lin-epics-modules/sinqMotor
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Fixed a bug which resulted in motorStatusProblem not being set properly.

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This commit is contained in:
mathis_s
2024-12-10 09:09:02 +01:00
parent a866023957
commit 26754e608d
1 changed files with 34 additions and 21 deletions
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55
src/sinqAxis.cpp
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@ -100,36 +100,48 @@ asynStatus sinqAxis::poll(bool *moving) {
}
}
/*
At the beginning of the poll, it is assumed that the axis has no status
problems and therefore all error indicators are reset. This does not affect
the PVs until callParamCallbacks has been called!
The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
*/
pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
if (pl_status != asynSuccess) {
pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
if (pl_status != asynSuccess) {
pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setStringParam(pC_->motorMessageText_, "");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
// The poll function is just a wrapper around doPoll and
// handles mainly the callParamCallbacks() function. This wrapper is used
// to make sure callParamCallbacks() is called in case of a premature
// return.
poll_status = doPoll(moving);
// Check and update the watchdog
if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
return asynError;
}
// If the poll status is ok, reset the error indicators in the parameter
// library
if (poll_status == asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
// The poll did not succeed: Something went wrong and the motor has a status
// problem.
if (poll_status != asynSuccess) {
pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
if (pl_status != asynSuccess) {
pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
__PRETTY_FUNCTION__, __LINE__);
}
pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
if (pl_status != asynSuccess) {
pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
__PRETTY_FUNCTION__, __LINE__);
}
}
pl_status = setStringParam(pC_->motorMessageText_, "");
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
__PRETTY_FUNCTION__, __LINE__);
}
// Check and update the watchdog
if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
return asynError;
}
if (pl_status != asynSuccess) {
@ -490,8 +502,9 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
// Check the watchdog
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s => line %d:\nAxis %d exceeded the expected arrival time "
"(%ld).\n",
__PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_);
"%ld (current time is %ld).\n",
__PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_,
time(NULL));
pl_status = setStringParam(
pC_->motorMessageText_,