Improved homing doc, fixed wrong setting of motorStatusHomed and added check to move

db/sinqMotor.db

@@ -109,11 +109,11 @@ record(ao,"$(INSTR)$(M):RecResolution") {
 # This record contains messages from the driver (usually error messages).
 # The macro ERRORMSGSIZE can be used to set the maximum length of the message.
 # if not provided, a default value of 200 is used.
-# This record is coupled to the parameter library via motorErrorMessage -> MOTOR_MESSAGE_TEXT.
+# This record is coupled to the parameter library via motorErrorMessage -> MOTOR_ERROR_MESSAGE.
 record(waveform, "$(INSTR)$(M):ErrorMessage") {
     alias("$(INSTR)$(M)-MsgTxt") # Old PV name, aliased for backwards compatibility
     field(DTYP, "asynOctetRead")
-    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_MESSAGE_TEXT")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ERROR_MESSAGE")
     field(FTVL, "CHAR")
     field(NELM, "$(ERRORMSGSIZE=200)") # Should be the same as MAXBUF in the driver code
     field(SCAN, "I/O Intr")

src/sinqAxis.cpp

@@ -35,6 +35,11 @@ struct sinqAxisImpl {
     Store the time since the last poll
     */
     epicsTimeStamp lastPollTime;
+
+    // For this time in seconds, any error message will be kept alive in the
+    // parameter library.
+    time_t errorDisplayDuration;
+    epicsTimeStamp errorInitialAppearance;
 };
 
 sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
@@ -49,6 +54,8 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
               .targetPosition = 0.0,
               .wasMoving = false,
               .lastPollTime = lastPollTime,
+              .errorDisplayDuration = 2,
+              .errorInitialAppearance = lastPollTime,
           });
       }()) {
 
@@ -281,6 +288,14 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
             setAxisParamChecked(this, motorErrorMessage,
                                 static_cast<char *>(waitingMessage));
         }
+
+        bool statProblem = false;
+        getAxisParamChecked(this, motorStatusProblem, &statProblem);
+        if (!statProblem) {
+            // The error initially appeared at this point in time
+            pSinqA_->errorInitialAppearance = ts;
+        }
+
         setAxisParamChecked(this, motorStatusProblem, true);
     } else {
         // No errors are waiting -> Clear everything.
@@ -330,11 +345,12 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
         poll_status = pl_status;
     }
 
-    /*
-    Delete the error message AFTER updating the PVs so it is not there anymore
-    during the next poll.
-    */
-    setAxisParamChecked(this, motorErrorMessage, "");
+    // Delete the error message after the display duration has been exceeded.
+    epicsTimeStamp errorRemovalTime = pSinqA_->errorInitialAppearance;
+    epicsTimeAddSeconds(&errorRemovalTime, pSinqA_->errorDisplayDuration);
+    if (epicsTimeLessThanEqual(&ts, &errorRemovalTime) == 0) {
+        setAxisParamChecked(this, motorErrorMessage, "");
+    }
 
     return poll_status;
 }
@@ -370,6 +386,10 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                   pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         setAxisParamChecked(this, motorErrorMessage,
                             "Motor needs to be homed / referenced first.");
+        setAxisParamChecked(this, motorStatusProblem, true);
+        epicsTimeStamp ts;
+        epicsTimeGetCurrent(&ts);
+        pSinqA_->errorInitialAppearance = ts;
         return pC_->callParamCallbacks();
     }
 
@@ -746,6 +766,11 @@ asynStatus sinqAxis::setScaleMovTimeout(time_t scaleMovTimeout) {
     return asynSuccess;
 }
 
+asynStatus sinqAxis::setErrorDisplayDuration(time_t errorDisplayDuration) {
+    pSinqA_->errorDisplayDuration = errorDisplayDuration;
+    return asynSuccess;
+}
+
 bool sinqAxis::wasMoving() { return pSinqA_->wasMoving; }
 
 void sinqAxis::setWasMoving(bool wasMoving) { pSinqA_->wasMoving = wasMoving; }
@@ -903,12 +928,63 @@ static void setScaleMovTimeoutCallFunc(const iocshArgBuf *args) {
 
 // =============================================================================
 
-// This function is made known to EPICS in sinqMotor.dbd and is called by EPICS
-// in order to register all functions in the IOC shell
+/**
+ * @brief Set the (minimum) error display duration (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param errorDisplayDuration    Minimum display duration
+ * @return asynStatus
+ */
+asynStatus setErrorDisplayDuration(const char *portName, int axisNo,
+                                   double errorDisplayDuration) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
+                     "exist or is not an instance of sinqAxis.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+    }
+
+    return axis->setErrorDisplayDuration(errorDisplayDuration);
+}
+
+static const iocshArg setErrorDisplayDurationArg0 = {"Controller port name",
+                                                     iocshArgString};
+static const iocshArg setErrorDisplayDurationArg1 = {"Axis number",
+                                                     iocshArgInt};
+static const iocshArg setErrorDisplayDurationArg2 = {
+    "(Minimum) error display duration", iocshArgDouble};
+static const iocshArg *const setErrorDisplayDurationArgs[] = {
+    &setErrorDisplayDurationArg0, &setErrorDisplayDurationArg1,
+    &setErrorDisplayDurationArg2};
+static const iocshFuncDef setErrorDisplayDurationDef = {
+    "setErrorDisplayDuration", 3, setErrorDisplayDurationArgs,
+    "Specify an offset (in seconds) for the movement timeout watchdog"};
+
+static void settErrorDisplayDurationCallFunc(const iocshArgBuf *args) {
+    setErrorDisplayDuration(args[0].sval, args[1].ival, args[2].dval);
+}
+
+// =============================================================================
+
+// This function is made known to EPICS in sinqMotor.dbd and is called by
+// EPICS in order to register all functions in the IOC shell
 static void sinqAxisRegister(void) {
     iocshRegister(&setOffsetMovTimeoutDef, setOffsetMovTimeoutCallFunc);
     iocshRegister(&setScaleMovTimeoutDef, setScaleMovTimeoutCallFunc);
     iocshRegister(&setWatchdogEnabledDef, setWatchdogEnabledCallFunc);
+    iocshRegister(&setErrorDisplayDurationDef,
+                  settErrorDisplayDurationCallFunc);
 }
 epicsExportRegistrar(sinqAxisRegister);
 

src/sinqAxis.h

@@ -337,7 +337,7 @@ class HIDDEN sinqAxis : public asynMotorAxis {
 
     /**
      * @brief Enable / disable the watchdog. Also available in the IOC shell
-     * (see "extern C" section in sinqController.cpp).
+     * (see "extern C" section in sinqAxis.cpp).
      *
      * If enable is set to false and the watchdog is currently running, this
      * function stops it immediately.
@@ -349,7 +349,7 @@ class HIDDEN sinqAxis : public asynMotorAxis {
 
     /**
      * @brief Set the offsetMovTimeout. Also available in the IOC shell
-     * (see "extern C" section in sinqController.cpp).
+     * (see "extern C" section in sinqAxis.cpp).
      *
      * See documentation of `checkMovTimeoutWatchdog` for details.
      *
@@ -360,7 +360,7 @@ class HIDDEN sinqAxis : public asynMotorAxis {
 
     /**
      * @brief Set the scaleMovTimeout. Also available in the IOC shell
-     * (see "extern C" section in sinqController.cpp).
+     * (see "extern C" section in sinqAxis.cpp).
      *
     See documentation of `checkMovTimeoutWatchdog` for details.
      *
@@ -369,6 +369,18 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     virtual asynStatus setScaleMovTimeout(time_t scaleMovTimeout);
 
+    /**
+     * @brief Set the errorDisplayDuration. Also available in the IOC shell
+     * (see "extern C" section in sinqAxis.cpp).
+     *
+    This time in seconds define for which time an error will be displayed after
+    its root cause has been resolved.
+     *
+     * @param errorDisplayDuration     Error display time (in seconds)
+     * @return asynStatus
+     */
+    virtual asynStatus setErrorDisplayDuration(time_t errorDisplayDuration);
+
     /**
      * @brief Return the axis number of this axis
      *

src/sinqController.cpp

@@ -176,10 +176,10 @@ sinqController::sinqController(const char *portName,
 
     // =========================================================================;
 
-    // MOTOR_MESSAGE_TEXT corresponds to the PV definition inside sinqMotor.db.
+    // MOTOR_ERROR_MESSAGE corresponds to the PV definition inside sinqMotor.db.
     // This text is used to forward status messages to NICOS and in turn to the
     // user.
-    status = createParam("MOTOR_MESSAGE_TEXT", asynParamOctet,
+    status = createParam("MOTOR_ERROR_MESSAGE", asynParamOctet,
                          &pSinqC_->motorErrorMessage);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,

src/sinqController.h

@@ -24,7 +24,7 @@ Stefan Mathis, November 2024
 #include <memory>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
-#define motorMessageTextString "MOTOR_MESSAGE_TEXT"
+#define motorMessageTextString "MOTOR_ERROR_MESSAGE"
 #define IncrementalEncoder "incremental"
 #define AbsoluteEncoder "absolute"
 #define NoEncoder "none"