Added reminder comment

See TODO in src/masterMacsAxis.cpp, line 552. The velocity readback is
the only thing that doesn't work properly, everything else does work.
Once a solution has been found here, this can be a new minor release.

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=7.3.2
+motorBase_VERSION=7.2.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h

src/masterMacsAxis.cpp

@@ -29,6 +29,8 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
+    bool canPositionMove;
+    bool canVelocityMove;
     moveMode lastMoveCommand;
 };
 
@@ -38,7 +40,7 @@ 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 6.0 // Value in seconds
+#define PowerCycleTimeout 10.0 // Value in seconds
 
 /*
 Contains all instances of turboPmacAxis which have been created and is used in
@@ -100,6 +102,8 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
+          .canPositionMove = true,
+          .canVelocityMove = false,
           .lastMoveCommand = positionMode,
       })) {
 
@@ -198,6 +202,7 @@ asynStatus masterMacsAxis::init() {
     double motVmax = 0.0;
     double motAccel = 0.0;
     int dynamicLimits = 0;
+    int possibleModes = 0;
 
     // =========================================================================
 
@@ -311,6 +316,39 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
+    // Check if the motor can switch its mode
+    status = pC_->read(axisNo_, 31, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%d", &possibleModes);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R31", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    switch (possibleModes) {
+    case 1:
+        pMasterMacsA_->canPositionMove = true;
+        pMasterMacsA_->canVelocityMove = false;
+        break;
+    case 2:
+        pMasterMacsA_->canPositionMove = false;
+        pMasterMacsA_->canVelocityMove = true;
+        break;
+    case 3:
+        pMasterMacsA_->canPositionMove = true;
+        pMasterMacsA_->canVelocityMove = true;
+        break;
+    default:
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\nunexpected answer %d for R31 (possible operation "
+                  "modes). Expected one of 1, 2 or 3.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  possibleModes);
+    }
+
     status = readEncoderType();
     if (status != asynSuccess) {
         return status;
@@ -510,6 +548,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorEncoderPosition, currentPosition);
 
     if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
+
+        // TODO: Not sure whether the RVEL field of the motor record does not
+        // work - has to be clarified
         double actualVelocity = 0.0;
 
         rwStatus = pC_->read(axisNo_, 14, response);
@@ -522,10 +563,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                               __PRETTY_FUNCTION__, __LINE__);
         }
 
-        // Writes the actual speed in steps per second to the paramLib. This
-        // value is then returned by the RVEL field of the motor record.
-        setAxisParamChecked(this, motorVelocity,
-                            actualVelocity / motorRecResolution);
+        // Write the actual velocity to the paramLib (TODO: does it though?)
+        setAxisParamChecked(this, motorVelocity, actualVelocity);
 
         // Motor is moving in velocity mode
         *moving = true;
@@ -629,83 +668,42 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         /*
-        If the motor is homing or has been homed, ignore limit switch errors.
-         */
-        int homing = 0;
-        int homed = 0;
-        getAxisParamChecked(this, motorStatusHome, &homing);
-        getAxisParamChecked(this, motorStatusHomed, &homed);
-
-        /*
-        Ignore limit switch errors when homing / motor has been homed or when
-        the motor is moving.
-
-        Background:
-        MasterMACS controllers move the motor outside the allowed range defined
-        by the "software limits" defined within the controllers because they
-        need to hit the physical end switch to determine the motor position. The
-        motor then rests close to the end switch, which might be outside the
-        controller-side software limits. This leads to this error, which is then
-        forwarded to the user even though nothing went wrong. The three checks
-        are here to prevent this:
-        - "homing": Is set at the start of a homing maneuver and removed once
-        the motor does not move anymore => Prevents the error from showing up
-        during the homing procedure
-        - "homed": Is set after a homing maneuver has been finished => Prevents
-        the error from showing up while the motor is resting idle outside the
-        software limits.
-        - "moving": Prevents the error from showing up when moving out of the
-        homing position.
-
-        If the motor hits the limits during normal operation, it is stopped by
-        the controller. Once stopped, moving is false and then the error is
-        shown to the user (because "homed" is not set).
-
-        Note: strictly speaking, it is not necessary to check homing because
-        moving would be set to true anyway. The check is here for clarity /
-        being explicit.
+        Either the software limits or the end switches of the controller
+        have been hit. Since the EPICS limits are derived from the software
+        limits and are a little bit smaller, these error cases can only
+        happen if either the axis has an incremental encoder which is not
+        properly homed or if a bug occured.
         */
-        if (!homing && !homed && !(*moving)) {
-            /*
-            Either the software limits or the end switches of the controller
-            have been hit. Since the EPICS limits are derived from the software
-            limits and are a little bit smaller, these error cases can only
-            happen if either the axis has an incremental encoder which is not
-            properly homed or if the motor moved outside the limits while homing
-            (but in that case, the error is not shown, see previous
-            if-statement).
-            */
-            if (positiveLimitSwitch() || negativeLimitSwitch() ||
-                positiveSoftwareLimit() || negativeSoftwareLimit()) {
+        if (positiveLimitSwitch() || negativeLimitSwitch() ||
+            positiveSoftwareLimit() || negativeSoftwareLimit()) {
 
-                // Distinction for developers
-                if (positiveLimitSwitch()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Positive limit switch.");
-                }
-                if (negativeLimitSwitch()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Negative limit switch.");
-                }
-                if (positiveSoftwareLimit()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Positive software limit.");
-                }
-                if (negativeSoftwareLimit()) {
-                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                       "Negative software limit.");
-                }
-
-                // Generic error message for user
-                appendErrorMessage(
-                    errorMessage, sizeof(errorMessage),
-                    "Software limits or end switch hit. Try homing the motor, "
-                    "moving in the opposite direction or check the SPS for "
-                    "errors (if available). Otherwise please call the "
-                    "support.");
-
-                poll_status = asynError;
+            // Distinction for developers
+            if (positiveLimitSwitch()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Positive limit switch.");
             }
+            if (negativeLimitSwitch()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Negative limit switch.");
+            }
+            if (positiveSoftwareLimit()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Positive software limit.");
+            }
+            if (negativeSoftwareLimit()) {
+                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                   "Negative software limit.");
+            }
+
+            // Generic error message for user
+            appendErrorMessage(
+                errorMessage, sizeof(errorMessage),
+                "Software limits or end switch hit. Try homing the motor, "
+                "moving in the opposite direction or check the SPS for "
+                "errors (if available). Otherwise please call the "
+                "support.");
+
+            poll_status = asynError;
         }
 
         if (overCurrent()) {
@@ -823,6 +821,18 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // =========================================================================
 
+    // Can the motor be operated in velocity mode?
+    if (!pMasterMacsA_->canVelocityMove) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
+                  "operate in velocity mode.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        setAxisParamChecked(this, motorStatusProblem, true);
+        setAxisParamChecked(this, motorMessageText,
+                            "cannot operate in velocity mode");
+        return asynError;
+    }
+
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -888,6 +898,18 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
+    // Can the motor be operated in position mode?
+    if (!pMasterMacsA_->canPositionMove) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
+                  "operate in position mode.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        setAxisParamChecked(this, motorStatusProblem, true);
+        setAxisParamChecked(this, motorMessageText,
+                            "cannot operate in position mode");
+        return asynError;
+    }
+
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -1119,6 +1141,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
 asynStatus masterMacsAxis::enable(bool on) {
 
+    int timeout_enable_disable = 2;
     char msg[pC_->MAXBUF_];
 
     // =========================================================================
@@ -1176,7 +1199,8 @@ asynStatus masterMacsAxis::enable(bool on) {
     // hence we wait for a custom timespan in seconds instead of
     // pC_->comTimeout_
     double timeout = pC_->comTimeout();
-    if (timeout < PowerCycleTimeout) {
+    if (pMasterMacsA_->targetReachedUninitialized &&
+        timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
@@ -1188,7 +1212,7 @@ 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 + PowerCycleTimeout) {
+    while (time(NULL) < startTime + timeout_enable_disable) {
 
         // Read the axis status
         usleep(100000);
@@ -1205,17 +1229,17 @@ asynStatus masterMacsAxis::enable(bool on) {
         }
     }
 
-    // Failed to change axis status within PowerCycleTimeout => Send a
+    // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
     asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nFailed to %s axis "
-              "within %f seconds\n",
+              "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-              on ? "enable" : "disable", PowerCycleTimeout);
+              on ? "enable" : "disable", timeout_enable_disable);
 
     // Output message to user
-    snprintf(msg, sizeof(msg), "Failed to %s within %f seconds",
-             on ? "enable" : "disable", PowerCycleTimeout);
+    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
+             on ? "enable" : "disable", timeout_enable_disable);
 
     setAxisParamChecked(this, motorMessageText, msg);
     return asynError;

src/masterMacsController.cpp

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