @@ EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
 # Specify the version of asynMotor we want to build against
-motorBase_VERSION=7.4
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -38,7 +38,7 @@ A special communication timeout is used in the following two cases:
 2) First move command after enabling the motor
 This is due to MasterMACS running a powerup cycle, which can delay the answer.
  */
-#define PowerCycleTimeout 10.0 // Value in seconds
+#define PowerCycleTimeout 6.0 // Value in seconds
 
 /*
 Contains all instances of turboPmacAxis which have been created and is used in
@@ -532,9 +532,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     } else {
 
-        // 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 the motor hasn't moved after being enabled, we cannot trust
+        // targetReached. Hence, the targetReachedUninitialized flag guards
+        // against invalid detection of the "moving" status.
         if (pMasterMacsA_->targetReachedUninitialized) {
             *moving = false;
         } else {
@@ -545,7 +545,13 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             }
         }
 
-        if (targetReached()) {
+        // If the motor is not switched on, the targetReached bit is set to
+        // true. targetReachedUninitialized is set to true in the enable
+        // function, which is in a separate thread than doPoll. Therefore,
+        // doPoll can reset targetReachedUninitialized, which then can lead to
+        // a false "moving" status. Therefore, we only trust targetReached if
+        // the motor is switched on.
+        if (targetReached() && switchedOn()) {
             pMasterMacsA_->targetReachedUninitialized = false;
         }
     }
@@ -1119,7 +1125,6 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
-    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1177,8 +1182,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // hence we wait for a custom timespan in seconds instead of
     // pC_->comTimeout_
     double timeout = pC_->comTimeout();
-    if (pMasterMacsA_->targetReachedUninitialized &&
-        timeout < PowerCycleTimeout) {
+    if (timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
@@ -1190,7 +1194,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     // Query the axis status every few milliseconds until the axis has been
     // enabled or until the timeout has been reached
     int startTime = time(NULL);
-    while (time(NULL) < startTime + timeout_enable_disable) {
+    while (time(NULL) < startTime + PowerCycleTimeout) {
 
         // Read the axis status
         usleep(100000);
@@ -1207,17 +1211,17 @@ asynStatus masterMacsAxis::enable(bool on) {
         }
     }
 
-    // Failed to change axis status within timeout_enable_disable => Send a
+    // Failed to change axis status within PowerCycleTimeout => Send a
     // corresponding message
     asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
-              "within %d seconds\n",
+              "within %f seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-              on ? "enable" : "disable", timeout_enable_disable);
+              on ? "enable" : "disable", PowerCycleTimeout);
 
     // Output message to user
-    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
-             on ? "enable" : "disable", timeout_enable_disable);
+    snprintf(msg, sizeof(msg), "Failed to %s within %f seconds",
+             on ? "enable" : "disable", PowerCycleTimeout);
 
     setAxisParamChecked(this, motorMessageText, msg);
     return asynError;

src/masterMacsController.cpp

@@ -493,7 +493,7 @@ asynStatus masterMacsController::parseResponse(
                     }
                 }
             }
-            break;
+            return asynDisconnected;
         } else if (fullResponse[i] == '\x18') {
             // CAN
             snprintf(drvMessageText, MAXBUF_,

utils/decodeError.py

@@ -67,7 +67,7 @@ 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:
+    if "-h" in argv or "--help" in argv:
         print(help)
 
     if len(argv) == 1:

utils/decodeStatus.py

@@ -18,7 +18,7 @@ from decodeCommon import interactive, decode, print_decoded
 interpretation = [
     ("Not ready to be switched on", "Ready to be switched on"),  # Bit 0
     ("Not switched on", "Switched on"),  # Bit 1
-    ("Disabled", "Enabled"),  # Bit 2
+    ("Operation disabled (no current)", "Operation enabled (current)"),  # Bit 2
     ("Ok", "Fault condition set"),  # Bit 3
     ("Motor supply voltage absent ", "Motor supply voltage present"),  # Bit 4
     ("Motor performs quick stop", "Ok"),  # Bit 5
@@ -68,7 +68,7 @@ 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:
+    if "-h" in argv or "--help" in argv:
         print(help)
 
     if len(argv) == 1: