From 82fe312c4cb62a005301774ca0c6842e45d1755f Mon Sep 17 00:00:00 2001
From: Jens Eden <jens.eden@ptb.de>
Date: Wed, 7 Jan 2015 10:21:35 +0000
Subject: [PATCH] split init string into individual commands; read status
 before position

---
 motorApp/OmsAsynSrc/omsBaseController.cpp | 33 ++++++++++++++---------
 motorApp/OmsAsynSrc/omsBaseController.h   |  1 +
 2 files changed, 22 insertions(+), 12 deletions(-)

diff --git a/motorApp/OmsAsynSrc/omsBaseController.cpp b/motorApp/OmsAsynSrc/omsBaseController.cpp
index 46b0feb7..dfa096dc 100644
--- a/motorApp/OmsAsynSrc/omsBaseController.cpp
+++ b/motorApp/OmsAsynSrc/omsBaseController.cpp
@@ -471,12 +471,18 @@ asynStatus omsBaseController::Init(const char* initString, int multiple){
     /* send InitString */
     if ((initString != NULL) && (strlen(initString) > 0)) {
         if (multiple){
+            /* send each commmand in initstring individually */
+            char* tmpout = new char[strlen(initString)+2];
             char* inittmp = epicsStrDup(initString);
             for (tokSave = NULL, p = epicsStrtok_r(inittmp, ";", &tokSave);
                     p != NULL; p = epicsStrtok_r(NULL, ";", &tokSave)) {
-                sendOnlyLock(p);
+                strcpy(tmpout, p);
+                strcat(tmpout, ";");
+                sendOnlyLock(tmpout);
+                epicsThreadSleep(0.1);
             }
             free(inittmp);
+            delete[] tmpout;
         }
         else {
             sendOnlyLock(initString);
@@ -626,28 +632,31 @@ void omsBaseController::omsPoller()
 
         epicsTimeGetCurrent(&loopStart);
 
+        /* read all axis status values and reset done-field
+         * MDNN,MDNN,PNLN,PNNN,PNLN,PNNN,PNNN,PNNN */
         retry_count = 0;
-        while ((getAxesPositions(axisPosArr) != asynSuccess) && (retry_count < 5)){
+        while ((getAxesStatus(statusBuffer, sizeof(statusBuffer), &moveDone) != asynSuccess) && (retry_count < 5)){
+            Debug(1, "%s:%s:%s: error reading axes status\n", driverName, functionName, this->portName);
             epicsThreadSleep(0.1);
             ++retry_count;
         }
+
         if (retry_count > 4){
-            errlogPrintf("%s:%s:%s: error reading axis position after %d attempts\n",
+            errlogPrintf("%s:%s:%s: error reading axis status (%d attempts)\n",
                     driverName, functionName, this->portName, retry_count);
             ++loopBreakCount;
+            resetConnection();
+            continue;
+        }
+
+        if (getAxesPositions(axisPosArr) != asynSuccess){
+            Debug(1, "%s:%s:%s: error reading axis positions\n", driverName, functionName, this->portName);
+            ++loopBreakCount;
             continue;
         }
 
         if (useEncoder && (getEncoderPositions(encPosArr) != asynSuccess)){
-            Debug(1, "%s:%s:%s: error executing get Encoder Positions\n", driverName, functionName, this->portName);
-            ++loopBreakCount;
-            continue;
-        }
-
-        /* read all axis status values and reset done-field
-         * MDNN,MDNN,PNLN,PNNN,PNLN,PNNN,PNNN,PNNN */
-        if (getAxesStatus(statusBuffer, sizeof(statusBuffer), &moveDone) != asynSuccess){
-            Debug(1, "%s:%s:%s: error reading axes status\n", driverName, functionName, this->portName);
+            Debug(1, "%s:%s:%s: error reading encoder positions\n", driverName, functionName, this->portName);
             ++loopBreakCount;
             continue;
         }
diff --git a/motorApp/OmsAsynSrc/omsBaseController.h b/motorApp/OmsAsynSrc/omsBaseController.h
index 79a7c08d..d3290c0d 100644
--- a/motorApp/OmsAsynSrc/omsBaseController.h
+++ b/motorApp/OmsAsynSrc/omsBaseController.h
@@ -62,6 +62,7 @@ protected:
     virtual asynStatus getClosedLoopStatus(int clstatus[OMS_MAX_AXES]);
     virtual epicsEventWaitStatus waitInterruptible(double timeout);
     virtual bool watchdogOK();
+    virtual bool resetConnection(){return false;};
     char* getPortName(){return portName;};
     bool firmwareMin(int, int, int);
     static omsBaseController* findController(const char*);