Added connection assertion and moved msgPrintControl to key

src/msgPrintControl.cpp

@@ -2,11 +2,13 @@
 #include <unordered_map>
 
 msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
-                                       const char *functionName, int line) {
+                                       const char *functionName, int line,
+                                       size_t maxRepetitions) {
     controller_ = controller;
     axisNo_ = axisNo;
     line_ = line;
     functionName_ = functionName;
+    maxRepetitions_ = maxRepetitions;
 }
 
 void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
@@ -16,10 +18,6 @@ void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
 
 // =============================================================================
 
-msgPrintControl::msgPrintControl(size_t maxRepetitions) {
-    maxRepetitions_ = maxRepetitions;
-}
-
 bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
                                       asynUser *pasynUser) {
 
@@ -34,12 +32,12 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
         */
         if (map_.find(key) != map_.end()) {
             size_t repetitions = map_[key];
-            if (repetitions < maxRepetitions_) {
+            if (repetitions < key.maxRepetitions_) {
                 // Number of allowed repetitions not exceeded -> Printing the
                 // message is ok.
                 map_[key] = repetitions + 1;
                 return true;
-            } else if (repetitions == maxRepetitions_) {
+            } else if (repetitions == key.maxRepetitions_) {
                 // Reached number of allowed repetitions -> Printing the message
                 // is ok, but further trys are rejected.
                 char formattedKey[100] = {0};
@@ -88,7 +86,8 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
 
 bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
                                       const char *functionName, int line,
-                                      bool wantToPrint, asynUser *pasynUser) {
+                                      bool wantToPrint, asynUser *pasynUser,
+                                      size_t maxRepetitions) {
     msgPrintControlKey key =
         msgPrintControlKey(portName, axisNo, functionName, __LINE__);
     return shouldBePrinted(key, wantToPrint, pasynUser);

src/msgPrintControl.h

@@ -1,6 +1,8 @@
 #ifndef msgPrintControl_H
 #define msgPrintControl_H
 
+#define DefaultMaxRepetitions 4
+
 #include <asynDriver.h>
 #include <string.h>
 #include <string>
@@ -21,8 +23,15 @@ class msgPrintControlKey {
     const char *functionName_;
     int line_;
 
+    /**
+     * @brief Maximum number of times a message is printed before it is
+     * suppressed. This number is not used as part of the hash.
+     *
+     */
+    size_t maxRepetitions_;
+
     msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
-                       int line);
+                       int line, size_t maxRepetitions = DefaultMaxRepetitions);
 
     bool operator==(const msgPrintControlKey &other) const {
         return axisNo_ == other.axisNo_ && line_ == other.line_ &&
@@ -73,8 +82,6 @@ template <> struct hash<msgPrintControlKey> {
  */
 class msgPrintControl {
   public:
-    msgPrintControl(size_t maxRepetitions);
-
     /**
      * @brief Checks if the error message associated with "key" has been printed
      * more than `this->maxRepetitions_` times in a row. If yes, returns false,
@@ -115,7 +122,8 @@ class msgPrintControl {
      * @param pasynUser
      */
     bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
-                         int line, bool wantToPrint, asynUser *pasynUser);
+                         int line, bool wantToPrint, asynUser *pasynUser,
+                         size_t maxRepetitions = DefaultMaxRepetitions);
 
     /**
      * @brief Reset the error message count incremented in `shouldBePrinted` for
@@ -129,13 +137,6 @@ class msgPrintControl {
      */
     void resetCount(msgPrintControlKey &key, asynUser *pasynUser);
 
-    /**
-     * @brief Maximum number of times a message is printed before it is
-     * suppressed.
-     *
-     */
-    size_t maxRepetitions_;
-
     char *getSuffix();
 
   private:

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;

src/sinqAxis.h

@@ -348,6 +348,16 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     asynStatus setMotorPosition(double motorPosition);
 
+    /**
+     * @brief Check if the axis is not connected and print a corresponding error
+     * message
+     *
+     * This method is meant to be used at the end of "interactive" function
+     * calls such as move, home, stop etc which can be manually triggered from
+     * the IOC shell or from the channel access protocol.
+     */
+    asynStatus assertConnected();
+
   protected:
     // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime_;

src/sinqController.cpp

@@ -48,7 +48,7 @@ sinqController::sinqController(const char *portName,
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
           1,     // autoconnect
           0, 0), // Default priority and stack size
-      msgPrintControl_(4) {
+      msgPrintControl_() {
 
     asynStatus status = asynSuccess;