Fixed a bug which resulted in motorStatusProblem not being set properly.

src/sinqAxis.cpp

@@ -100,20 +100,13 @@ asynStatus sinqAxis::poll(bool *moving) {
         }
     }
 
-    // The poll function is just a wrapper around doPoll and
-    // handles mainly the callParamCallbacks() function. This wrapper is used
-    // to make sure callParamCallbacks() is called in case of a premature
-    // return.
-    poll_status = doPoll(moving);
+    /*
+    At the beginning of the poll, it is assumed that the axis has no status
+    problems and therefore all error indicators are reset. This does not affect
+    the PVs until callParamCallbacks has been called!
 
-    // Check and update the watchdog
-    if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
-        return asynError;
-    }
-
-    // If the poll status is ok, reset the error indicators in the parameter
-    // library
-    if (poll_status == asynSuccess) {
+    The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
+    */
     pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
     if (pl_status != asynSuccess) {
         pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
@@ -124,12 +117,31 @@ asynStatus sinqAxis::poll(bool *moving) {
         pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
                                   __PRETTY_FUNCTION__, __LINE__);
     }
-
     pl_status = setStringParam(pC_->motorMessageText_, "");
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          __PRETTY_FUNCTION__, __LINE__);
     }
+
+    // The poll function is just a wrapper around doPoll and
+    // handles mainly the callParamCallbacks() function. This wrapper is used
+    // to make sure callParamCallbacks() is called in case of a premature
+    // return.
+    poll_status = doPoll(moving);
+
+    // The poll did not succeed: Something went wrong and the motor has a status
+    // problem.
+    if (poll_status != asynSuccess) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        if (pl_status != asynSuccess) {
+            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                      __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
+
+    // Check and update the watchdog
+    if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
+        return asynError;
     }
 
     if (pl_status != asynSuccess) {
@@ -490,8 +502,9 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
         // Check the watchdog
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                   "%s => line %d:\nAxis %d exceeded the expected arrival time "
-                  "(%ld).\n",
-                  __PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_);
+                  "%ld (current time is %ld).\n",
+                  __PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_,
+                  time(NULL));
 
         pl_status = setStringParam(
             pC_->motorMessageText_,