Moved the initialization of some parameters into sinqMotor

(https://forge.frm2.tum.de/review/c/frm2/nicos/nicos/+/35285)

README.md

@@ -75,7 +75,8 @@ dbLoadTemplate("$(TOP)/mcu1.substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$
 
 ### Substitution file
 
-The substitution file is a table containing axis-specific information which is used to create the axis-specific PVs. To work with sinqMotor, "mcu1.substitutions" needs to look like this:
+The substitution file is a table containing axis-specific information which is used to create the axis-specific PVs.
+To work with sinqMotor, "mcu1.substitutions" needs to look like this (the order of columns does not matter):
 ```
 file "$(SINQDBPATH)"
 {
@@ -93,13 +94,13 @@ The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTempl
 
 - `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU.
 - `M`: The full PV name is created by concatenating the variables INSTR, NAME and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
-- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor.
 - `EGU`: Engineering units. For a linear motor, this is mm, for a rotaty motor, this is degree.
 - `DIR`: If set to "Neg", the axis direction is inverted.
 - `MRES`: This is a scaling factor determining the resolution of the position readback value. For example, 0.001 means a precision of 1 um. A detailed description can be found in section [Motor record resolution MRES](#motor-record-resolution-mres).
 
 #### Optional parameters
 The default values for those parameters are given for the individual records in db/sinqMotor.db
+- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor.
 - `MSGTEXTSIZE`: Buffer size for the motor message record in characters
 - `ENABLEMOVWATCHDOG`: Sets `setWatchdogEnabled` during IOC startup to the given value.
 - `LIMITSOFFSET`: If the motor limits are read out from the controller, they can 

db/sinqMotor.db

@@ -1,18 +1,18 @@
 # The main asyn motor record. Some fields are populated from the substitution 
 # files via macros:
-# - $(INSTR): Name of the instrument, e.g. "SQ:SINQTEST:"
+# - INSTR: Name of the instrument, e.g. "SQ:SINQTEST:"
-# - $(M): Name of the motor in EPICS, e.g. "lin1"
+# - M: Name of the motor in EPICS, e.g. "lin1"
-# - $(DESC): Short description of the motor
+# - DESC: Short description of the motor. If not given, this is equal to M
-# - $(DIR): This value is usually set to "Pos". If the motor axis direction 
+# - DIR: This value is usually set to "Pos". If the motor axis direction 
 # should be inverted, this value can be set to "Neg"
-# - $(CONTROLLER): Name of the motor controller, e.g. "mcu1"
+# - CONTROLLER: Name of the motor controller, e.g. "mcu1"
-# - $(AXIS): Number of the axis, e.g. "1"
+# - AXIS: Number of the axis, e.g. "1"
-# - $(MRES): Motor record resolution. See the README.md for a detailed discussion
+# - MRES: Motor record resolution. See the README.md for a detailed discussion
-# - $(EGU): Engineering units. In case of a rotary axis, this is "degree", in 
+# - EGU: Engineering units. In case of a rotary axis, this is "degree", in 
 # case of a linear axis this is "mm".
 record(motor,"$(INSTR)$(M)")
 {
-    field(DESC,"$(DESC)")
+    field(DESC,"$(DESC=$(M))")
     field(DTYP,"asynMotor")
     field(DIR,"$(DIR=Pos)")
     field(OUT,"@asyn($(CONTROLLER),$(AXIS))")

src/sinqAxis.cpp

@@ -5,32 +5,63 @@
 
 sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
+    asynStatus status = asynSuccess;
 
     initial_poll_ = true;
     watchdogMovActive_ = false;
     init_poll_counter_ = 0;
     scaleMovTimeout_ = 2.0;
     offsetMovTimeout_ = 30;
-}
-
-asynStatus sinqAxis::atFirstPoll() {
-    asynStatus status = asynSuccess;
-    int variableSpeed = 0;
 
     // Motor is assumed to be enabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorEnableRBV_, 1);
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorEnableRBV_",
+        asynPrint(
-                                         __PRETTY_FUNCTION__, __LINE__);
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s => line %d:\nFATAL ERROR (setting a parameter value failed "
+            "with %s)\n. Terminating IOC",
+            __PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
+        exit(-1);
     }
 
     // By default, motors cannot be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 0);
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorCanDisable_",
+        asynPrint(
-                                         __PRETTY_FUNCTION__, __LINE__);
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s => line %d:\nFATAL ERROR (setting a parameter value failed "
+            "with %s)\n. Terminating IOC",
+            __PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
+        exit(-1);
     }
 
+    // Provide a default value for the motor position.
+    status = pC_->setDoubleParam(axisNo_, pC_->motorPosition_, 0.0);
+    if (status != asynSuccess) {
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s => line %d:\nFATAL ERROR (setting a parameter value failed "
+            "with %s)\n. Terminating IOC",
+            __PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // We assume that the motor has no status problems initially
+    status = pC_->setIntegerParam(axisNo_, pC_->motorStatusProblem_, 0);
+    if (status != asynSuccess) {
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s => line %d:\nFATAL ERROR (setting a parameter value failed "
+            "with %s)\n. Terminating IOC",
+            __PRETTY_FUNCTION__, __LINE__, pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+}
+
+asynStatus sinqAxis::atFirstPoll() {
+    asynStatus status = asynSuccess;
+    int variableSpeed = 0;
+
     status =
         pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
     if (status != asynSuccess) {
@@ -100,20 +131,13 @@ asynStatus sinqAxis::poll(bool *moving) {
         }
     }
 
-    // The poll function is just a wrapper around doPoll and
+    /*
-    // handles mainly the callParamCallbacks() function. This wrapper is used
+    At the beginning of the poll, it is assumed that the axis has no status
-    // to make sure callParamCallbacks() is called in case of a premature
+    problems and therefore all error indicators are reset. This does not affect
-    // return.
+    the PVs until callParamCallbacks has been called!
-    poll_status = doPoll(moving);
 
-    // Check and update the watchdog
+    The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
-    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);
     if (pl_status != asynSuccess) {
         pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
@@ -124,12 +148,31 @@ 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 +533,9 @@ 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",
+                  "%ld (current time is %ld).\n",
-                  __PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_);
+                  __PRETTY_FUNCTION__, __LINE__, axisNo_, expectedArrivalTime_,
+                  time(NULL));
 
         pl_status = setStringParam(
             pC_->motorMessageText_,

src/sinqController.cpp

@@ -290,7 +290,7 @@ asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
     asynStatus pl_status = asynSuccess;
 
     asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
-              "%s => line %d:\nCould not interpret response %s for "
+              "%s => line %d:\nCould not interpret response '%s' for "
               "command %s.\n",
               functionName, lineNumber, response, command);
 

src/sinqController.h

@@ -10,8 +10,9 @@ Stefan Mathis, November 2024
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
-#define IncrementalEncoder "Incremental encoder"
+#define IncrementalEncoder "incremental"
-#define AbsoluteEncoder "Absolute encoder"
+#define AbsoluteEncoder "absolute"
+#define NoEncoder "none"
 
 class epicsShareClass sinqController : public asynMotorController {
   public: