From c7936191d97c2a66b2bf2d3de92bbaefb32fdf9d Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Fri, 25 Apr 2025 13:17:41 +0200
Subject: [PATCH] Added Connected PV

---
 db/sinqMotor.db        | 12 ++++++++++++
 src/sinqAxis.cpp       | 13 +++++++++++++
 src/sinqAxis.h         |  2 +-
 src/sinqController.cpp | 10 ++++++++++
 src/sinqController.h   |  5 +++++
 5 files changed, 41 insertions(+), 1 deletion(-)

diff --git a/db/sinqMotor.db b/db/sinqMotor.db
index 89c5f12..dc5b7dc 100755
--- a/db/sinqMotor.db
+++ b/db/sinqMotor.db
@@ -54,6 +54,18 @@ record(calc, "$(INSTR)$(M):StatusProblem")
     field(CALC, "A >> 9")
 }
 
+# If the value of this PV is 0, the according axis is currently disconnected from the controller.
+# Trying to give commands to a disconnected axis will result in an error message in the IOC shell
+# This record is coupled to the parameter library via motorConnected_ -> MOTOR_CONNECTED.
+record(longin, "$(INSTR)$(M):Connected")
+{
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_CONNECTED")
+    field(SCAN, "I/O Intr")
+    field(PINI, "NO")
+    field(INIT, "1")
+}
+
 # Call the reset function of the corresponding sinqAxis
 # This record is coupled to the parameter library via motorReset_ -> MOTOR_RESET.
 record(longout, "$(INSTR)$(M):Reset") {
diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index b7b2be3..1aeb54f 100644
--- a/src/sinqAxis.cpp
+++ b/src/sinqAxis.cpp
@@ -67,6 +67,18 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
         exit(-1);
     }
 
+    // Assume that the motor is connected initially
+    status = setIntegerParam(pC_->motorConnected(), 1);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     // We assume that the motor has no status problems initially
     status = setIntegerParam(pC_->motorStatusProblem(), 0);
     if (status != asynSuccess) {
@@ -113,6 +125,7 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
 }
 
 asynStatus sinqAxis::poll(bool *moving) {
+
     // Local variable declaration
     asynStatus pl_status = asynSuccess;
     asynStatus poll_status = asynSuccess;
diff --git a/src/sinqAxis.h b/src/sinqAxis.h
index 56f141e..8842a8d 100644
--- a/src/sinqAxis.h
+++ b/src/sinqAxis.h
@@ -357,7 +357,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     bool watchdogMovActive_;
     // Store the motor target position for the movement time calculation
     double targetPosition_;
-    
+
     bool wasMoving_;
 
     /*
diff --git a/src/sinqController.cpp b/src/sinqController.cpp
index b0fc7a1..767ed3c 100644
--- a/src/sinqController.cpp
+++ b/src/sinqController.cpp
@@ -170,6 +170,16 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("MOTOR_CONNECTED", asynParamInt32, &motorConnected_);
+    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);
+    }
+
     /*
     We need to introduce 2 new parameters in order to write the limits from the
     driver to the EPICS record. See the comment in sinqController.h next to
diff --git a/src/sinqController.h b/src/sinqController.h
index ef88351..9112844 100644
--- a/src/sinqController.h
+++ b/src/sinqController.h
@@ -285,6 +285,7 @@ class epicsShareClass sinqController : public asynMotorController {
     int motorCanSetSpeed() { return motorCanSetSpeed_; }
     int motorLimitsOffset() { return motorLimitsOffset_; }
     int motorForceStop() { return motorForceStop_; }
+    int motorConnected() { return motorConnected_; }
     int motorVeloFromDriver() { return motorVeloFromDriver_; }
     int motorVbasFromDriver() { return motorVbasFromDriver_; }
     int motorVmaxFromDriver() { return motorVmaxFromDriver_; }
@@ -335,6 +336,9 @@ class epicsShareClass sinqController : public asynMotorController {
     int maxSubsequentTimeouts_;
     bool maxSubsequentTimeoutsExceeded_;
 
+    /*
+    See the documentation in db/sinqMotor.db for the following integers
+    */
 #define FIRST_SINQMOTOR_PARAM motorMessageText_
     int motorMessageText_;
     int motorReset_;
@@ -345,6 +349,7 @@ class epicsShareClass sinqController : public asynMotorController {
     int motorCanSetSpeed_;
     int motorLimitsOffset_;
     int motorForceStop_;
+    int motorConnected_;
     /*
     These parameters are here to write values from the hardware to the EPICS
     motor record. Using motorHighLimit_ / motorLowLimit_ does not work: