lin-epics-modules/sinqMotor
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Added disconnect handling to sinqMotor
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mathis_s
2026-01-22 09:52:24 +01:00
parent 2578081814
commit 4e30331c92
1 changed files with 9 additions and 0 deletions
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9
src/sinqAxis.cpp
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@@ -245,6 +245,10 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
// Clear the communication // Clear the communication
setAxisParamChecked(this, motorStatusCommsError, false); setAxisParamChecked(this, motorStatusCommsError, false);
// Assume the motor is initially connected. During the poll, this value will
// be set to false if the motor is not connected.
setAxisParamChecked(this, motorConnected, true);
/* /*
The poll function is just a wrapper around doPoll and handles mainly the The poll function is just a wrapper around doPoll and handles mainly the
callParamCallbacks() function. This wrapper is used to make sure callParamCallbacks() function. This wrapper is used to make sure
@@ -252,6 +256,11 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
*/ */
poll_status = doPoll(moving); poll_status = doPoll(moving);
// Motor is not connected
if (poll_status == asynDisconnected) {
setAxisParamChecked(this, motorConnected, false);
}
/* /*
If the poll did not succeed OR if an error message is waiting, something If the poll did not succeed OR if an error message is waiting, something
went wrong and the motor has a status problem. Otherwise, delete the error went wrong and the motor has a status problem. Otherwise, delete the error