Added PVs for error reset and status problem reporting and fixed a bug

in msgPrintControl

src/msgPrintControl.cpp

@@ -69,13 +69,16 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
          */
         if (map_.find(key) != map_.end()) {
             if (map_[key] != 0) {
-                char formattedKey[100] = {0};
-                key.format(formattedKey, sizeof(formattedKey));
-                asynPrint(pasynUser, ASYN_TRACE_ERROR,
-                          "Controller \"%s\", axis %d  => %s, line %d\nError "
-                          "associated with key \"%s\" has been resolved.\n",
-                          key.controller_.c_str(), key.axisNo_,
-                          key.functionName_, key.line_, formattedKey);
+                if (pasynUser != nullptr) {
+                    char formattedKey[100] = {0};
+                    key.format(formattedKey, sizeof(formattedKey));
+                    asynPrint(
+                        pasynUser, ASYN_TRACE_ERROR,
+                        "Controller \"%s\", axis %d  => %s, line %d\nError "
+                        "associated with key \"%s\" has been resolved.\n",
+                        key.controller_.c_str(), key.axisNo_, key.functionName_,
+                        key.line_, formattedKey);
+                }
                 map_[key] = 0;
             }
         }
@@ -91,9 +94,20 @@ bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
     return shouldBePrinted(key, wantToPrint, pasynUser);
 }
 
-void msgPrintControl::resetCount(msgPrintControlKey &key) {
+void msgPrintControl::resetCount(msgPrintControlKey &key, asynUser *pasynUser) {
     if (map_.find(key) != map_.end()) {
-        map_[key] = 0;
+        if (map_[key] != 0) {
+            if (pasynUser != nullptr) {
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line %d\nError "
+                          "associated with key \"%s\" has been resolved.\n",
+                          key.controller_.c_str(), key.axisNo_,
+                          key.functionName_, key.line_, formattedKey);
+            }
+            map_[key] = 0;
+        }
     }
 }
 

src/msgPrintControl.h

@@ -93,6 +93,9 @@ class msgPrintControl {
      * identify individual messages
      * @param wantToPrint       If the message associated with key should be
      * printed, this value should be true, otherwise false.
+     * @param pasynUser         If the problem has been resolved (wantToPrint =
+     * false), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
      * @return bool             If true, the message should be printed, if
      * false, it should not.
      */
@@ -108,13 +111,22 @@ class msgPrintControl {
      * @param fileName
      * @param line
      * @param wantToPrint
-     * @return true
-     * @return false
+     * @param pasynUser
      */
     bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
                          int line, bool wantToPrint, asynUser *pasynUser);
 
-    void resetCount(msgPrintControlKey &key);
+    /**
+     * @brief Reset the error message count incremented in shouldBePrinted for
+     * the given key
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param pasynUser         If the problem has been resolved (wantToPrint =
+     * false), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
+     */
+    void resetCount(msgPrintControlKey &key, asynUser *pasynUser);
 
     /**
      * @brief Maximum number of times a message is printed before it is

src/sinqAxis.cpp

@@ -309,6 +309,8 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
     return asynSuccess;
 }
 
+asynStatus sinqAxis::reset() { return asynSuccess; }
+
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
 
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {

src/sinqAxis.h

@@ -160,10 +160,23 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     virtual asynStatus doHome(double minVelocity, double maxVelocity,
                               double acceleration, int forwards);
 
+    /**
+     * @brief This function is called when the PV "$(INSTR)$(M):Reset" is set to
+     * any value. This method should be implemented by a child class of
+     * sinqAxis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus reset();
+
     /**
      * @brief This function enables / disables an axis. It should be implemented
      * by a child class of sinqAxis.
      *
+     * The concrete implementation should (but doesn't need to) follow the
+     * convetion that a value of 0 disables the axis and any other value enables
+     * it.
+     *
      * @param on
      * @return asynStatus
      */

src/sinqController.cpp

@@ -109,6 +109,16 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("MOTOR_RESET", asynParamInt32, &motorReset_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     status = createParam("MOTOR_ENABLE_RBV", asynParamInt32, &motorEnableRBV_);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -293,6 +303,8 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     // Handle custom PVs
     if (function == motorEnable_) {
         return axis->enable(value != 0);
+    } else if (function == motorReset_) {
+        return axis->reset();
     } else if (function == motorForceStop_) {
         return axis->stop(0.0);
     } else {

src/sinqController.h

@@ -245,6 +245,7 @@ class epicsShareClass sinqController : public asynMotorController {
 
 #define FIRST_SINQMOTOR_PARAM motorMessageText_
     int motorMessageText_;
+    int motorReset_;
     int motorEnable_;
     int motorEnableRBV_;
     int motorCanDisable_;