Ignore limit switch errors when the motor is homing or has been homed

Makefile

@@ -9,6 +9,8 @@ ARCH_FILTER=RHEL%
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
 
+LIBVERSION=homeerror
+
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
 HEADERS += src/masterMacsController.h

src/masterMacsAxis.cpp

@@ -11,11 +11,6 @@
 #include <string.h>
 #include <unistd.h>
 
-enum moveMode {
-    positionMode,
-    velocityMode,
-};
-
 struct masterMacsAxisImpl {
     /*
     The axis status and axis error of MasterMACS are given as an integer from
@@ -29,9 +24,6 @@ struct masterMacsAxisImpl {
     bool needInit = true;
     bool targetReachedUninitialized;
     bool dynamicLimits;
-    bool canPositionMove;
-    bool canVelocityMove;
-    moveMode lastMoveCommand;
 };
 
 /*
@@ -102,9 +94,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
           .timeAtHandshake = 0,
           .targetReachedUninitialized = true,
           .dynamicLimits = false,
-          .canPositionMove = true,
-          .canVelocityMove = false,
-          .lastMoveCommand = positionMode,
       })) {
 
     asynStatus status = asynSuccess;
@@ -201,8 +190,9 @@ asynStatus masterMacsAxis::init() {
     double motVelocity = 0.0;
     double motVmax = 0.0;
     double motAccel = 0.0;
+    int motMode = 0;
     int dynamicLimits = 0;
-    int possibleModes = 0;
+    int motCanSetMode = 0;
 
     // =========================================================================
 
@@ -272,7 +262,7 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setVeloFields(abs(motVelocity), 0.0, motVmax);
+    status = setVeloFields(motVelocity, 0.0, motVmax);
     if (status != asynSuccess) {
         return status;
     }
@@ -316,38 +306,36 @@ asynStatus masterMacsAxis::init() {
     }
     pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
+    // Check the current motor mode
+    status = pC_->read(axisNo_, 07, response);
+    if (status != asynSuccess) {
+        return status;
+    }
+    nvals = sscanf(response, "%d", &motMode);
+    if (nvals != 1) {
+        return pC_->couldNotParseResponse("R07", response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    // If the readback value from the controller is 3, it is in velocity mode,
+    // which sinqMotor encodes as a 1. Otherwise, it is in position mode.
+    setAxisParamChecked(this, motorMode, motMode == 3);
+
     // Check if the motor can switch its mode
     status = pC_->read(axisNo_, 31, response);
     if (status != asynSuccess) {
         return status;
     }
-    nvals = sscanf(response, "%d", &possibleModes);
+    nvals = sscanf(response, "%d", &motCanSetMode);
     if (nvals != 1) {
         return pC_->couldNotParseResponse("R31", response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    switch (possibleModes) {
-    case 1:
-        pMasterMacsA_->canPositionMove = true;
-        pMasterMacsA_->canVelocityMove = false;
-        break;
-    case 2:
-        pMasterMacsA_->canPositionMove = false;
-        pMasterMacsA_->canVelocityMove = true;
-        break;
-    case 3:
-        pMasterMacsA_->canPositionMove = true;
-        pMasterMacsA_->canVelocityMove = true;
-        break;
-    default:
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line "
-                  "%d:\nunexpected answer %d for R31 (possible operation "
-                  "modes). Expected one of 1, 2 or 3.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  possibleModes);
-    }
+    // If the readback value from the controller is 3, the motor supports both
+    // velocity and position mode, otherwise just one of them (the one read out
+    // with motMode).
+    setAxisParamChecked(this, motorCanSetMode, motCanSetMode == 3);
 
     status = readEncoderType();
     if (status != asynSuccess) {
@@ -431,7 +419,10 @@ asynStatus masterMacsAxis::readLimits() {
     highLimit = highLimit - limitsOffset;
     lowLimit = lowLimit + limitsOffset;
 
-    return setLimits(highLimit, lowLimit);
+    setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+    setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+
+    return status;
 }
 
 // Perform the actual poll
@@ -441,10 +432,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     asynStatus poll_status = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
+    asynStatus rw_status = asynSuccess;
 
     // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
+    asynStatus pl_status = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -493,8 +484,8 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         pC_->read(axisNo_, 86, response);
-        if (rwStatus != asynSuccess) {
-            return rwStatus;
+        if (rw_status != asynSuccess) {
+            return rw_status;
         }
 
         nvals = sscanf(response, "%lf", &handshakePerformed);
@@ -520,20 +511,38 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
-    plStatus = motorPosition(&previousPosition);
-    if (plStatus != asynSuccess) {
-        return plStatus;
+    pl_status = motorPosition(&previousPosition);
+    if (pl_status != asynSuccess) {
+        return pl_status;
     }
 
     // Update the axis status
-    rwStatus = readAxisStatus();
-    if (rwStatus != asynSuccess) {
-        return rwStatus;
+    rw_status = readAxisStatus();
+    if (rw_status != asynSuccess) {
+        return rw_status;
     }
 
-    rwStatus = pC_->read(axisNo_, 12, response);
-    if (rwStatus != asynSuccess) {
-        return rwStatus;
+    // 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 {
+        if (targetReached() || !switchedOn()) {
+            *moving = false;
+        } else {
+            *moving = true;
+        }
+    }
+
+    if (targetReached()) {
+        pMasterMacsA_->targetReachedUninitialized = false;
+    }
+
+    // Read the current position
+    rw_status = pC_->read(axisNo_, 12, response);
+    if (rw_status != asynSuccess) {
+        return rw_status;
     }
     nvals = sscanf(response, "%lf", &currentPosition);
     if (nvals != 1) {
@@ -541,60 +550,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    plStatus = setMotorPosition(currentPosition);
-    if (plStatus != asynSuccess) {
-        return plStatus;
-    }
-    setAxisParamChecked(this, motorEncoderPosition, currentPosition);
-
-    if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
-
-        // TODO: Not sure whether the RVEL field of the motor record does not
-        // work - has to be clarified
-        double actualVelocity = 0.0;
-
-        rwStatus = pC_->read(axisNo_, 14, response);
-        if (rwStatus != asynSuccess) {
-            return rwStatus;
-        }
-        nvals = sscanf(response, "%lf", &actualVelocity);
-        if (nvals != 1) {
-            return pC_->couldNotParseResponse("R14", response, axisNo_,
-                                              __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        // Write the actual velocity to the paramLib (TODO: does it though?)
-        setAxisParamChecked(this, motorVelocity, actualVelocity);
-
-        // Motor is moving in velocity mode
-        *moving = true;
-
-    } else {
-
-        // If we wait for a handshake, but the motor was moving in its last poll
-        // cycle and has reached its target, it is not moving. Otherwise it is
-        // considered moving, even if we're still waiting for the handshake.
-        if (pMasterMacsA_->targetReachedUninitialized) {
-            *moving = false;
-        } else {
-            if (targetReached() || !switchedOn()) {
-                *moving = false;
-            } else {
-                *moving = true;
-            }
-        }
-
-        if (targetReached()) {
-            pMasterMacsA_->targetReachedUninitialized = false;
-        }
-    }
-
     /*
-    Read out the error if either a fault condition status flag has been set
-    or if a movement has just ended.
+    Read out the error if either a fault condition status flag has been set or
+    if a movement has just ended.
      */
     if (faultConditionSet() || !(*moving)) {
-        rwStatus = readAxisError();
+        rw_status = readAxisError();
     }
 
     msgPrintControlKey keyError = msgPrintControlKey(
@@ -668,42 +629,51 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         /*
-        Either the software limits or the end switches of the controller
-        have been hit. Since the EPICS limits are derived from the software
-        limits and are a little bit smaller, these error cases can only
-        happen if either the axis has an incremental encoder which is not
-        properly homed or if a bug occured.
-        */
-        if (positiveLimitSwitch() || negativeLimitSwitch() ||
-            positiveSoftwareLimit() || negativeSoftwareLimit()) {
+        If the motor is homing or has been homed, ignore limit switch errors.
+         */
+        int homing = 0;
+        int homed = 0;
+        getAxisParamChecked(this, motorStatusHome, &homing);
+        getAxisParamChecked(this, motorStatusHomed, &homed);
+        if (homing || homed) {
+            /*
+            Either the software limits or the end switches of the controller
+            have been hit. Since the EPICS limits are derived from the software
+            limits and are a little bit smaller, these error cases can only
+            happen if either the axis has an incremental encoder which is not
+            properly homed or if a bug occured.
+            */
+            if (positiveLimitSwitch() || negativeLimitSwitch() ||
+                positiveSoftwareLimit() || negativeSoftwareLimit()) {
 
-            // Distinction for developers
-            if (positiveLimitSwitch()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Positive limit switch.");
-            }
-            if (negativeLimitSwitch()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Negative limit switch.");
-            }
-            if (positiveSoftwareLimit()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Positive software limit.");
-            }
-            if (negativeSoftwareLimit()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Negative software limit.");
-            }
+                // Distinction for developers
+                if (positiveLimitSwitch()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Positive limit switch.");
+                }
+                if (negativeLimitSwitch()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Negative limit switch.");
+                }
+                if (positiveSoftwareLimit()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Positive software limit.");
+                }
+                if (negativeSoftwareLimit()) {
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
+                                       "Negative software limit.");
+                }
 
-            // Generic error message for user
-            appendErrorMessage(
-                errorMessage, sizeof(errorMessage),
-                "Software limits or end switch hit. Try homing the motor, "
-                "moving in the opposite direction or check the SPS for "
-                "errors (if available). Otherwise please call the "
-                "support.");
+                // Generic error message for user
+                appendErrorMessage(
+                    errorMessage, sizeof(errorMessage),
+                    "Software limits or end switch hit. Try homing the motor, "
+                    "moving in the opposite direction or check the SPS for "
+                    "errors (if available). Otherwise please call the "
+                    "support.");
 
-            poll_status = asynError;
+                poll_status = asynError;
+            }
         }
 
         if (overCurrent()) {
@@ -774,9 +744,9 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     // Read out the limits, if the motor is not moving and if the limits are
     // dynamic
     if (pMasterMacsA_->dynamicLimits && !(*moving)) {
-        rwStatus = readLimits();
-        if (rwStatus != asynSuccess) {
-            return rwStatus;
+        rw_status = readLimits();
+        if (rw_status != asynSuccess) {
+            return rw_status;
         }
     }
 
@@ -801,11 +771,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorStatusDone, !(*moving));
     setAxisParamChecked(this, motorStatusDirection, direction);
 
+    pl_status = setMotorPosition(currentPosition);
+    if (pl_status != asynSuccess) {
+        return pl_status;
+    }
     return poll_status;
 }
 
-asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
-                                        double acceleration) {
+asynStatus masterMacsAxis::doMoveVelocity(double minVelocity,
+                                          double maxVelocity,
+                                          double acceleration) {
     // Suppress unused variable warning
     (void)minVelocity;
     (void)acceleration;
@@ -821,18 +796,6 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // =========================================================================
 
-    // Can the motor be operated in velocity mode?
-    if (!pMasterMacsA_->canVelocityMove) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
-                  "operate in velocity mode.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-        setAxisParamChecked(this, motorStatusProblem, true);
-        setAxisParamChecked(this, motorMessageText,
-                            "cannot operate in velocity mode");
-        return asynError;
-    }
-
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -868,14 +831,7 @@ asynStatus masterMacsAxis::moveVelocity(double minVelocity, double maxVelocity,
 
     // Start the move. We do not use the MovTimeout watchdog here, because the
     // motor can move for any time in velocity mode.
-    status = pC_->write(axisNo_, 00, "3", timeout);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    // Cache the information that the current movement is in velocity mode
-    pMasterMacsA_->lastMoveCommand = velocityMode;
-    return status;
+    return pC_->write(axisNo_, 00, "3", timeout);
 }
 
 asynStatus masterMacsAxis::doMove(double position, int relative,
@@ -898,18 +854,6 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    // Can the motor be operated in position mode?
-    if (!pMasterMacsA_->canPositionMove) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d:\nAxis cannot "
-                  "operate in position mode.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-        setAxisParamChecked(this, motorStatusProblem, true);
-        setAxisParamChecked(this, motorMessageText,
-                            "cannot operate in position mode");
-        return asynError;
-    }
-
     getAxisParamChecked(this, motorEnableRBV, &enabled);
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
@@ -995,8 +939,6 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
-    // Cache the information that the current movement is in position mode
-    pMasterMacsA_->lastMoveCommand = positionMode;
     return status;
 }
 
@@ -1297,8 +1239,8 @@ asynStatus masterMacsAxis::readAxisStatus() {
 
     // =========================================================================
 
-    asynStatus rwStatus = pC_->read(axisNo_, 10, response);
-    if (rwStatus == asynSuccess) {
+    asynStatus rw_status = pC_->read(axisNo_, 10, response);
+    if (rw_status == asynSuccess) {
 
         float axisStatus = 0;
         int nvals = sscanf(response, "%f", &axisStatus);
@@ -1310,7 +1252,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
         pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
-    return rwStatus;
+    return rw_status;
 }
 
 asynStatus masterMacsAxis::readAxisError() {
@@ -1318,8 +1260,8 @@ asynStatus masterMacsAxis::readAxisError() {
 
     // =========================================================================
 
-    asynStatus rwStatus = pC_->read(axisNo_, 11, response);
-    if (rwStatus == asynSuccess) {
+    asynStatus rw_status = pC_->read(axisNo_, 11, response);
+    if (rw_status == asynSuccess) {
 
         float axisError = 0;
         int nvals = sscanf(response, "%f", &axisError);
@@ -1329,7 +1271,7 @@ asynStatus masterMacsAxis::readAxisError() {
         }
         pMasterMacsA_->axisError = toBitset(axisError);
     }
-    return rwStatus;
+    return rw_status;
 }
 
 bool masterMacsAxis::readyToBeSwitchedOn() {
@@ -1356,8 +1298,6 @@ bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
 
 bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
 
-bool masterMacsAxis::speedEqualZero() { return pMasterMacsA_->axisStatus[12]; }
-
 bool masterMacsAxis::internalLimitActive() {
     return pMasterMacsA_->axisStatus[11];
 }

src/masterMacsAxis.h

@@ -52,15 +52,17 @@ class HIDDEN masterMacsAxis : public sinqAxis {
     asynStatus doPoll(bool *moving);
 
     /**
-     * @brief TODO
+     * @brief Implementation of the `doMoveVelocity` function from sinqAxis. The
+     * parameters are described in the documentation of
+     * `sinqAxis::doMoveVelocity`.
      *
      * @param minVelocity
      * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus moveVelocity(double minVelocity, double maxVelocity,
-                            double acceleration);
+    asynStatus doMoveVelocity(double minVelocity, double maxVelocity,
+                              double acceleration);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -250,12 +252,6 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     bool internalLimitActive();
 
-    /**
-     * @brief Read the property from axisStatus (see masterMacsAxisImpl
-     * redefinition in masterMacsAxis.cpp)
-     */
-    bool speedEqualZero();
-
     // Bits 12 and 13 are unused
 
     /**