Added connection assertion and moved msgPrintControl to key

src/sinqAxis.cpp

@@ -296,6 +296,11 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
         return status;
     }
 
+    status = assertConnected();
+    if (status != asynSuccess) {
+        return status;
+    }
+
     // Since the move command was successfull, we assume that the motor has
     // started its movement.
     status = setIntegerParam(pC_->motorStatusHomed(), 0);
@@ -363,6 +368,11 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
                                              __LINE__);
         }
 
+        status = assertConnected();
+        if (status != asynSuccess) {
+            return status;
+        }
+
         // Update the motor record
         return callParamCallbacks();
 
@@ -376,11 +386,16 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
                                              __LINE__);
         }
 
+        status = assertConnected();
+        if (status != asynSuccess) {
+            return status;
+        }
+
         // Update the motor record
         return callParamCallbacks();
     } else {
         // Bubble up all other problems
-        return status;
+        return assertConnected();
     }
 }
 
@@ -391,6 +406,7 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
 
 asynStatus sinqAxis::reset() {
     asynStatus status = doReset();
+
     if (status == asynSuccess) {
         // Perform some fast polls
         pC_->lock();
@@ -403,6 +419,12 @@ asynStatus sinqAxis::reset() {
         }
         pC_->unlock();
     }
+
+    asynStatus pl_status = assertConnected();
+    if (pl_status != asynSuccess) {
+        return pl_status;
+    }
+
     return status;
 }
 
@@ -456,6 +478,25 @@ asynStatus sinqAxis::setMotorPosition(double motorPosition) {
     return status;
 }
 
+asynStatus sinqAxis::assertConnected() {
+    asynStatus status = asynSuccess;
+    int connected = 0;
+
+    status = pC_->getIntegerParam(axisNo(), pC_->motorConnected(), &connected);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorConnected", axisNo(),
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    if (connected == 0) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\nAxis is not connected, all commands are ignored.\n",
+                  pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
+    }
+    return asynSuccess;
+}
+
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
     asynStatus status = asynSuccess;
     int variableSpeed = 0;