Actually added the files for msgPrintControl

message repetitions.

.gitlab-ci.yml

@@ -1,6 +1,6 @@
 default:
   image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
+
 stages:
   - lint
   - build
@@ -24,16 +24,6 @@ formatting:
   tags:
     - sinq
 
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
 build_module:
   stage: build
   script:
@@ -48,4 +38,4 @@ build_module:
     expire_in: 1 week
   when: always
   tags:
-    - sinq
+    - sinq

Makefile

@@ -10,10 +10,12 @@ ARCH_FILTER=RHEL%
 asynMotor_VERSION=7.2.2
 
 # Source files to build
+SOURCES += src/msgPrintControl.cpp
 SOURCES += src/sinqAxis.cpp
 SOURCES += src/sinqController.cpp
 
 # Headers which allow using this library in concrete driver implementations
+HEADERS += src/msgPrintControl.h
 HEADERS += src/sinqAxis.h
 HEADERS += src/sinqController.h
 

README.md

@@ -42,34 +42,41 @@ epicsEnvSet("INSTR","SQ:SINQTEST:")
 iocInit()
 ```
 The first line is a so-called shebang which instructs Linux to execute the file with the executable located at the given path - the IOC shell in this case. The controller script "mcu1.cmd" looks like this:
+The script for controller 1 ("mcu1.cmd") for a Turbo PMAC (see https://git.psi.ch/sinq-epics-modules/turboPmac) has the following structure. The scripts for other controller types can be found in the README.md of their respective repositories.
+
 ```
-# Define some needed parameters (they can be safely overwritten in e.g. mcu2.cmd)
+# Define the name of the controller and the corresponding port
 epicsEnvSet("NAME","mcu1")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
-# Define the IP adress of the controller
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
 drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 
-# Create the controller object in EPICS. The function "pmacv3Controller" is 
-# provided by loading the shared library turboPmac.
-pmacv3Controller("$(NAME)","$(ASYN_PORT)",8,0.05,1,0.05);
+# Create the controller object with the defined name and connect it to the socket via the port name.
+# The other parameters are as follows:
+# 8: Maximum number of axes
+# 0.05: Busy poll period in seconds
+# 1: Idle poll period in seconds
+# 1: Socket communication timeout in seconds
+turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
 
-# Create four axes objects on slots 1, 2, 3 and 5 of the controller.
-pmacv3Axis("$(NAME)",1);
-pmacv3Axis("$(NAME)",2);
-pmacv3Axis("$(NAME)",3);
-pmacv3Axis("$(NAME)",5);
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
+turboPmacAxis("$(NAME)",1);
+turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(NAME)",5);
 
-# Create some general PVs of an asynRecord, substituting the macro P by concatenating INSTR and NAME and PORT by ASYN_PORT.
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
 
-# Create PVs provided by the sinqMotor database template. This template is parametrized by the substitution file "mcu1.substitutions" (see below)
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
-dbLoadTemplate("$(TOP)/mcu1.substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-
-# Create PVs specific for pmacv3. Again, we load a database template and parametrize it with the substitution file "mcu1.substitutions"
-epicsEnvSet("SINQDBPATH","$(pmacv3_DB)/pmacv3.db")
-dbLoadTemplate("$(TOP)/mcu1.substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
 ### Substitution file
@@ -189,6 +196,9 @@ sinqMotor offers a variety of additional methods for children classes to standar
 - `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
 - `setScaleMovTimeout`: Set a scaling factor for the expected movement time. This function is also available in the IOC shell.
 
+#### msgPrintControl.h
+In addition to the two extension classes this library also includes a mechanism which prevents excessive repetitions of the same error message to the IOC shell via the classes `msgPrintControl` and `msgPrintControlKey`. A detailed description of the mechanism can be found in the docstring of `msgPrintControl`. The implementation of the `poll` function of `sinqAxis` also contains an example how to use it. Using this feature in derived drivers is entirely optional.
+
 ### Versioning
 
 The versioning is done via git tags. Git tags are recognized by the PSI build system: If you tag a version as 1.0, it will be built into the directory /ioc/modules/sinqMotor/1.0. The tag is directly coupled to a commit so that it is always clear which source code was used to build which binary.
@@ -197,6 +207,12 @@ All existing tags can be listed with `git tag` in the sinqMotor directory. Detai
 
 ### How to build it
 
-The makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
+This library is based on the PSI version of the EPICS motor record, which can be found here: `https://git.psi.ch/epics_driver_modules/motorBase`. We use a branch with a bugfix which is currently not merged into master due to resistance of the PSI userbase: `https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`. This library can be build with the following steps, assuming GCC and make are available:
+- `git clone https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`
+- `cd motorBase`
+- `git tag 7.2.2`. The latest version on master is currently 7.2.1, hence we increment the bugfix version counter by one
+- `make install`
+
+To build sinqMotor itself, the makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
 
 To use the library when writing a concrete motor driver, include it in the makefile of your application / library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile. The version can be specified with `sinqMotor_VERSION=x.x.x.`

src/msgPrintControl.cpp

@@ -0,0 +1,100 @@
+#include "msgPrintControl.h"
+#include <unordered_map>
+
+msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
+                                       const char *functionName, int line) {
+    controller_ = controller;
+    axisNo_ = axisNo;
+    line_ = line;
+    functionName_ = functionName;
+}
+
+void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
+    snprintf(buffer, bufferSize, "controller %s, axis %d, function %s, line %d",
+             controller_.c_str(), axisNo_, functionName_, line_);
+}
+
+// =============================================================================
+
+msgPrintControl::msgPrintControl(size_t maxRepetitions) {
+    maxRepetitions_ = maxRepetitions;
+}
+
+bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                                      asynUser *pasynUser) {
+
+    // Reset the suffix
+    suffix_[0] = 0;
+
+    if (wantToPrint) {
+        /*
+        We want to print the message associated with key -> Check if the number
+        of allowed repetitions is exceeded. If true, inform the user that
+        further output is suppressed.
+        */
+        if (map_.find(key) != map_.end()) {
+            size_t repetitions = map_[key];
+            if (repetitions < maxRepetitions_) {
+                // Number of allowed repetitions not exceeded -> Printing the
+                // message is ok.
+                map_[key] = repetitions + 1;
+                return true;
+            } else if (repetitions == maxRepetitions_) {
+                // Reached number of allowed repetitions -> Printing the message
+                // is ok, but further trys are rejected.
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                snprintf(suffix_, sizeof(suffix_),
+                         " Further repetition of this error message (key "
+                         "\"%s\") is suppressed.",
+                         formattedKey);
+                map_[key] = repetitions + 1;
+                return true;
+            } else {
+                // Exceeded number of allowed repetitions -> Do not print the
+                // message
+                return false;
+            }
+        } else {
+            // Message is not yet in map -> create an entry so it is watched in
+            // the future.
+            map_[key] = 1;
+            return true;
+        }
+
+    } else {
+        /*
+        We do not want to print the message associated with key -> If the key is
+        part of the map, set the counter back to zero.
+         */
+        if (map_.find(key) != map_.end()) {
+            if (map_[key] != 0) {
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line %d\nError "
+                          "associated with key \"%s\" has been resolved.\n",
+                          key.controller_.c_str(), key.axisNo_,
+                          key.functionName_, key.line_, formattedKey);
+                map_[key] = 0;
+            }
+        }
+        return false;
+    }
+}
+
+bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
+                                      const char *functionName, int line,
+                                      bool wantToPrint, asynUser *pasynUser) {
+    msgPrintControlKey key =
+        msgPrintControlKey(portName, axisNo, functionName, __LINE__);
+    return shouldBePrinted(key, wantToPrint, pasynUser);
+}
+
+void msgPrintControl::resetCount(msgPrintControlKey &key) {
+    if (map_.find(key) != map_.end()) {
+        map_[key] = 0;
+    }
+}
+
+char *msgPrintControl::getSuffix() { return suffix_; }

src/msgPrintControl.h

@@ -0,0 +1,133 @@
+#ifndef msgPrintControl_H
+#define msgPrintControl_H
+
+#include <asynDriver.h>
+#include <string.h>
+#include <string>
+#include <unordered_map>
+
+/**
+ * @brief Class to identify a message print location. See the docstring of
+ * `msgPrintControl` on how to use this key.
+ *
+ */
+class msgPrintControlKey {
+  public:
+    std::string controller_;
+    // -1 is a non-axis specific message
+    int axisNo_;
+    const char *functionName_;
+    int line_;
+
+    msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
+                       int line);
+
+    bool operator==(const msgPrintControlKey &other) const {
+        return axisNo_ == other.axisNo_ && line_ == other.line_ &&
+               strcmp(functionName_, other.functionName_) == 0 &&
+               controller_ == other.controller_;
+    }
+
+    void format(char *buffer, size_t bufferSize);
+};
+
+/**
+ * @brief Implementation of the hash functionality for msgPrintControlKey
+ *
+ */
+namespace std {
+template <> struct hash<msgPrintControlKey> {
+    size_t operator()(const msgPrintControlKey &obj) const {
+        // Combine the hashes of the members (x and y)
+        size_t h1 = std::hash<std::string>{}(obj.controller_);
+        size_t h2 = hash<int>{}(obj.axisNo_);
+        size_t h3 = std::hash<const char *>{}(obj.functionName_);
+        size_t h4 = hash<int>{}(obj.line_);
+        // Combine the hashes (simple XOR and shifting technique)
+        return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+};
+} // namespace std
+
+/**
+ * @brief Class to control the number of repetitions of error messages
+ *
+ * This class is used to prevent excessive repetitions of identical error
+ * messages. For example, if the communication between a controller and an
+ * axis fails, a corresponding error message is created in each poll. This
+ * could "flood" the IOC shell with noise. To prevent this, this class keeps
+ * track of the number of subsequent error message repetition. Each message is
+ * uniquely identified by "msgPrintControlKey". The function shouldBePrinted
+ * can be used in order to see if a message should be printed or not:
+ *
+ * ```
+ * const char* controller = "MCU" // Name of the controller
+ * int axisNo = 0; // Number of the axis
+ * bool wantToPrint = evaluateConditions(...); *
+ * if (msgPrintControl.shouldBePrinted(controller, axisNo, __PRETTY_FUNCTION__,
+ * __LINE__, wantToPrint)) { asynPrint(...)
+ * }
+ *
+ * ```
+ */
+class msgPrintControl {
+  public:
+    msgPrintControl(size_t maxRepetitions);
+
+    /**
+     * @brief Checks if the error message associated with "key" has been printed
+     * more than "maxRepetitions_" times in a row. If yes, returns false,
+     * otherwise true. Counter is reset if wantToPrint is false.
+     *
+     * If the conditions for printing a message are met, "wantToPrint" must be
+     * set to true. The function then checks if "maxRepetitions_" has been
+     * exceeded. If yes, the function returns no, indicating that the message
+     * should not be printed. If no, the number of repetitions stored in the map
+     * is incremented and the function returns true, indicating that the message
+     * should be printed.
+     *
+     * If the conditions for printing a message are not met, "wantToPrint" must
+     * be set to false. This resets the map entry.
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param wantToPrint       If the message associated with key should be
+     * printed, this value should be true, otherwise false.
+     * @return bool             If true, the message should be printed, if
+     * false, it should not.
+     */
+    bool shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                         asynUser *pasynUser);
+
+    /**
+     * @brief Like `shouldBePrinted(msgPrintControlKey key, bool wantToPrint)`,
+     * but constructs the key from the first four arguments.
+     *
+     * @param controller_
+     * @param axisNo
+     * @param fileName
+     * @param line
+     * @param wantToPrint
+     * @return true
+     * @return false
+     */
+    bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
+                         int line, bool wantToPrint, asynUser *pasynUser);
+
+    void resetCount(msgPrintControlKey &key);
+
+    /**
+     * @brief Maximum number of times a message is printed before it is
+     * suppressed.
+     *
+     */
+    size_t maxRepetitions_;
+
+    char *getSuffix();
+
+  private:
+    std::unordered_map<msgPrintControlKey, size_t> map_;
+    char suffix_[200] = {0};
+};
+
+#endif

src/sinqAxis.cpp

@@ -10,9 +10,7 @@ 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;
     targetPosition_ = 0.0;
@@ -188,14 +186,18 @@ asynStatus sinqAxis::poll(bool *moving) {
     // According to the function documentation of asynMotorAxis::poll, this
     // function should be called at the end of a poll implementation.
     pl_status = callParamCallbacks();
-    if (pl_status != asynSuccess) {
-        // If we can't communicate with the parameter library, it doesn't make
-        // sense to try and upstream this to the user -> Just log the error
+    bool wantToPrint = pl_status != asynSuccess;
+    if (pC_->msgPrintControl_.shouldBePrinted(
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
+            pC_->pasynUserSelf)) {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line "
-                  "%d:\ncallParamCallbacks failed with %s.\n",
+                  "%d:\ncallParamCallbacks failed with %s.%s\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  pC_->stringifyAsynStatus(poll_status));
+                  pC_->stringifyAsynStatus(poll_status),
+                  pC_->msgPrintControl_.getSuffix());
+    }
+    if (wantToPrint) {
         poll_status = pl_status;
     }
 

src/sinqAxis.h

@@ -4,8 +4,8 @@ This class extends asynMotorAxis by some features used in SINQ.
 Stefan Mathis, November 2024
 */
 
-#ifndef __SINQDRIVER
-#define __SINQDRIVER
+#ifndef sinqAxis_H
+#define sinqAxis_H
 #include "asynMotorAxis.h"
 
 class epicsShareClass sinqAxis : public asynMotorAxis {
@@ -294,9 +294,6 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     friend class sinqController;
 
   protected:
-    bool initial_poll_;
-    int init_poll_counter_;
-
     // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime_;
     time_t offsetMovTimeout_;

src/sinqController.cpp

@@ -46,15 +46,11 @@ sinqController::sinqController(const char *portName,
           0, // No additional interfaces beyond those in base class
           0, // No additional callback interfaces beyond those in base class
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
-          1, // autoconnect
-          0,
-          0) // Default priority and stack size
-{
+          1,     // autoconnect
+          0, 0), // Default priority and stack size
+      msgPrintControl_(4) {
 
-    // Initialization of local variables
     asynStatus status = asynSuccess;
-
-    // Initialization of all member variables
     lowLevelPortUser_ = nullptr;
 
     // Initial values for the average timeout mechanism, can be overwritten
@@ -274,6 +270,10 @@ sinqController::~sinqController(void) {
     free(this->pAxes_);
 }
 
+msgPrintControl &sinqController::getMsgPrintControl() {
+    return msgPrintControl_;
+}
+
 asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     int function = pasynUser->reason;
 
@@ -281,6 +281,7 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
 
     asynMotorAxis *asynAxis = getAxis(pasynUser);
     sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+
     if (axis == nullptr) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
@@ -292,6 +293,8 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     // Handle custom PVs
     if (function == motorEnable_) {
         return axis->enable(value != 0);
+    } else if (function == motorForceStop_) {
+        return axis->stop(0.0);
     } else {
         return asynMotorController::writeInt32(pasynUser, value);
     }
@@ -302,10 +305,11 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
     // Casting into a sinqAxis is necessary to get access to the field axisNo_
     asynMotorAxis *asynAxis = getAxis(pasynUser);
     sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+
     if (axis == nullptr) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
-                  "instance of sinqAxis",
+                  "instance of sinqAxis.\n",
                   portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
         return asynError;
     }
@@ -323,13 +327,13 @@ asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
                                                        const char *response,
                                                        int axisNo,
                                                        const char *functionName,
-                                                       int lineNumber) {
+                                                       int line) {
     asynStatus pl_status = asynSuccess;
 
     asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nCould not interpret "
               "response \"%s\" for command \"%s\".\n",
-              portName, axisNo, functionName, lineNumber, response, command);
+              portName, axisNo, functionName, line, response, command);
 
     pl_status = setStringParam(
         motorMessageText_,
@@ -352,16 +356,17 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
                                                 const char *parameter,
                                                 int axisNo,
                                                 const char *functionName,
-                                                int lineNumber) {
+                                                int line) {
 
     if (status != asynSuccess) {
-        // Log the error message and try to propagate it. If propagating fails,
-        // there is nothing we can do here anyway.
         asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\n Accessing the "
                   "parameter library failed for parameter %s with error %s.\n",
-                  portName, axisNo, functionName, lineNumber, parameter,
+                  portName, axisNo, functionName, line, parameter,
                   stringifyAsynStatus(status));
+
+        // Log the error message and try to propagate it. If propagating fails,
+        // there is nothing we can do here anyway.
         setStringParam(motorMessageText_,
                        "Accessing paramLib failed. Please call the support.");
     }
@@ -391,20 +396,26 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
     }
 
     // Check if the maximum allowed number of events has been exceeded
-    if (timeoutEvents_.size() > maxNumberTimeouts_) {
+    bool wantToPrint = timeoutEvents_.size() > maxNumberTimeouts_;
 
+    if (msgPrintControl_.shouldBePrinted(portName, axisNo, __PRETTY_FUNCTION__,
+                                         __LINE__, wantToPrint,
+                                         pasynUserSelf)) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nMore than %ld "
+                  "communication timeouts in %ld "
+                  "seconds.%s\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  maxNumberTimeouts_, comTimeoutWindow_,
+                  msgPrintControl_.getSuffix());
+    }
+
+    if (wantToPrint) {
         snprintf(motorMessage, motorMessageSize,
                  "More than %ld communication timeouts in %ld seconds. Please "
                  "call the support.",
                  maxNumberTimeouts_, comTimeoutWindow_);
 
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d => %s, line %d:\nMore than %ld "
-                  "communication timeouts in %ld "
-                  "seconds\n",
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                  maxNumberTimeouts_, comTimeoutWindow_);
-
         paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
         if (paramLibStatus != asynSuccess) {
             return paramLibAccessFailed(paramLibStatus,

src/sinqController.h

@@ -5,11 +5,13 @@ README.md for details.
 Stefan Mathis, November 2024
 */
 
-#ifndef __sinqController
-#define __sinqController
+#ifndef sinqController_H
+#define sinqController_H
 #include "asynMotorController.h"
+#include "msgPrintControl.h"
 #include <deque>
 #include <initHooks.h>
+#include <unordered_map>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
@@ -88,13 +90,13 @@ class epicsShareClass sinqController : public asynMotorController {
     error messages.
      * @param functionName        Name of the caller function. It is recommended
     to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
-     * @param lineNumber          Source code line where this function is
+     * @param line          Source code line where this function is
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns input status.
      */
     asynStatus paramLibAccessFailed(asynStatus status, const char *parameter,
                                     int axisNo, const char *functionName,
-                                    int lineNumber);
+                                    int line);
 
     /**
      * @brief Error handling in case parsing a command response failed.
@@ -109,14 +111,13 @@ class epicsShareClass sinqController : public asynMotorController {
      * @param axisNo_             Axis where the problem occurred
      * @param functionName        Name of the caller function. It is recommended
     to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
-     * @param lineNumber          Source code line where this function is
+     * @param line          Source code line where this function is
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
     asynStatus errMsgCouldNotParseResponse(const char *command,
                                            const char *response, int axisNo,
-                                           const char *functionName,
-                                           int lineNumber);
+                                           const char *functionName, int line);
 
     /**
      * @brief Convert an asynStatus into a descriptive string.
@@ -213,13 +214,22 @@ class epicsShareClass sinqController : public asynMotorController {
         return asynSuccess;
     }
 
+    /**
+     * @brief Get a reference to the map used to control the maximum number of
+     * message repetitions. See the documentation of printRepetitionWatchdog in
+     * msgPrintControl.h for details.
+     *
+     * @return std::unordered_map<msgPrintControlKey, size_t>&
+     */
+    msgPrintControl &getMsgPrintControl();
+
     friend class sinqAxis;
 
   protected:
     asynUser *lowLevelPortUser_;
-
     double movingPollPeriod_;
     double idlePollPeriod_;
+    msgPrintControl msgPrintControl_;
 
     // Internal variables used in the communication timeout frequency watchdog
     time_t comTimeoutWindow_;  // Size of the time window