Added explanation why the return status of doPoll is not used in the

enable function.

.gitea/workflows/action.yaml

@@ -1,24 +0,0 @@
-name: Test And Build
-on: [push]
-
-jobs:
-  Lint:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-      - name: cppcheck
-        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-      - name: formatting
-        run: clang-format --style=file --Werror --dry-run src/*.cpp
-  Build:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-        with:
-          submodules: 'true'
-      - run: |
-          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
-          make install

.gitignore

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

.gitlab-ci.yml

@@ -0,0 +1,48 @@
+default:
+  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
+
+stages:
+  - lint
+  - build
+  - test
+
+cppcheck:
+  stage: lint
+  script:
+    - cppcheck --std=c++17 --addon=cert --addon=misc --suppress=cert-STR07-C --error-exitcode=1 src/*.cpp
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - sinq
+
+formatting:
+  stage: lint
+  script:
+    - clang-format --style=file --Werror --dry-run src/*.cpp
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - sinq
+
+build_module:
+  stage: build
+  script:
+    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
+    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
+    - pushd sinqmotor
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
+    - make install
+    - popd
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
+    - make install
+    - cp -rT "/ioc/modules/masterMacs/$(ls -U /ioc/modules/masterMacs/ | head -1)" "./masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+  artifacts:
+    name: "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+    paths:
+      - "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
+    expire_in: 1 week
+  when: always
+  tags:
+    - sinq

Makefile

@@ -6,6 +6,9 @@ BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
+# Additional module dependencies
+REQUIRED+=sinqMotor
+
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
 
@@ -23,14 +26,9 @@ SOURCES += src/masterMacsController.cpp
 # Store the record files
 TEMPLATES += sinqMotor/db/asynRecord.db
 TEMPLATES += sinqMotor/db/sinqMotor.db
-TEMPLATES += db/masterMacs.db
 
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-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
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wpedantic -Wextra -Werror

README.md

@@ -17,38 +17,15 @@ 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.
 
-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
-```
+## Developer guide
 
 ### Usage in IOC shell
 
-masterMacs exposes the following IOC shell functions:
+masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
 - `masterMacsController`: Create a new controller object.
 - `masterMacsAxis`: Create a new axis object.
 
-The full masterMacsX.cmd file looks like this:
+The full mcu.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
@@ -80,43 +57,13 @@ setThresholdComTimeout("$(NAME)", 100, 1);
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
 dbLoadRecords("$(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.
+This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.

db/masterMacs.db

@@ -1,7 +0,0 @@
-# Call the nodeReset function of the corresponding masterMacsAxis.
-# This record is coupled to the parameter library via nodeReset_ -> NODE_RESET.
-record(longout, "$(INSTR)$(M):NodeReset") {
-    field(DTYP, "asynInt32")
-    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) NODE_RESET")
-    field(PINI, "NO")
-}

src/masterMacsAxis.h

@@ -1,12 +1,14 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
-#include "masterMacsController.h"
 #include "sinqAxis.h"
-#include <memory>
+#include <bitset>
 
-struct HIDDEN masterMacsAxisImpl;
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class masterMacsController;
 
-class HIDDEN masterMacsAxis : public sinqAxis {
+class masterMacsAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new masterMacsAxis
@@ -16,13 +18,6 @@ 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
      *
@@ -57,13 +52,13 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      *
      * @param position
      * @param relative
-     * @param minVelocity
-     * @param maxVelocity
+     * @param min_velocity
+     * @param max_velocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double minVelocity,
-                      double maxVelocity, double acceleration);
+    asynStatus doMove(double position, int relative, double min_velocity,
+                      double max_velocity, double acceleration);
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
@@ -82,27 +77,12 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     asynStatus doReset();
 
-    /**
-     * @brief Performs a "node reset" on the axis as defined in the CANopen
-     * standard
-     *
-     * A "node reset" is a factory reset on the axis which completely deletes
-     * all configured information (e.g. limits or speed) from the axis. The
-     * MasterMACS controller then reapplies the initial configuration to this
-     * axis. It can therefore be seen as a "hard" version of the normal error
-     * reset performed by the `doReset` method.
-     *
-     * @return asynStatus
-     */
-    asynStatus nodeReset();
-
     /**
      * @brief Readout of some values from the controller at IOC startup
      *
      * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and
-     * acceleration from the MCU and store this information in the parameter
-     * library.
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
      * - Set the enable PV accordint to the initial status of the axis.
      *
      * @return asynStatus
@@ -118,227 +98,191 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus enable(bool on);
 
     /**
-     * @brief Read the encoder type (incremental or absolute) for this axis
-     * from the MCU and store the information in the PV ENCODER_TYPE.
+     * @brief Read the encoder type (incremental or absolute) for this axis from
+     * the MCU and store the information in the PV ENCODER_TYPE.
      *
      * @return asynStatus
      */
     asynStatus readEncoderType();
 
-    /**
-     * @brief Check if the axis needs to run its initialization function
-     *
-     * @return true
-     * @return false
-     */
-    bool needInit();
+  protected:
+    masterMacsController *pC_;
+    double lastSetSpeed_;
+    bool waitForHandshake_;
+    time_t timeAtHandshake_;
+
+    bool targetReachedUninitialized_;
+
+    asynStatus readConfig();
+
+    /*
+    The axis status and axis error of MasterMACS are given as an integer from
+    the controller. The 16 individual bits contain the actual information.
+    */
+    std::bitset<16> axisStatus_;
+    std::bitset<16> axisError_;
 
     /**
-     * @brief Instruct the axis to run its init() function during the next
-     * poll
-     *
-     * @param needInit
-     */
-    void setNeedInit(bool needInit);
-
-    /**
-     * @brief Return a pointer to the axis controller
-     */
-    virtual masterMacsController *pController() override { return pC_; };
-
-    /**
-     * @brief Read the Master MACS status with the xR10 command and store
-     * the result in axisStatus (see masterMacsAxisImpl redefinition in
-     * masterMacsAxis.cpp)
+     * @brief Read the Master MACS status with the xR10 command and store the
+     * result in axisStatus_
      *
      */
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus (see
-    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
-    can either be 0 or 1, the return value is given as a boolean.
+    The functions below read the specified status bit from the axisStatus_
+    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    boolean.
     */
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool readyToBeSwitchedOn();
+    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool switchedOn();
+    bool switchedOn() { return axisStatus_[1]; }
 
     // Bit 2 is unused
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool faultConditionSet();
+    bool faultConditionSet() { return axisStatus_[3]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool voltagePresent();
+    bool voltagePresent() { return axisStatus_[4]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool quickStopping();
+    bool quickStopping() { return axisStatus_[5] == 0; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool switchOnDisabled();
+    bool switchOnDisabled() { return axisStatus_[6]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool warning();
+    bool warning() { return axisStatus_[7]; }
 
     // Bit 8 is unused
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool remoteMode();
+    bool remoteMode() { return axisStatus_[9]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool targetReached();
+    bool targetReached() { return axisStatus_[10]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool internalLimitActive();
+    bool internalLimitActive() { return axisStatus_[11]; }
 
     // Bits 12 and 13 are unused
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool setEventHasOcurred();
+    bool setEventHasOcurred() { return axisStatus_[14]; }
 
     /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisStatus_
      */
-    bool powerEnabled();
+    bool powerEnabled() { return axisStatus_[15]; }
 
     /**
-     * @brief Read the Master MACS error with the xR10 command and store
-     * the result in axisError (see masterMacsAxisImpl redefinition in
-     * masterMacsAxis.cpp)
+     * @brief Read the Master MACS status with the xR10 command and store the
+     * result in axisStatus_
      *
      */
     asynStatus readAxisError();
 
     /*
-    The functions below read the specified error bit from the axisError (see
-    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
-    can either be 0 or 1, the return value is given as a boolean.
+    The functions below read the specified error bit from the axisError_
+    bitset. Since a bit can either be 0 or 1, the return value is given as a
+    boolean.
     */
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool shortCircuit();
+    bool shortCircuit() { return axisError_[1]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool encoderError();
+    bool encoderError() { return axisError_[2]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool followingError();
+    bool followingError() { return axisError_[3]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool communicationError();
+    bool communicationError() { return axisError_[4]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool feedbackError();
+    bool feedbackError() { return axisError_[5]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool positiveLimitSwitch();
+    bool positiveLimitSwitch() { return axisError_[6]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool negativeLimitSwitch();
+    bool negativeLimitSwitch() { return axisError_[7]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool positiveSoftwareLimit();
+    bool positiveSoftwareLimit() { return axisError_[8]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool negativeSoftwareLimit();
+    bool negativeSoftwareLimit() { return axisError_[9]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool overCurrent();
+    bool overCurrent() { return axisError_[10]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool overTemperature();
+    bool overTemperature() { return axisError_[11]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool overVoltage();
+    bool overVoltage() { return axisError_[12]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool underVoltage();
+    bool underVoltage() { return axisError_[13]; }
 
     /**
-     * @brief Read the property from axisError (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
+     * @brief Read the property from axisError_
      */
-    bool stoFault();
-
-  private:
-    masterMacsController *pC_;
-    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
+    bool stoFault() { return axisError_[15]; }
 };
 
 #endif

src/masterMacsController.cpp

@@ -12,35 +12,6 @@
 #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;
-
-    // Indices of additional ParamLib entries
-    int nodeReset;
-};
-
 /**
  * @brief Copy src into dst and replace all NULL terminators up to the carriage
  * return with spaces. This allows to print *dst with asynPrint.
@@ -81,32 +52,15 @@ masterMacsController::masterMacsController(const char *portName,
     : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
                      idlePollPeriod,
                      // No additional parameter library entries
-                     0),
-      pMasterMacsC_(
-          std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
-              .comTimeout = comTimeout,
-              .nodeReset = 0, // Overwritten later
-          }))
+                     0)
 
 {
 
     // Initialization of local variables
     asynStatus status = asynSuccess;
-    char response[MAXBUF_] = {0};
 
-    // =========================================================================
-    // Create additional parameter library entries
-
-    status =
-        createParam("NODE_RESET", asynParamInt32, &pMasterMacsC_->nodeReset);
-    if (status != asynSuccess) {
-        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
-                  "parameter failed with %s).\nTerminating IOC",
-                  portName, __PRETTY_FUNCTION__, __LINE__,
-                  stringifyAsynStatus(status));
-        exit(-1);
-    }
+    // Initialization of all member variables
+    comTimeout_ = comTimeout;
 
     // =========================================================================
 
@@ -139,60 +93,6 @@ 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__);
-        }
-    }
 }
 
 /*
@@ -214,24 +114,8 @@ masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
     return dynamic_cast<masterMacsAxis *>(asynAxis);
 }
 
-asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
-                                            epicsInt32 value) {
-    int function = pasynUser->reason;
-
-    // =====================================================================
-
-    masterMacsAxis *axis = getMasterMacsAxis(pasynUser);
-
-    // Handle custom PVs
-    if (function == nodeReset()) {
-        return axis->nodeReset();
-    } else {
-        return sinqController::writeInt32(pasynUser, value);
-    }
-}
-
 asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
-                                      double /*comTimeout*/) {
+                                      double comTimeout) {
     return writeRead(axisNo, tcpCmd, NULL, response);
 }
 
@@ -246,6 +130,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
+    asynStatus pl_status = asynSuccess;
     char fullCommand[MAXBUF_] = {0};
     char fullResponse[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
@@ -273,7 +158,13 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Check if a custom timeout has been given
     if (comTimeout < 0.0) {
-        comTimeout = pMasterMacsC_->comTimeout;
+        comTimeout = 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
@@ -301,7 +192,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (status != asynSuccess) {
-        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUserSelf)) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUserSelf)) {
             char printableCommand[MAXBUF_] = {0};
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -311,7 +202,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                       stringifyAsynStatus(status), printableCommand);
         }
     } else {
-        getMsgPrintControl().resetCount(comKey, pasynUserSelf);
+        msgPrintControl_.resetCount(comKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes
@@ -357,38 +248,48 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     }
 
     // Log the overall status (communication successfull or not)
-    if (axisNo != 0) {
-        masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-        if (axis == nullptr) {
-            // We already did the error logging directly in getAxis
-            return asynError;
+    if (status == asynSuccess) {
+        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        if (pl_status != asynSuccess) {
+            return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
+        }
+    } else if (status == asynDisconnected) {
+        // Do nothing
+    } else {
+        // Set the error status bits only if the axis is not disconnected
+
+        // 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
+        pl_status =
+            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
+        if (pl_status != asynSuccess) {
+            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
         }
 
-        if (status == asynSuccess) {
-            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);
+        if (motorStatusProblem == 0) {
+            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
+            if (pl_status != asynSuccess) {
+                return paramLibAccessFailed(pl_status, "motorMessageText_",
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
+            }
 
-            /*
-            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);
+            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
+            if (pl_status != asynSuccess) {
+                return paramLibAccessFailed(pl_status, "motorStatusProblem",
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
+            }
 
-            if (motorStatusProblem == 0) {
-                setAxisParamChecked(axis, motorMessageText, drvMessageText);
-                setAxisParamChecked(axis, motorStatusProblem, true);
-                setAxisParamChecked(axis, motorStatusCommsError, false);
+            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
+            if (pl_status != asynSuccess) {
+                return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
+                                            axisNo, __PRETTY_FUNCTION__,
+                                            __LINE__);
             }
         }
     }
@@ -409,24 +310,20 @@ asynStatus masterMacsController::parseResponse(
     const char *fullCommand, const char *fullResponse, char *drvMessageText,
     int *valueStart, int *valueStop, int axisNo, int tcpCmd, bool isRead) {
 
-    bool responseValid = false;
     int responseStart = 0;
     asynStatus status = asynSuccess;
-    int prevConnected = 1;
+    int prevConnected = 0;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
     msgPrintControlKey parseKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axisNo != 0 && axis == nullptr) {
-        return asynError;
-    }
-
     // Was the motor previously connected?
-    if (axis != nullptr) {
-        getAxisParamChecked(axis, motorConnected, &prevConnected);
+    status = getIntegerParam(axisNo, motorConnected(), &prevConnected);
+    if (status != asynSuccess) {
+        return paramLibAccessFailed(status, "motorConnected", axisNo,
+                                    __PRETTY_FUNCTION__, __LINE__);
     }
 
     // We don't use strlen here since the C string terminator 0x00
@@ -439,7 +336,6 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '\x06') {
             // ACK
             *valueStop = i;
-            responseValid = true;
 
             // Motor wasn't connected before -> Update the paramLib entry and PV
             // to show it is now connected.
@@ -451,21 +347,71 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                if (axis != nullptr) {
-                    setAxisParamChecked(axis, motorConnected, true);
-                    status = callParamCallbacks();
-                    if (status != asynSuccess) {
-                        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                                  "Controller \"%s\", axis %d => %s, line "
-                                  "%d:\nCould not update parameter library\n",
-                                  portName, axisNo, __PRETTY_FUNCTION__,
-                                  __LINE__);
-                        return status;
-                    }
+                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis == nullptr) {
+                    return asynError;
+                }
+                status = axis->setIntegerParam(motorConnected(), 1);
+                if (status != asynSuccess) {
+                    return paramLibAccessFailed(status, "motorConnected",
+                                                axisNo, __PRETTY_FUNCTION__,
+                                                __LINE__);
+                }
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
                 }
             }
 
-            break;
+            msgPrintControl_.resetCount(parseKey, pasynUserSelf);
+
+            // Check if the response matches the expectations. Each response
+            // contains the string "axisNo R tcpCmd" (including the spaces)
+            char expectedResponseSubstring[MAXBUF_] = {0};
+
+            // The response does not contain a leading 0 if tcpCmd only has
+            // a single digit!
+            if (isRead) {
+                snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d R %d",
+                         axisNo, tcpCmd);
+            } else {
+                snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d S %d",
+                         axisNo, tcpCmd);
+            }
+
+            msgPrintControlKey responseMatchKey = msgPrintControlKey(
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+            if (strstr(&fullResponse[responseStart],
+                       expectedResponseSubstring) == NULL) {
+                adjustForPrint(printableCommand, fullCommand, MAXBUF_);
+                adjustForPrint(printableResponse, fullResponse, MAXBUF_);
+
+                if (msgPrintControl_.shouldBePrinted(parseKey, true,
+                                                     pasynUserSelf)) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nMismatched "
+                              "response %s to command %s.%s\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                              printableResponse, printableCommand,
+                              msgPrintControl_.getSuffix());
+                }
+
+                snprintf(
+                    drvMessageText, MAXBUF_,
+                    "Mismatched response %s to command %s. Please call the "
+                    "support.",
+                    printableResponse, printableCommand);
+                return asynError;
+            } else {
+                msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
+            }
+            return asynSuccess;
         } else if (fullResponse[i] == '\x15') {
             /*
             NAK
@@ -482,93 +428,52 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                if (axis != nullptr) {
-                    setAxisParamChecked(axis, motorConnected, false);
-                    status = callParamCallbacks();
-                    if (status != asynSuccess) {
-                        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                                  "Controller \"%s\", axis %d => %s, line "
-                                  "%d:\nCould not update parameter library\n",
-                                  portName, axisNo, __PRETTY_FUNCTION__,
-                                  __LINE__);
-                        return status;
-                    }
+                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis == nullptr) {
+                    return asynError;
+                }
+                status = axis->setIntegerParam(motorConnected(), 0);
+                if (status != asynSuccess) {
+                    return paramLibAccessFailed(status, "motorConnected",
+                                                axisNo, __PRETTY_FUNCTION__,
+                                                __LINE__);
+                }
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
                 }
             }
-            break;
+            return asynDisconnected;
         } else if (fullResponse[i] == '\x18') {
             // CAN
             snprintf(drvMessageText, MAXBUF_,
                      "Tried to write with a read-only command. This is a "
                      "bug, please call the support.");
 
-            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
-                                                     pasynUserSelf)) {
+            if (msgPrintControl_.shouldBePrinted(parseKey, true,
+                                                 pasynUserSelf)) {
                 adjustForPrint(printableCommand, fullCommand, MAXBUF_);
                 asynPrint(
                     this->pasynUserSelf, ASYN_TRACE_ERROR,
                     "Controller \"%s\", axis %d => %s, line %d:\nTried to "
                     "write with the read-only command %s.%s\n",
                     portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                    printableCommand, getMsgPrintControl().getSuffix());
+                    printableCommand, msgPrintControl_.getSuffix());
             }
-            responseValid = false;
-            break;
-        }
-    }
-
-    if (responseValid) {
-        getMsgPrintControl().resetCount(parseKey, pasynUserSelf);
-
-        // Check if the response matches the expectations. Each response
-        // contains the string "axisNo R tcpCmd" (including the spaces)
-        char expectedResponseSubstring[MAXBUF_] = {0};
-
-        // The response does not contain a leading 0 if tcpCmd only has
-        // a single digit!
-        if (isRead) {
-            snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d R %d", axisNo,
-                     tcpCmd);
-        } else {
-            snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d S %d", axisNo,
-                     tcpCmd);
-        }
-
-        msgPrintControlKey responseMatchKey =
-            msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-
-        if (strstr(&fullResponse[responseStart], expectedResponseSubstring) ==
-            NULL) {
-            adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-            adjustForPrint(printableResponse, fullResponse, MAXBUF_);
-
-            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
-                                                     pasynUserSelf)) {
-                asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
-                          "Controller \"%s\", axis %d => %s, line "
-                          "%d:\nMismatched "
-                          "response %s to command %s.%s\n",
-                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                          printableResponse, printableCommand,
-                          getMsgPrintControl().getSuffix());
-            }
-
-            snprintf(drvMessageText, MAXBUF_,
-                     "Mismatched response %s to command %s. Please call the "
-                     "support.",
-                     printableResponse, printableCommand);
             return asynError;
-        } else {
-            getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);
         }
     }
-    return asynSuccess;
+    return asynError;
 }
 
 asynStatus masterMacsController::readInt32(asynUser *pasynUser,
                                            epicsInt32 *value) {
     // masterMacs can be disabled
-    if (pasynUser->reason == motorCanDisable()) {
+    if (pasynUser->reason == motorCanDisable_) {
         *value = 1;
         return asynSuccess;
     } else {
@@ -576,10 +481,6 @@ asynStatus masterMacsController::readInt32(asynUser *pasynUser,
     }
 }
 
-double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
-
-int masterMacsController::nodeReset() { return pMasterMacsC_->nodeReset; }
-
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */
@@ -639,8 +540,7 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configMasterMacsCreateController = {
-    "masterMacsController", 6, CreateControllerArgs,
-    "Create a new instance of a MasterMACS controller."};
+    "masterMacsController", 6, CreateControllerArgs};
 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

@@ -8,18 +8,11 @@
 
 #ifndef masterMacsController_H
 #define masterMacsController_H
+#include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
-#include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class HIDDEN masterMacsAxis;
-
-struct HIDDEN masterMacsControllerImpl;
-
-class HIDDEN masterMacsController : public sinqController {
+class masterMacsController : public sinqController {
 
   public:
     /**
@@ -38,22 +31,6 @@ 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
-     *
-     * @param pasynUser
-     * @param value
-     * @return asynStatus
-     */
-    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-
     /**
      * @brief Get the axis object
      *
@@ -72,17 +49,6 @@ class HIDDEN masterMacsController : public sinqController {
      */
     masterMacsAxis *getMasterMacsAxis(int axisNo);
 
-    /**
-     * @brief Overloaded function of sinqController
-     *
-     * The function is overloaded to allow resetting the node
-     *
-     * @param pasynUser           Specify the axis via the asynUser
-     * @param value               New value
-     * @return asynStatus
-     */
-    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
-
     /**
      * @brief Send a command to the hardware (S mode)
      *
@@ -157,13 +123,15 @@ class HIDDEN masterMacsController : public sinqController {
      *
      * @return double Timeout in seconds
      */
-    double comTimeout();
+    double comTimeout() { return comTimeout_; }
 
-    // Accessors for additional PVs
-    int nodeReset();
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
   private:
-    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
+    /*
+    Stores the constructor input comTimeout
+    */
+    double comTimeout_;
 };
 
 #endif /* masterMacsController_H */

utils/decodeError.py

@@ -9,82 +9,73 @@ 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
-    ("Ok", "Short circuit"),  # Bit 1
-    ("Ok", "Encoder error"),  # Bit 2
-    ("Ok", "Following error"),  # Bit 3
-    ("Ok", "Communication error"),  # Bit 4
-    ("Ok", "Feedback error"),  # Bit 5
-    ("Ok", "Positive limit switch hit"),  # Bit 6
-    ("Ok", "Negative limit switch hit"),  # Bit 7
-    ("Ok", "Positive software limit hit"),  # Bit 8
-    ("Ok", "Negative software limit hit"),  # Bit 9
-    ("Ok", "Over-current"),  # Bit 10
-    ("Ok", "Over-temperature drive"),  # Bit 11
-    ("Ok", "Over-voltage"),  # Bit 12
-    ("Ok", "Under-voltage"),  # Bit 13
-    ("Not specified", "Not specified"),  # Bit 14
-    ("Ok", "STO fault (STO input is on disable state)"),  # Bit 15
+    ("Not specified", "Not specified"), # Bit 0
+    ("Ok", "Short circuit"), # Bit 1
+    ("Ok", "Encoder error"), # Bit 2
+    ("Ok", "Following error"), # Bit 3
+    ("Ok", "Communication error"), # Bit 4
+    ("Ok", "Feedback error"), # Bit 5
+    ("Ok", "Positive limit switch hit"), # Bit 6
+    ("Ok", "Negative limit switch hit"), # Bit 7
+    ("Ok", "Positive software limit hit"), # Bit 8
+    ("Ok", "Negative software limit hit"), # Bit 9
+    ("Ok", "Over-current"), # Bit 10
+    ("Ok", "Over-temperature drive"), # Bit 11
+    ("Ok", "Over-voltage"), # Bit 12
+    ("Ok", "Under-voltage"), # Bit 13
+    ("Not specified", "Not specified"), # Bit 14
+    ("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
-        if platform.system() == "Linux":
-            interactive()
-        else:
-            print(help)
+        interactive()
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
+
         except:
-            print(help)
+            print("""
+            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

@@ -9,81 +9,71 @@ 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 switched on", "Switched on"),  # Bit 1
-    ("Disabled", "Enabled"),  # 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
-    ("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
-    ("Not specified", "Not specified"),  # Bit 8
-    ("Motor does not execute command messages (local mode)",
-     "Motor does execute command messages (remote mode)"),  # Bit 9
-    ("Target not reached", "Target reached"),  # Bit 10
-    ("Ok", "Internal limit active (current, voltage, velocity or position)"),  # Bit 11
-    ("Not specified", "Not specified"),  # Bit 12
-    ("Not specified", "Not specified"),  # Bit 13
-    ("Not specified", "Not specified"),  # Bit 14
-    ("Not specified", "Not specified"),  # Bit 15
+    ("Not ready to be switched on", "Ready to be switched on"), # Bit 0
+    ("Not switched on", "Switched on"), # Bit 1
+    ("Disabled", "Enabled"), # 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
+    ("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
+    ("Not specified", "Not specified"), # Bit 8
+    ("Motor does not execute command messages (local mode)", "Motor does execute command messages (remote mode)"), # Bit 9
+    ("Target not reached", "Target reached"), # Bit 10
+    ("Ok", "Internal limit active (current, voltage, velocity or position)"), # Bit 11
+    ("Not specified", "Not specified"), # Bit 12
+    ("Not specified", "Not specified"), # Bit 13
+    ("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
-        if platform.system() == "Linux":
-            interactive()
-        else:
-            print(help)
+        interactive()
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
+
         except:
-            print(help)
+            print("""
+            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

@@ -6,72 +6,51 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, April 2025
 """
 
-import platform
-
 import struct
 import socket
-
-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.
-"""
-
+import curses
 
 def packMasterMacsCommand(command):
-    # 0x0D = Carriage return
-    buf = struct.pack('B', 0x0D)
-    buf = bytes(command, 'utf-8') + buf
-    return bytes(command, 'utf-8')
-
+    # 0x0D = Carriage return 
+    buf = struct.pack('B',0x0D)
+    buf = bytes(command,'utf-8') + buf
+    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')
-        if bint == 2 or bint == 7:  # STX or BELL
+        bint = int.from_bytes(b,byteorder='little')
+        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
 
-    if "-h" or "--help" in argv:
-        print(help)
-    else:
+    try:
+
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        s.connect((addr[0], int(addr[1])))
+        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
+        s.connect((addr[0],int(addr[1])))
 
-        if len(argv) == 2:
+        if len(argv) == 3:
+            buf = packMasterMacsCommand(argv[2])
+            s.send(buf)
+            reply = readMasterMacsReply(s)
+            print(reply.decode('utf-8') + '\n')
 
-            if platform.system() == "Linux":
-                import curses
+        else:
+
+            try:
 
                 stdscr = curses.initscr()
                 curses.noecho()
@@ -101,13 +80,13 @@ 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':
@@ -133,7 +112,7 @@ 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
@@ -146,34 +125,47 @@ 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
-                    curses.nocbreak()
-                    stdscr.keypad(False)
-                    curses.echo()
-                    curses.endwin()
-            else:
-                print(help)
-        elif len(argv) == 3:
-            buf = packMasterMacsCommand(argv[2])
-            s.send(buf)
-            reply = readMasterMacsReply(s)
-            print(reply.decode('utf-8') + '\n')
-        else:
-            print(help)
+
+            finally:
+
+                # to quit
+                curses.nocbreak()
+                stdscr.keypad(False)
+                curses.echo()
+                curses.endwin()
+
+    except:
+        print("""
+        Invalid Arguments
+
+        Option 1: Single Command
+        ------------------------
+
+        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.
+        """)
+