From 339da2e9ff4d02a78838460d57881d8be283383d Mon Sep 17 00:00:00 2001
From: brambilla_m <michele.brambilla@psi.ch>
Date: Thu, 21 Jul 2022 13:37:32 +0200
Subject: [PATCH] PMAC V3: axis status 5,6 not a failure

The old implementation assumes that the axis staying in state 5,6
for too much time a implies a failure. This is no longer the case.
---
 sinqEPICSApp/src/pmacAxis.cpp | 53 +++++++++++++++++------------------
 1 file changed, 26 insertions(+), 27 deletions(-)

diff --git a/sinqEPICSApp/src/pmacAxis.cpp b/sinqEPICSApp/src/pmacAxis.cpp
index b2505b9..0c29be8 100644
--- a/sinqEPICSApp/src/pmacAxis.cpp
+++ b/sinqEPICSApp/src/pmacAxis.cpp
@@ -484,33 +484,32 @@ asynStatus pmacAxis::getAxisStatus(bool *moving) {
   /*
     code to test against too long status 5 or 6
   */
-  if (axStat == 5 || axStat == 6) {
-    if (status6Time == 0) {
-      status6Time = time(NULL);
-      statusPos = position;
-    } else {
-      if (time(NULL) > status6Time + 60) {
-        /* trigger error only when not moving */
-        if (abs(position - statusPos) < .1) {
-          done = 1;
-          *moving = false;
-          setIntegerParam(pC_->motorStatusMoving_, false);
-          setIntegerParam(pC_->motorStatusDone_, true);
-          setIntegerParam(pC_->motorStatusProblem_, true);
-          errlogPrintf(
-              "Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
-              axisNo_);
-          updateMsgTxtFromDriver(
-              "Axis stayed in 5,6 for more then 60 seconds: BROKEN");
-          status6Time = 0;
-          return asynSuccess;
-        } else {
-          status6Time = time(NULL);
-          statusPos = position;
-        }
-      }
-    }
-  }
+  //  if (axStat == 5 || axStat == 6) {
+  //    if (status6Time == 0) {
+  //      status6Time = time(NULL);
+  // statusPos = position;
+  //  } else {
+  // if (time(NULL) > status6Time + 60) {
+  ///* trigger error only when not moving */
+  // if (abs(position - statusPos) < .1) {
+  // done = 1;
+  //*moving = false;
+  // setIntegerParam(pC_->motorStatusMoving_, false);
+  // setIntegerParam(pC_->motorStatusDone_, true);
+  // setIntegerParam(pC_->motorStatusProblem_, true);
+  // errlogPrintf("Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
+  //             axisNo_);
+  // updateMsgTxtFromDriver("Axis stayed in 5,6 for more then 60 seconds:
+  // BROKEN");
+  // status6Time = 0;
+  // return asynSuccess;
+  //  } else {
+  // status6Time = time(NULL);
+  // statusPos = position;
+  //  }
+  //    }
+  //  }
+  //}
 
   if (!done) {
     *moving = true;