From 555708bdd1d998a860cb71d24bdfbcf51ce3a355 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Mon, 8 Jun 2026 14:01:42 +0200
Subject: [PATCH] Added controller name and axis index to user-facing error
 messages

The controller name and the axis index now also show up in NICOS.
Therefore, it is not necessary anymore to first look up this info in the
IOC config.
---
 src/sinqAxis.cpp       | 41 +++++++++++++++++++++++++++++------------
 src/sinqController.cpp | 24 +++++++++++++++---------
 2 files changed, 44 insertions(+), 21 deletions(-)

diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index 2c3e374..6f5444d 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -428,9 +428,14 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
         return pC_->wakeupPoller();
 
     } else if (status == asynError) {
+
         // asynError means that we tried to home an absolute encoder
-        setAxisParamChecked(this, motorErrorMessage,
-                            "Can't home a motor with absolute encoder");
+        char msg[pC_->MAXBUF_];
+        snprintf(msg, sizeof(msg),
+                 "Controller \"%s\", axis %d: Can't home a motor with absolute "
+                 "encoder.",
+                 pC_->portName, axisNo());
+        setAxisParamChecked(this, motorErrorMessage, msg);
 
         status = assertConnected();
         if (status != asynSuccess) {
@@ -566,9 +571,14 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       "vmax=%lf.\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       vbas, vmax);
-            setAxisParamChecked(this, motorErrorMessage,
-                                "Lower speed limit must not be smaller than "
-                                "upper speed limit. Please call the support.");
+
+            char msg[pC_->MAXBUF_];
+            snprintf(
+                msg, sizeof(msg),
+                "Controller \"%s\", axis %d: Lower speed limit must not "
+                "be smaller than upper speed limit. Please call the support.",
+                pC_->portName, axisNo());
+            setAxisParamChecked(this, motorErrorMessage, msg);
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
@@ -579,10 +589,13 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       velo, vbas, vmax);
 
-            setAxisParamChecked(
-                this, motorErrorMessage,
-                "Speed is not inside limits. Set a new valid speed and try "
-                "to move the motor. Otherwise, please call the support.");
+            char msg[pC_->MAXBUF_];
+            snprintf(msg, sizeof(msg),
+                     "Controller \"%s\", axis %d: Speed is not inside limits. "
+                     "Set a new valid speed and try to move the motor. "
+                     "Otherwise, please call the support.",
+                     pC_->portName, axisNo());
+            setAxisParamChecked(this, motorErrorMessage, msg);
             return asynError;
         }
 
@@ -722,9 +735,13 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
                       pSinqA_->expectedArrivalTime, time(NULL));
         }
 
-        setAxisParamChecked(
-            this, motorErrorMessage,
-            "Exceeded expected arrival time. Check if the axis is blocked.");
+        char msg[pC_->MAXBUF_];
+        snprintf(msg, sizeof(msg),
+                 "Controller \"%s\", axis %d: Exceeded expected arrival time. "
+                 "Check if the axis is blocked.",
+                 pC_->portName, axisNo());
+
+        setAxisParamChecked(this, motorErrorMessage, msg);
         setAxisParamChecked(this, motorStatusProblem, true);
     } else {
         pC_->getMsgPrintControl().resetCount(key, pC_->pasynUser());
diff --git a/src/sinqController.cpp b/src/sinqController.cpp
index e54c08d..0e31c8b 100644
--- a/src/sinqController.cpp
+++ b/src/sinqController.cpp
@@ -503,9 +503,12 @@ asynStatus sinqController::couldNotParseResponse(const char *command,
         return asynError;
     }
 
-    setAxisParamChecked(
-        axis, motorErrorMessage,
-        "Could not interpret controller response. Please call the support");
+    char msg[MAXBUF_];
+    snprintf(msg, sizeof(msg),
+             "Controller \"%s\", axis %d: Could not interpret controller "
+             "response \"%s\" for command \"%s\". Please call the support.",
+             portName, axisNo, response, command);
+    setAxisParamChecked(axis, motorErrorMessage, msg);
     setAxisParamChecked(axis, motorStatusCommsError, true);
 
     return asynError;
@@ -573,9 +576,10 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
 
     if (wantToPrint) {
         snprintf(motorMessage, motorMessageSize,
-                 "More than %ld communication timeouts in %ld seconds. Please "
-                 "call the support.",
-                 pSinqC_->maxNumberTimeouts, pSinqC_->comTimeoutWindow);
+                 "Controller \"%s\", axis %d: More than %ld communication "
+                 "timeouts in %ld seconds. Please call the support.",
+                 portName, axisNo, pSinqC_->maxNumberTimeouts,
+                 pSinqC_->comTimeoutWindow);
 
         paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
         if (paramLibStatus != asynSuccess) {
@@ -609,9 +613,11 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
 
     if (timeoutNo >= pSinqC_->maxSubsequentTimeouts) {
         if (!pSinqC_->maxSubsequentTimeoutsExceeded) {
-            snprintf(motorMessage, motorMessageSize,
-                     "Communication timeout between IOC and motor controller. "
-                     "Trying to reconnect ...");
+            snprintf(
+                motorMessage, motorMessageSize,
+                "Controller \"%s\", axis %d: Communication timeout "
+                "between IOC and motor controller. Trying to reconnect ...",
+                portName, axisNo);
             asynPrint(
                 this->pasynUserSelf, ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d:\nMore than %d "