Fixed wrong doc

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

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+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

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

.gitlab-ci.yml

@@ -1,48 +0,0 @@
-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

@@ -4,7 +4,7 @@ include /ioc/tools/driver.makefile
 MODULE=masterMacs
 BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
-ARCH_FILTER=RHEL8%
+ARCH_FILTER=RHEL%
 
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
@@ -23,9 +23,14 @@ 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 -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
@@ -55,17 +78,45 @@ setMaxSubsequentTimeouts("$(NAME)", 20);
 setThresholdComTimeout("$(NAME)", 100, 1);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
-epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+epicsEnvSet("SINQDBPATH","$(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=$(NAME)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadRecords("$(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.

db/masterMacs.db

@@ -0,0 +1,7 @@
+# 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.cpp

@@ -19,7 +19,6 @@ struct masterMacsAxisImpl {
     std::bitset<16> axisStatus;
     std::bitset<16> axisError;
 
-    double lastSetSpeed;
     bool waitForHandshake;
     time_t timeAtHandshake;
     bool needInit = true;
@@ -86,7 +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;
 
@@ -119,15 +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),
-        .lastSetSpeed = 0.0,
-        .waitForHandshake = false,
-        .timeAtHandshake = 0,
-        .targetReachedUninitialized = true,
-    });
-
     // masterMacs motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
@@ -262,11 +259,6 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Cache the motor speed. If this value differs from the one in the motor
-    // record at the start of a movement, the motor record value is sent to
-    // MasterMACS.
-    pMasterMacsA_->lastSetSpeed = motorVelocity;
-
     // Store the motor position in the parameter library
     pl_status = setMotorPosition(motorPosition);
     if (pl_status != asynSuccess) {
@@ -337,10 +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?
@@ -363,14 +353,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (timedOut) {
-            pl_status =
+            setAxisParamChecked(this, motorMessageText,
-                setStringParam(pC_->motorMessageText(),
+                                "Timed out while waiting for a handshake. "
-                               "Timed out while waiting for a handshake");
+                                "Please call the support.");
-            if (pl_status != asynSuccess) {
+
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+            poll_status = asynError;
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
         }
 
         pC_->read(axisNo_, 86, response);
@@ -390,36 +377,15 @@ 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);
-            pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
+            setAxisParamChecked(this, motorStatusDone, !(*moving));
-            if (pl_status != asynSuccess) {
+            return poll_status;
-                return pC_->paramLibAccessFailed(pl_status,
-                                                 "motorStatusMoving_", axisNo_,
-                                                 __PRETTY_FUNCTION__, __LINE__);
-            }
-
-            pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
-
-            return asynSuccess;
         }
     }
 
     // Motor resolution from parameter library
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-                                    &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     // Read the previous motor position
     pl_status = motorPosition(&previousPosition);
@@ -433,6 +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 {
@@ -462,11 +431,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     Read out the error if either a fault condition status flag has been set or
     if a movement has just ended.
      */
-    msgPrintControlKey keyError = msgPrintControlKey(
-        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
     if (faultConditionSet() || !(*moving)) {
         rw_status = readAxisError();
+    }
+
+    msgPrintControlKey keyError = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
     /*
     A communication error is a special case. If a communication between
@@ -483,15 +453,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                       pC_->getMsgPrintControl().getSuffix());
         }
 
-            pl_status =
+        setAxisParamChecked(this, motorMessageText,
-                setStringParam(pC_->motorMessageText(),
                             "Communication error between PC and motor "
                             "controller. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
 
         poll_status = asynError;
     } else {
@@ -505,8 +469,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (shortCircuit()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Short circuit fault.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Short circuit error. Please call the support.");
 
             poll_status = asynError;
@@ -522,8 +485,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (followingError()) {
-                appendErrorMessage(
+            appendErrorMessage(shellMessage, sizeof(shellMessage),
-                    shellMessage, sizeof(shellMessage),
                                "Maximum callowed following error exceeded.");
             appendErrorMessage(
                 errorMessage, sizeof(errorMessage),
@@ -585,8 +547,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (overCurrent()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Overcurrent error.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Overcurrent error. Please call the support.");
 
             poll_status = asynError;
@@ -605,8 +566,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (overVoltage()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Overvoltage error.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Overvoltage error. Please call the support.");
 
             poll_status = asynError;
@@ -615,8 +575,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (underVoltage()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),
                                "Undervoltage error.");
-                appendErrorMessage(
+            appendErrorMessage(errorMessage, sizeof(errorMessage),
-                    errorMessage, sizeof(errorMessage),
                                "Undervoltage error. Please call the support.");
 
             poll_status = asynError;
@@ -632,25 +591,21 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         if (strlen(shellMessage) > 0) {
-                if (pC_->getMsgPrintControl().shouldBePrinted(
+            if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                        keyError, true, pC_->pasynUser())) {
+                                                          pC_->pasynUser())) {
                 asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\n%s%s\n",
-                              pC_->portName, axisNo_, __PRETTY_FUNCTION__,
+                          pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                              __LINE__, shellMessage,
+                          shellMessage, pC_->getMsgPrintControl().getSuffix());
-                              pC_->getMsgPrintControl().getSuffix());
             }
         }
 
-            pl_status = setStringParam(pC_->motorMessageText(), errorMessage);
+        setAxisParamChecked(this, motorMessageText, errorMessage);
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
     }
-        }
+
-    } else {
+    // No error has been detected -> Reset the error count
+    if (poll_status == asynSuccess) {
         pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
     }
 
@@ -689,40 +644,18 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         directly, but need to shrink them a bit. In this case, we're shrinking
         them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
         */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset(),
+        getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
-                                        &limitsOffset);
+
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
         highLimit = highLimit - limitsOffset;
         lowLimit = lowLimit + limitsOffset;
 
-        pl_status = pC_->setDoubleParam(
+        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-            axisNo_, pC_->motorHighLimitFromDriver(), highLimit);
+        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(
-                pl_status, "motorHighLimitFromDriver_", axisNo_,
-                __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
-                                        lowLimit);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
     }
 
     // Update the enable PV
-    pl_status = setIntegerParam(pC_->motorEnableRBV(),
+    setAxisParamChecked(this, motorEnableRBV,
                         readyToBeSwitchedOn() && switchedOn());
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     if (*moving) {
         // If the axis is moving, evaluate the movement direction
@@ -735,38 +668,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Update the parameter library
     if (hasError) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        setAxisParamChecked(this, motorStatusProblem, true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-    }
-    pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-
-    pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    pl_status = setIntegerParam(pC_->motorStatusDirection(), direction);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
     }
+    setAxisParamChecked(this, motorStatusMoving, *moving);
+    setAxisParamChecked(this, motorStatusDone, !(*moving));
+    setAxisParamChecked(this, motorStatusDirection, direction);
 
     pl_status = setMotorPosition(currentPosition);
     if (pl_status != asynSuccess) {
         return pl_status;
     }
-
     return poll_status;
 }
 
@@ -774,11 +685,13 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
                                   double minVelocity, double maxVelocity,
                                   double acceleration) {
 
-    // Status of read-write-operations of ASCII commands to the controller
+    // Suppress unused variable warning
-    asynStatus rw_status = asynSuccess;
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
 
-    // Status of parameter library operations
+    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus pl_status = asynSuccess;
+    asynStatus status = asynSuccess;
 
     char value[pC_->MAXBUF_];
     double motorCoordinatesPosition = 0.0;
@@ -789,19 +702,8 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
+    getAxisParamChecked(this, motorEnableRBV, &enabled);
-    if (pl_status != asynSuccess) {
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-        return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                    &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     if (enabled == 0) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -821,42 +723,24 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
 
     // Check if the speed is allowed to be changed
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(),
+    getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
-                                     &motorCanSetSpeed);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     // Initialize the movement handshake
-    rw_status = pC_->write(axisNo_, 86, "0");
+    status = pC_->write(axisNo_, 86, "0");
-    if (rw_status != asynSuccess) {
+    if (status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        setAxisParamChecked(this, motorStatusProblem, true);
-        if (pl_status != asynSuccess) {
+        return status;
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return rw_status;
     }
 
     // Set the new motor speed, if the user is allowed to do so and if the
     // motor speed changed since the last move command.
-    if (motorCanSetSpeed != 0 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
+    if (motorCanSetSpeed != 0) {
-
-        pMasterMacsA_->lastSetSpeed = motorVelocity;
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
-        rw_status = pC_->write(axisNo_, 05, value);
+        status = pC_->write(axisNo_, 05, value);
-        if (rw_status != asynSuccess) {
+        if (status != asynSuccess) {
-            pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+            setAxisParamChecked(this, motorStatusProblem, true);
-            if (pl_status != asynSuccess) {
+            return status;
-                return pC_->paramLibAccessFailed(pl_status,
-                                                 "motorStatusProblem_", axisNo_,
-                                                 __PRETTY_FUNCTION__, __LINE__);
-            }
-            return rw_status;
         }
 
         asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
@@ -868,15 +752,10 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // Set the target position
     snprintf(value, sizeof(value), "%lf", motorCoordinatesPosition);
-    rw_status = pC_->write(axisNo_, 02, value);
+    status = pC_->write(axisNo_, 02, value);
-    if (rw_status != asynSuccess) {
+    if (status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        setAxisParamChecked(this, motorStatusProblem, true);
-        if (pl_status != asynSuccess) {
+        return status;
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return rw_status;
     }
 
     // If the motor has just been enabled, use Enable
@@ -888,18 +767,13 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // Start the move
     if (relative) {
-        rw_status = pC_->write(axisNo_, 00, "2", timeout);
+        status = pC_->write(axisNo_, 00, "2", timeout);
     } else {
-        rw_status = pC_->write(axisNo_, 00, "1", timeout);
+        status = pC_->write(axisNo_, 00, "1", timeout);
     }
-    if (rw_status != asynSuccess) {
+    if (status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        setAxisParamChecked(this, motorStatusProblem, true);
-        if (pl_status != asynSuccess) {
+        return status;
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return rw_status;
     }
 
     // In the next poll, we will check if the handshake has been performed in a
@@ -913,103 +787,97 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
-    return rw_status;
+    return status;
 }
 
 asynStatus masterMacsAxis::stop(double acceleration) {
 
-    // Status of read-write-operations of ASCII commands to the controller
+    // Suppress unused variable warning
-    asynStatus rw_status = asynSuccess;
+    (void)acceleration;
 
-    // Status of parameter library operations
+    asynStatus status = pC_->write(axisNo_, 00, "8");
-    asynStatus pl_status = asynSuccess;
+    if (status != asynSuccess) {
-
+        setAxisParamChecked(this, motorStatusProblem, true);
-    // =========================================================================
-
-    rw_status = pC_->write(axisNo_, 00, "8");
-    if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
     }
 
     // Reset the driver to idle state and move out of the handshake wait loop,
     // if we're currently inside it.
     pMasterMacsA_->waitForHandshake = false;
 
-    return rw_status;
+    return status;
 }
 
 asynStatus masterMacsAxis::doReset() {
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
 
-    // Status of parameter library operations
+    asynStatus status = asynSuccess;
-    asynStatus pl_status = asynSuccess;
 
-    // =========================================================================
+    // Reset any errors
-
+    status = pC_->write(axisNo_, 17, "");
-    rw_status = pC_->write(axisNo_, 17, "");
+    if (status != asynSuccess) {
-    if (rw_status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
+    // Move out of the handshake wait loop, if we're currently inside it.
-    // if we're currently inside it.
     pMasterMacsA_->waitForHandshake = false;
 
-    return rw_status;
+    // Disable the axis
+    return enable(false);
+}
+
+asynStatus masterMacsAxis::nodeReset() {
+
+    asynStatus status = asynSuccess;
+
+    // Reset the controller ("node reset"). Since the node reset results in a
+    // power cycle, we use the corresponding timeout.
+    status = pC_->write(axisNo_, 16, "", PowerCycleTimeout);
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+    }
+
+    // Move out of the handshake wait loop, if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
+    // Reinitialize the axis
+    status = masterMacsAxis::init();
+    if (status != asynSuccess) {
+        return status;
+    }
+    bool moving = false;
+    return forcedPoll(&moving);
 }
 
 /*
 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) {
 
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
-    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
+    // Suppress unused variable warning
-                                    sizeof(response), response);
+    (void)minVelocity;
-    if (pl_status != asynSuccess) {
+    (void)maxVelocity;
-        return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
+    (void)acceleration;
-                                         __PRETTY_FUNCTION__, __LINE__);
+    (void)forwards;
-    }
+
+    getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder
     if (strcmp(response, IncrementalEncoder) == 0) {
 
         // Initialize the movement handshake
-        rw_status = pC_->write(axisNo_, 86, "0");
+        asynStatus status = pC_->write(axisNo_, 86, "0");
-        if (rw_status != asynSuccess) {
+        if (status != asynSuccess) {
-            pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+            setAxisParamChecked(this, motorStatusProblem, true);
-            if (pl_status != asynSuccess) {
+            return status;
-                return pC_->paramLibAccessFailed(pl_status,
-                                                 "motorStatusProblem_", axisNo_,
-                                                 __PRETTY_FUNCTION__, __LINE__);
-            }
-            return rw_status;
         }
 
-        rw_status = pC_->write(axisNo_, 00, "9");
+        status = pC_->write(axisNo_, 00, "9");
-        if (rw_status != asynSuccess) {
+        if (status != asynSuccess) {
-            return rw_status;
+            return status;
         }
 
         // In the next poll, we will check if the handshake has been performed
@@ -1027,12 +895,6 @@ Read the encoder type and update the parameter library accordingly
 */
 asynStatus masterMacsAxis::readEncoderType() {
 
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -1041,9 +903,9 @@ asynStatus masterMacsAxis::readEncoderType() {
     // =========================================================================
 
     // Check if this is an absolute encoder
-    rw_status = pC_->read(axisNo_, 60, response);
+    asynStatus status = pC_->read(axisNo_, 60, response);
-    if (rw_status != asynSuccess) {
+    if (status != asynSuccess) {
-        return rw_status;
+        return status;
     }
 
     nvals = sscanf(response, "%d", &encoder_id);
@@ -1054,33 +916,23 @@ 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)
      */
     if (encoder_id == 0) {
-        pl_status = setStringParam(pC_->encoderType(), IncrementalEncoder);
+        setAxisParamChecked(this, encoderType, IncrementalEncoder);
     } else {
-        pl_status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
+        setAxisParamChecked(this, encoderType, AbsoluteEncoder);
     }
 
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
     return asynSuccess;
 }
 
 asynStatus masterMacsAxis::enable(bool on) {
 
     int timeout_enable_disable = 2;
-    char value[pC_->MAXBUF_];
+    char msg[pC_->MAXBUF_];
-
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
 
     // =========================================================================
 
@@ -1110,14 +962,8 @@ asynStatus masterMacsAxis::enable(bool on) {
                   "idle and can therefore not be disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-        pl_status =
+        setAxisParamChecked(this, motorMessageText,
-            setStringParam(pC_->motorMessageText(),
                             "Axis cannot be disabled while it is moving.");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
 
         return asynError;
     }
@@ -1135,7 +981,7 @@ asynStatus masterMacsAxis::enable(bool on) {
     }
 
     // Enable / disable the axis if it is not moving
-    snprintf(value, sizeof(value), "%d", on);
+    snprintf(msg, sizeof(msg), "%d", on);
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d => %s, line %d:\n%s axis.\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -1150,9 +996,9 @@ asynStatus masterMacsAxis::enable(bool on) {
         timeout = PowerCycleTimeout;
     }
 
-    rw_status = pC_->write(axisNo_, 04, value, timeout);
+    asynStatus status = pC_->write(axisNo_, 04, msg, timeout);
-    if (rw_status != asynSuccess) {
+    if (status != asynSuccess) {
-        return rw_status;
+        return status;
     }
 
     // Query the axis status every few milliseconds until the axis has been
@@ -1162,15 +1008,15 @@ asynStatus masterMacsAxis::enable(bool on) {
 
         // Read the axis status
         usleep(100000);
-        rw_status = readAxisStatus();
+        status = readAxisStatus();
-        if (rw_status != asynSuccess) {
+        if (status != asynSuccess) {
-            return rw_status;
+            return status;
         }
 
         if (switchedOn() == on) {
             bool moving = false;
             // Perform a poll to update the parameter library
-            poll(&moving);
+            forcedPoll(&moving);
             return asynSuccess;
         }
     }
@@ -1184,14 +1030,10 @@ asynStatus masterMacsAxis::enable(bool on) {
               on ? "enable" : "disable", timeout_enable_disable);
 
     // Output message to user
-    snprintf(value, sizeof(value), "Failed to %s within %d seconds",
+    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    pl_status = setStringParam(pC_->motorMessageText(), value);
+
-    if (pl_status != asynSuccess) {
+    setAxisParamChecked(this, motorMessageText, msg);
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
     return asynError;
 }
 
@@ -1415,8 +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

@@ -1,16 +1,12 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
+#include "masterMacsController.h"
 #include "sinqAxis.h"
 #include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
+struct HIDDEN masterMacsAxisImpl;
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class masterMacsController;
 
-struct masterMacsAxisImpl;
+class HIDDEN masterMacsAxis : public sinqAxis {
-
-class masterMacsAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new masterMacsAxis
@@ -20,6 +16,13 @@ class 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
      *
@@ -54,13 +57,13 @@ class 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
@@ -79,12 +82,27 @@ class 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
+     * - Read out the motor status, motor position, velocity and
-     * from the MCU and store this information in the parameter library.
+     * 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
@@ -100,8 +118,8 @@ class masterMacsAxis : public sinqAxis {
     asynStatus enable(bool on);
 
     /**
-     * @brief Read the encoder type (incremental or absolute) for this axis from
+     * @brief Read the encoder type (incremental or absolute) for this axis
-     * the MCU and store the information in the PV ENCODER_TYPE.
+     * from the MCU and store the information in the PV ENCODER_TYPE.
      *
      * @return asynStatus
      */
@@ -116,173 +134,205 @@ class masterMacsAxis : public sinqAxis {
     bool needInit();
 
     /**
-     * @brief Instruct the axis to run its init() function during the next poll
+     * @brief Instruct the axis to run its init() function during the next
+     * poll
      *
      * @param needInit
      */
     void setNeedInit(bool needInit);
 
-    asynStatus readConfig();
+    /**
+     * @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
+     * @brief Read the Master MACS status with the xR10 command and store
-     * 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 the
+     * @brief Read the Master MACS error with the xR10 command and store
-     * 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

@@ -12,8 +12,33 @@
 #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;
 };
 
 /**
@@ -56,17 +81,32 @@ 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){
+    // Create additional parameter library entries
-            .comTimeout = comTimeout,
+
-        });
+    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);
+    }
 
     // =========================================================================
 
@@ -99,6 +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__);
+        }
+    }
 }
 
 /*
@@ -120,8 +214,24 @@ 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);
 }
 
@@ -136,7 +246,6 @@ 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};
@@ -167,12 +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);
@@ -254,17 +357,23 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     }
 
     // Log the overall status (communication successfull or not)
-    if (status == asynSuccess) {
+    if (axisNo != 0) {
-        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    } else {
+        if (axis == nullptr) {
+            // We already did the error logging directly in getAxis
+            return asynError;
+        }
 
+        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
+            cannot be sure that the information read out in the init method of
-        axis is still up-to-date the next time we get a connection. Therefore,
+            the axis is still up-to-date the next time we get a connection.
-        an info flag is set which the axis object can use at the start of its
+            Therefore, an info flag is set which the axis object can use at the
-        poll method to try to initialize itself.
+            start of its poll method to try to initialize itself.
             */
             axis->setNeedInit(true);
 
@@ -274,34 +383,12 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
             the user with different error messages if more than one error
             ocurred before an error-free communication
             */
-        pl_status =
+            getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        if (pl_status != asynSuccess) {
-            return paramLibAccessFailed(pl_status, "motorStatusProblem", axisNo,
-                                        __PRETTY_FUNCTION__, __LINE__);
-        }
 
             if (motorStatusProblem == 0) {
-            pl_status =
+                setAxisParamChecked(axis, motorMessageText, drvMessageText);
-                axis->setStringParam(motorMessageText(), drvMessageText);
+                setAxisParamChecked(axis, motorStatusProblem, true);
-            if (pl_status != asynSuccess) {
+                setAxisParamChecked(axis, motorStatusCommsError, false);
-                return paramLibAccessFailed(pl_status, "motorMessageText",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusProblem",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
             }
         }
     }
@@ -325,18 +412,21 @@ 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};
 
     msgPrintControlKey parseKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+    if (axisNo != 0 && axis == nullptr) {
+        return asynError;
+    }
+
     // Was the motor previously connected?
-    status = getIntegerParam(axisNo, motorConnected(), &prevConnected);
+    if (axis != nullptr) {
-    if (status != asynSuccess) {
+        getAxisParamChecked(axis, motorConnected, &prevConnected);
-        return paramLibAccessFailed(status, "motorConnected", axisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
     }
 
     // We don't use strlen here since the C string terminator 0x00
@@ -361,25 +451,19 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis != nullptr) {
-                if (axis == nullptr) {
+                    setAxisParamChecked(axis, motorConnected, true);
-                    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__);
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
                         return status;
                     }
                 }
+            }
 
             break;
         } else if (fullResponse[i] == '\x15') {
@@ -398,25 +482,19 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis != nullptr) {
-                if (axis == nullptr) {
+                    setAxisParamChecked(axis, motorConnected, false);
-                    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__);
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
                         return status;
                     }
                 }
+            }
             break;
         } else if (fullResponse[i] == '\x18') {
             // CAN
@@ -500,6 +578,8 @@ 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 */
@@ -559,7 +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

@@ -8,14 +8,18 @@
 
 #ifndef masterMacsController_H
 #define masterMacsController_H
-#include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
 #include <memory>
 
-struct masterMacsControllerImpl;
+// 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;
 
-class masterMacsController : public sinqController {
+struct HIDDEN masterMacsControllerImpl;
+
+class HIDDEN masterMacsController : public sinqController {
 
   public:
     /**
@@ -34,6 +38,13 @@ class 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
      *
@@ -61,6 +72,17 @@ class 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)
      *
@@ -137,6 +159,9 @@ class masterMacsController : public sinqController {
      */
     double comTimeout();
 
+    // Accessors for additional PVs
+    int nodeReset();
+
   private:
     std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
 };

utils/decodeError.py

@@ -9,6 +9,8 @@ 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.
@@ -32,50 +34,57 @@ interpretation = [
     ("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)
+    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

@@ -9,6 +9,8 @@ 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.
@@ -23,7 +25,8 @@ interpretation = [
     ("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
+    ("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
@@ -32,48 +35,55 @@ interpretation = [
     ("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)
+    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

@@ -6,23 +6,47 @@ 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
-    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
@@ -33,24 +57,21 @@ def readMasterMacsReply(input):
             else:
                 msg.append(bint)
 
+
 if __name__ == "__main__":
     from sys import argv
 
-    try:
+    if "-h" or "--help" in argv:
-
+        print(help)
-        addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
-
-        if len(argv) == 3:
-            buf = packMasterMacsCommand(argv[2])
-            s.send(buf)
-            reply = readMasterMacsReply(s)
-            print(reply.decode('utf-8') + '\n')
-
     else:
+        addr = argv[1].split(':')
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        s.connect((addr[0], int(addr[1])))
 
-            try:
+        if len(argv) == 2:
+
+            if platform.system() == "Linux":
+                import curses
 
                 stdscr = curses.initscr()
                 curses.noecho()
@@ -125,7 +146,8 @@ 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.addstr(">> " + history[ptr])
@@ -134,38 +156,24 @@ if __name__ == "__main__":
 
                         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.addstr(">> " + history[ptr])
                             stdscr.move(y, x+1)
                             stdscr.refresh()
-
-            finally:
-
                     # to quit
                     curses.nocbreak()
                     stdscr.keypad(False)
                     curses.echo()
                     curses.endwin()
-
+            else:
-    except:
+                print(help)
-        print("""
+        elif len(argv) == 3:
-        Invalid Arguments
+            buf = packMasterMacsCommand(argv[2])
-
+            s.send(buf)
-        Option 1: Single Command
+            reply = readMasterMacsReply(s)
-        ------------------------
+            print(reply.decode('utf-8') + '\n')
-
+        else:
-        Usage: writeRead.py pmachost:port command
+            print(help)
-        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.
-        """)
-