Fixed compiler warnings

The field SPDB can now be populated via either the substitutions file or
from inside the driver (using the motorPositionDeadband paramLib entry).

Makefile

@@ -26,6 +26,7 @@ TEMPLATES += db/sinqMotor.db
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += src/sinqMotor.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result # -Werror
+USR_CFLAGS += -Wall -Wextra -Wunused-result # -Werror
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result
 
 # MISCS would be the place to keep the stream device template files

README.md

@@ -257,7 +257,7 @@ This method should not be called in the driver code itself if a poll is needed -
 - `startMovTimeoutWatchdog`: Starts a watchdog for the movement time. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.
 - `checkMovTimeoutWatchdog`: Check if the watchdog timed out.
 - `setWatchdogEnabled`: Enables / disables the watchdog. This function is also available in the IOC shell.
-- `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
+- `setOffsetMovTimeout`: Set a constant 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

db/sinqMotor.db

@@ -41,6 +41,7 @@ record(motor,"$(INSTR)$(M)")
     field(PINI,"NO")
     field(DHLM, "$(DHLM=0)")
     field(DLLM, "$(DLLM=0)")
+    field(SPDB, "$(SPDB=0)")
     field(TWV,"1")
     field(RTRY,"0")
     field(RDBD, "$(RDBD=10e300)") # Suppress retries and overshoot stop commands
@@ -238,6 +239,27 @@ record(ao, "$(INSTR)$(M):PushDLLM2Field") {
     field(PINI, "NO")
 }
 
+# This record pair reads the parameter library value for "motorPositionDeadband"
+# and pushes it to the motor record field "SPDP". This can be used to the position
+# deadband from the hardware
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorPositionDeadband -> MOTOR_POSITION_DEADBAND.
+record(ai, "$(INSTR)$(M):SPDB_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(VAL, "$(SPDP=0)")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_POSITION_DEADBAND")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushSPDB2Field")
+    field(PINI, "NO")
+}
+record(ao, "$(INSTR)$(M):PushSPDB2Field") {
+    field(DOL,  "$(INSTR)$(M):SPDB_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).SPDB")
+    field(OMSL, "closed_loop")
+    field(PINI, "NO")
+}
+
 # This record pair reads the parameter library value for "motorVeloFromDriver_"
 # and pushes it to the motor record field "VELO". This can be used to read the speed value
 # from the hardware and correspondingly update the motor record from the driver.

src/msgPrintControl.cpp

@@ -92,8 +92,8 @@ bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
                                       const char *functionName, int line,
                                       bool wantToPrint, asynUser *pasynUser,
                                       size_t maxRepetitions) {
-    msgPrintControlKey key =
+    msgPrintControlKey key = msgPrintControlKey(portName, axisNo, functionName,
-        msgPrintControlKey(portName, axisNo, functionName, __LINE__);
+                                                line, maxRepetitions);
     return shouldBePrinted(key, wantToPrint, pasynUser);
 }
 

src/sinqAxis.cpp

@@ -283,9 +283,12 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
         pSinqA_->wasMoving = *moving;
     }
 
-    // Check and update the watchdog
+    // Check and update the watchdog as well as the general poll status IF the
-    if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
+    // poll did not fail already.
-        return asynError;
+    if (poll_status == asynSuccess) {
+        if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
+            poll_status = asynError;
+        }
     }
 
     // According to the function documentation of asynMotorAxis::poll, this
@@ -315,7 +318,7 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
     return poll_status;
 }
 
-asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
+asynStatus sinqAxis::doPoll(bool * /*moving*/) { return asynSuccess; }
 
 asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                           double maxVelocity, double acceleration) {
@@ -351,8 +354,9 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
     return pC_->callParamCallbacks();
 }
 
-asynStatus sinqAxis::doMove(double position, int relative, double minVelocity,
+asynStatus sinqAxis::doMove(double /*position*/, int /*relative*/,
-                            double maxVelocity, double acceleration) {
+                            double /*minVelocity*/, double /*maxVelocity*/,
+                            double /*acceleration*/) {
     return asynSuccess;
 }
 
@@ -394,8 +398,8 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
     }
 }
 
-asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
+asynStatus sinqAxis::doHome(double /*minVelocity*/, double /*maxVelocity*/,
-                            double acceleration, int forwards) {
+                            double /*acceleration*/, int /*forwards*/) {
     return asynSuccess;
 }
 
@@ -417,7 +421,7 @@ asynStatus sinqAxis::reset() {
 
 asynStatus sinqAxis::doReset() { return asynError; }
 
-asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
+asynStatus sinqAxis::enable(bool /*on*/) { return asynSuccess; }
 
 asynStatus sinqAxis::motorPosition(double *motorPos) {
     asynStatus status = asynSuccess;
@@ -479,9 +483,9 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       "vmax=%lf.\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       vbas, vmax);
-            setAxisParamChecked(
+            setAxisParamChecked(this, motorMessageText,
-                this, motorMessageText,
+                                "Lower speed limit must not be smaller than "
-                "Lower speed limit must not be smaller than upper speed limit");
+                                "upper speed limit. Please call the support.");
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
@@ -492,8 +496,10 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       velo, vbas, vmax);
 
-            setAxisParamChecked(this, motorMessageText,
+            setAxisParamChecked(
-                                "Speed is not inside limits");
+                this, motorMessageText,
+                "Speed is not inside limits. Set a new valid speed and try "
+                "to move the motor. Otherwise, please call the support.");
             return asynError;
         }
 
@@ -706,8 +712,9 @@ static const iocshArg setWatchdogEnabledArg2 = {
     "Enabling / disabling the watchdog", iocshArgInt};
 static const iocshArg *const setWatchdogEnabledArgs[] = {
     &setWatchdogEnabledArg0, &setWatchdogEnabledArg1, &setWatchdogEnabledArg2};
-static const iocshFuncDef setWatchdogEnabledDef = {"setWatchdogEnabled", 3,
+static const iocshFuncDef setWatchdogEnabledDef = {
-                                                   setWatchdogEnabledArgs};
+    "setWatchdogEnabled", 3, setWatchdogEnabledArgs,
+    "Set to 0 to disable the watchdog and to any other value to enable it."};
 
 static void setWatchdogEnabledCallFunc(const iocshArgBuf *args) {
     setWatchdogEnabled(args[0].sval, args[1].ival, args[2].ival);
@@ -753,8 +760,9 @@ static const iocshArg setOffsetMovTimeoutArg2 = {"Offset timeout for movement",
 static const iocshArg *const setOffsetMovTimeoutArgs[] = {
     &setOffsetMovTimeoutArg0, &setOffsetMovTimeoutArg1,
     &setOffsetMovTimeoutArg2};
-static const iocshFuncDef setOffsetMovTimeoutDef = {"setOffsetMovTimeout", 3,
+static const iocshFuncDef setOffsetMovTimeoutDef = {
-                                                    setOffsetMovTimeoutArgs};
+    "setOffsetMovTimeout", 3, setOffsetMovTimeoutArgs,
+    "Specify an offset (in seconds) for the movement timeout watchdog"};
 
 static void setOffsetMovTimeoutCallFunc(const iocshArgBuf *args) {
     setOffsetMovTimeout(args[0].sval, args[1].ival, args[2].dval);
@@ -800,8 +808,9 @@ static const iocshArg setScaleMovTimeoutArg2 = {
     "Multiplier for calculated move time", iocshArgDouble};
 static const iocshArg *const setScaleMovTimeoutArgs[] = {
     &setScaleMovTimeoutArg0, &setScaleMovTimeoutArg1, &setScaleMovTimeoutArg2};
-static const iocshFuncDef setScaleMovTimeoutDef = {"setScaleMovTimeout", 3,
+static const iocshFuncDef setScaleMovTimeoutDef = {
-                                                   setScaleMovTimeoutArgs};
+    "setScaleMovTimeout", 3, setScaleMovTimeoutArgs,
+    "Set a scaling factor for the maximum expected movement time."};
 
 static void setScaleMovTimeoutCallFunc(const iocshArgBuf *args) {
     setScaleMovTimeout(args[0].sval, args[1].ival, args[2].dval);

src/sinqAxis.h

@@ -606,7 +606,7 @@ template <typename A, typename C>
 asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
                             int (C::*func)(), int *readValue,
                             const char *callerFunctionName, int lineNumber,
-                            size_t msgSize, TypeTag<int>) {
+                            size_t /*msgSize*/, TypeTag<int>) {
     int indexValue = (controller->*func)();
     asynStatus status =
         controller->getIntegerParam(axis->axisNo(), indexValue, readValue);
@@ -634,7 +634,7 @@ template <typename A, typename C>
 asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
                             int (C::*func)(), double *readValue,
                             const char *callerFunctionName, int lineNumber,
-                            size_t msgSize, TypeTag<double>) {
+                            size_t /*msgSize*/, TypeTag<double>) {
     int indexValue = (controller->*func)();
     asynStatus status =
         controller->getDoubleParam(axis->axisNo(), indexValue, readValue);
@@ -665,7 +665,7 @@ template <typename A, typename C>
 asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
                             int (C::*func)(), std::string *readValue,
                             const char *callerFunctionName, int lineNumber,
-                            size_t msgSize, TypeTag<std::string>) {
+                            size_t /*msgSize*/, TypeTag<std::string>) {
     int indexValue = (controller->*func)();
 
     // Convert the pointer to a reference, since getStringParam expects the

src/sinqController.cpp

@@ -92,6 +92,7 @@ struct sinqControllerImpl {
     int motorAcclFromDriver;
     int motorHighLimitFromDriver;
     int motorLowLimitFromDriver;
+    int motorPositionDeadband;
     int adaptivePolling;
     int encoderType;
 };
@@ -118,15 +119,35 @@ sinqController::sinqController(const char *portName,
     asynStatus status = asynSuccess;
 
     // The paramLib indices are populated with the calls to createParam
-    pSinqC_ = std::make_unique<sinqControllerImpl>(
+    pSinqC_ = std::make_unique<sinqControllerImpl>((sinqControllerImpl){
-        (sinqControllerImpl){.outstandingForcedFastPolls = 0,
+        .outstandingForcedFastPolls = 0,
-                             .pasynOctetSyncIOipPort = nullptr,
+        .pasynOctetSyncIOipPort = nullptr,
-                             .msgPrintC = msgPrintControl(),
+        .msgPrintC = msgPrintControl(),
-                             .comTimeoutWindow = 3600,
+        .comTimeoutWindow = 3600,
-                             .maxNumberTimeouts = 60,
+        .maxNumberTimeouts = 60,
-                             .timeoutEvents = {},
+        .timeoutEvents = {},
-                             .maxSubsequentTimeouts = 10,
+        .maxSubsequentTimeouts = 10,
-                             .maxSubsequentTimeoutsExceeded = false});
+        .maxSubsequentTimeoutsExceeded = false,
+        .motorMessageText = 0,
+        .motorReset = 0,
+        .motorEnable = 0,
+        .motorEnableRBV = 0,
+        .motorCanDisable = 0,
+        .motorEnableMovWatchdog = 0,
+        .motorCanSetSpeed = 0,
+        .motorLimitsOffset = 0,
+        .motorForceStop = 0,
+        .motorConnected = 0,
+        .motorVeloFromDriver = 0,
+        .motorVbasFromDriver = 0,
+        .motorVmaxFromDriver = 0,
+        .motorAcclFromDriver = 0,
+        .motorHighLimitFromDriver = 0,
+        .motorLowLimitFromDriver = 0,
+        .motorPositionDeadband = 0,
+        .adaptivePolling = 0,
+        .encoderType = 0,
+    });
 
     // Store the poll period information. The poller itself will be started
     // later (after the IOC is running in epicsInithookFunction)
@@ -267,6 +288,17 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("MOTOR_POSITION_DEADBAND", asynParamFloat64,
+                         &pSinqC_->motorPositionDeadband);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     status = createParam("MOTOR_ENABLE_MOV_WATCHDOG", asynParamInt32,
                          &pSinqC_->motorEnableMovWatchdog);
     if (status != asynSuccess) {
@@ -699,6 +731,9 @@ int sinqController::motorHighLimitFromDriver() {
 int sinqController::motorLowLimitFromDriver() {
     return pSinqC_->motorLowLimitFromDriver;
 }
+int sinqController::motorPositionDeadband() {
+    return pSinqC_->motorPositionDeadband;
+}
 int sinqController::adaptivePolling() { return pSinqC_->adaptivePolling; }
 int sinqController::encoderType() { return pSinqC_->encoderType; }
 
@@ -809,7 +844,8 @@ static const iocshArg *const setThresholdComTimeoutArgs[] = {
     &setThresholdComTimeoutArg0, &setThresholdComTimeoutArg1,
     &setThresholdComTimeoutArg2};
 static const iocshFuncDef setThresholdComTimeoutDef = {
-    "setThresholdComTimeout", 3, setThresholdComTimeoutArgs};
+    "setThresholdComTimeout", 3, setThresholdComTimeoutArgs,
+    "Set the communication timeout threshold in seconds"};
 
 static void setThresholdComTimeoutCallFunc(const iocshArgBuf *args) {
     setThresholdComTimeout(args[0].sval, args[1].ival, args[2].ival);
@@ -870,7 +906,9 @@ static const iocshArg SetMaxSubsequentTimeoutsArg1 = {
 static const iocshArg *const SetMaxSubsequentTimeoutsArgs[] = {
     &SetMaxSubsequentTimeoutsArg0, &SetMaxSubsequentTimeoutsArg1};
 static const iocshFuncDef setMaxSubsequentTimeoutsDef = {
-    "setMaxSubsequentTimeouts", 2, SetMaxSubsequentTimeoutsArgs};
+    "setMaxSubsequentTimeouts", 2, SetMaxSubsequentTimeoutsArgs,
+    "Set the maximum number of subsequent timeouts before the user receives an "
+    "error message"};
 static void setMaxSubsequentTimeoutsCallFunc(const iocshArgBuf *args) {
     setMaxSubsequentTimeouts(args[0].sval, args[1].ival);
 }
@@ -924,13 +962,15 @@ asynStatus setForcedFastPolls(const char *portName, int forcedFastPolls) {
 static const iocshArg SetForcedFastPollsArg0 = {"Controller name (e.g. mcu1)",
                                                 iocshArgString};
 static const iocshArg SetForcedFastPollsArg1 = {
-    "Number of fast polls after \"waking\" the poller (e.g. after issueing a "
+    "Number of fast polls after \"waking\" the poller (e.g. after issuing a "
     "move command).",
     iocshArgInt};
 static const iocshArg *const SetForcedFastPollsArgs[] = {
     &SetForcedFastPollsArg0, &SetForcedFastPollsArg1};
-static const iocshFuncDef setForcedFastPollsDef = {"setForcedFastPolls", 2,
+static const iocshFuncDef setForcedFastPollsDef = {
-                                                   SetForcedFastPollsArgs};
+    "setForcedFastPolls", 2, SetForcedFastPollsArgs,
+    "Set the number of fast polls after \"waking\" the poller (e.g. after "
+    "issuing a move command)."};
 static void setForcedFastPollsCallFunc(const iocshArgBuf *args) {
     setForcedFastPolls(args[0].sval, args[1].ival);
 }

src/sinqController.h

@@ -315,6 +315,7 @@ class HIDDEN sinqController : public asynMotorController {
     int motorAcclFromDriver();
     int motorHighLimitFromDriver();
     int motorLowLimitFromDriver();
+    int motorPositionDeadband();
     int adaptivePolling();
     int encoderType();