Simplified paramLib access and show error messages for one poll cycle
Simplified getting and setting paramLib entries via a macro and created a mechanism within poll() which makes sure that error messages are shown for at least one poll cycle. Also moved MAXBUF_ to the SinqController level.
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@ -233,13 +233,14 @@ It calls `doReset` and performs some fast polls after `doReset` returns.
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- `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
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Before calling `doPoll`:
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- Reset the status problem flag, the communication error flag and the error message.
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- Check if the paramLib already contains an old error message. If so, put it into a temporary bufffer
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After calling `doPoll`:
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- Call `checkMovTimeoutWatchdog`. If the movement timed out, create an error message for the user
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- Update the readback-value for the axis enablement.
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- Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
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- If `doPoll` returns anything other than `asynSuccess` or if an old error message is waiting in the temporary buffer, set `motorStatusProblem` to true, otherwise to false. If an old error message is waiting in the temporary buffer, but `doPoll` returned `asynSuccess`, overwrite the paramLib entry for `motorMessageText` with the old error message.
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- Run `callParamCallbacks`
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- Reset `motorMessageText` AFTER updating the PVs. This makes sure that the error message is shown for at least one poll cycle.
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- Return the status of `doPoll`
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- `motorPosition`: Returns the parameter library value of the motor position, accounted for the motor record resolution (see section "Motor record resolution MRES")
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- `setMotorPosition`: Writes the given value into the parameter library, accounted for the motor record resolution (see section "Motor record resolution MRES")
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@ -100,7 +100,7 @@ asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
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int (sinqController::*func)(), char *readValue,
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const char *callerFunctionName, int lineNumber) {
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int maxChars = 190;
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int maxChars = 200;
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int indexValue = (axis->pController()->*func)();
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asynStatus status = axis->pController()->getStringParam(
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@ -259,6 +259,8 @@ asynStatus sinqAxis::poll(bool *moving) {
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asynStatus poll_status = asynSuccess;
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int homing = 0;
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int adaptivePolling = 0;
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char waitingMessage[pC_->MAXBUF_] = {0};
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char newMessage[pC_->MAXBUF_] = {0};
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/*
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If adaptive polling is enabled:
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@ -300,35 +302,42 @@ asynStatus sinqAxis::poll(bool *moving) {
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lastPollTime_ = ts;
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/*
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At the beginning of the poll, it is assumed that the axis has no status
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problems and therefore all error indicators are reset. This does not affect
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the PVs until callParamCallbacks has been called!
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The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
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If the "motorMessageText" record currently contains an error message, it
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should be shown for at least one poll period. To assure this, it is read out
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here from the paramLib into "waitingMessage". If no new error message was
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added to the parameter library at the end of the poll cycle, the
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"waitingMessage" is briefly put into the paramLib again, then the PVs are
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updated and then the message text is cleared again.
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*/
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setAxisParamChecked(this, motorStatusCommsError, false);
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setAxisParamChecked(this, motorMessageText, "");
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getAxisParamChecked(this, motorMessageText, &waitingMessage);
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// The poll function is just a wrapper around doPoll and
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// handles mainly the callParamCallbacks() function. This wrapper is used
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// to make sure callParamCallbacks() is called in case of a premature
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// return.
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// Clear the communication
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setAxisParamChecked(this, motorStatusCommsError, false);
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/*
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The poll function is just a wrapper around doPoll and handles mainly the
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callParamCallbacks() function. This wrapper is used to make sure
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callParamCallbacks() is called in case of a premature return.
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*/
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poll_status = doPoll(moving);
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// If the poll did not succeed, something went wrong and the motor has a
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// status problem.
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if (poll_status == asynSuccess) {
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setAxisParamChecked(this, motorStatusProblem, false);
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} else {
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/*
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If the poll did not succeed OR if an error message is waiting, something
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went wrong and the motor has a status problem. Otherwise, delete the error
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message entry which is currently in the paramLib.
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*/
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if (poll_status != asynSuccess || waitingMessage[0] != '\0') {
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setAxisParamChecked(this, motorStatusProblem, true);
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} else {
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setAxisParamChecked(this, motorMessageText, "");
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setAxisParamChecked(this, motorStatusProblem, false);
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}
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getAxisParamChecked(this, motorStatusHome, &homing);
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/*
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Motor is in homing mode, was moving, but is not moving anymore -> It can be
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assumed that the homing procedure is done.
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*/
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getAxisParamChecked(this, motorStatusHome, &homing);
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if (homing == 1 && !(*moving) && wasMoving_) {
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setAxisParamChecked(this, motorStatusHome, false);
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setAxisParamChecked(this, motorStatusHomed, true);
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@ -363,6 +372,12 @@ asynStatus sinqAxis::poll(bool *moving) {
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poll_status = pl_status;
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}
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/*
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Delete the error message AFTER updating the PVs so it is not there anymore
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during the next poll.
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*/
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setAxisParamChecked(this, motorMessageText, "");
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return poll_status;
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}
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@ -416,7 +431,6 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
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if (status == asynSuccess) {
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setAxisParamChecked(this, motorMessageText, "Reference drive");
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setAxisParamChecked(this, motorStatusHome, true);
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setAxisParamChecked(this, motorStatusHomed, false);
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setAxisParamChecked(this, motorStatusAtHome, false);
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@ -500,40 +500,8 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
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* return asynSuccess;
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* }
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* ```
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*
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* If `readValue` is a `char *`, the size of the buffer needs to be provided as
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* well:
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* ```
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* char readValue[20] = {0};
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* getAxisParamChecked(this, motorStatusProblem_, &readValue, sizeof(readValue))
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* ```
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* expands to
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* ```
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* {
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* int indexValue = axis->pController()->motorStatusProblem_();
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* asynStatus status = axis->pController()->getStringParam(axis->axisNo(),
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* indexValue, sizeof(readValue), readValue); if (status != asynSuccess) {
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* return axis->pController()->paramLibAccessFailed( status,
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* "motorStatusProblem_", axis->axisNo(), __PRETTY_FUNCTION__,
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* __LINE__);
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* }
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* return asynSuccess;
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* }
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* ```
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* =============================================================================
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*/
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// #define getAxisParamChecked(axis, indexGetterFunction, readValue, ...) \
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// { \
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// asynStatus getStatus = getAxisParam( \
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// axis, #indexGetterFunction, \
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// &std::remove_pointer< \
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// decltype(axis->pController())>::type::indexGetterFunction, \
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// readValue, __PRETTY_FUNCTION__, __LINE__, ##__VA_ARGS__); \
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// if (getStatus != asynSuccess) { \
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// return getStatus; \
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// } \
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// }
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#define getAxisParamChecked(axis, indexGetterFunction, readValue) \
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{ \
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asynStatus getStatus = getAxisParam( \
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@ -490,17 +490,12 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
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asynStatus sinqController::checkComTimeoutWatchdog(sinqAxis *axis) {
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char motorMessage[200] = {0};
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char errorMessage[MAXBUF_] = {0};
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asynStatus status =
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checkComTimeoutWatchdog(axis->axisNo(), motorMessage, 200);
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checkComTimeoutWatchdog(axis->axisNo(), errorMessage, MAXBUF_);
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if (status == asynError) {
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status = axis->setStringParam(motorMessageText_, motorMessage);
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if (status != asynSuccess) {
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return paramLibAccessFailed(status, "motorMessageText_",
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axis->axisNo(), __PRETTY_FUNCTION__,
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__LINE__);
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}
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setAxisParamChecked(axis, motorMessageText, motorMessage);
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}
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return status;
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}
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@ -543,17 +538,12 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
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asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,
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sinqAxis *axis) {
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char motorMessage[200] = {0};
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char motorMessage[MAXBUF_] = {0};
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asynStatus status = checkMaxSubsequentTimeouts(timeoutNo, axis->axisNo(),
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motorMessage, 200);
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motorMessage, MAXBUF_);
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if (status == asynError) {
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status = axis->setStringParam(motorMessageText_, motorMessage);
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if (status != asynSuccess) {
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return paramLibAccessFailed(status, "motorMessageText_",
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axis->axisNo(), __PRETTY_FUNCTION__,
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__LINE__);
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}
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setAxisParamChecked(axis, motorMessageText, motorMessage);
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}
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return status;
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}
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@ -376,6 +376,11 @@ class epicsShareClass sinqController : public asynMotorController {
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*/
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int outstandingForcedFastPolls() { return outstandingForcedFastPolls_; }
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// Maximum error message buffer size. This is an empirical value which must
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// be large enough to avoid overflows for all commands to the device /
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// responses from it.
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static const uint32_t MAXBUF_ = 200;
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// =========================================================================
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protected:
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