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

src/sinqAxis.cpp

@@ -100,36 +100,48 @@ asynStatus sinqAxis::poll(bool *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!
+
+    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_",
+                                  __PRETTY_FUNCTION__, __LINE__);
+    }
+    pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
+    if (pl_status != asynSuccess) {
+        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);
 
-    // 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) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+    // 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__);
         }
-        pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
-        if (pl_status != asynSuccess) {
-            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__);
-        }
+    // 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_,