From 403eecafae03a13ee443d9f32644a42bbff3533c Mon Sep 17 00:00:00 2001
From: Michele Brambilla <michele.brambilla@psi.ch>
Date: Mon, 7 Mar 2022 16:40:46 +0100
Subject: [PATCH] pmac Enable PV successfully tested

---
 sinqEPICSApp/src/pmacAxis.cpp       | 15 +++++++++++----
 sinqEPICSApp/src/pmacAxis.h         |  9 ++-------
 sinqEPICSApp/src/pmacController.cpp | 18 ++++++++++--------
 sinqEPICSApp/src/pmacController.h   |  3 +++
 4 files changed, 26 insertions(+), 19 deletions(-)

diff --git a/sinqEPICSApp/src/pmacAxis.cpp b/sinqEPICSApp/src/pmacAxis.cpp
index 895c57c..a2da5e9 100644
--- a/sinqEPICSApp/src/pmacAxis.cpp
+++ b/sinqEPICSApp/src/pmacAxis.cpp
@@ -909,9 +909,13 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   double position = 0;
   int nvals = 0;
   int axisProblemFlag = 0;
-  epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim = 0, axDone = 0;
+  epicsUInt32 axErr = 0, highLim = 0, lowLim = 0, axDone = 0;
+  int axStat=0;
   char message[132], *axMessage;
 
+  static const char *functionName = "pmacV3Axis::getAxisStatus";
+
+  pmacV3Controller* p3C_ = (pmacV3Controller*)pC_;
   sprintf(command, "Q%2.2d10 P%2.2d00 P%2.2d23", axisNo_, axisNo_, axisNo_);
   cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
   nvals = sscanf(response, "%lf %d %d", &position, &axStat, &axDone);
@@ -923,6 +927,9 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
     updateMsgTxtFromDriver("Cannot read Axis position and status");
   }
 
+  // printf("axStat: %d\n", axStat);
+  setIntegerParam(p3C_->axisState_, axStat);
+
   setDoubleParam(pC_->motorPosition_, position * MULT);
   setDoubleParam(pC_->motorEncoderPosition_, position * MULT);
 
@@ -940,8 +947,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   previous_position_ = position;
   previous_direction_ = direction;
 
-  setIntegerParam(pC_->axisStatus_, axStat);
-
   // errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position);
 
   /* are we done? */
@@ -1059,10 +1064,11 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
     /* Set any axis specific general problem bits. */
   }
 
-  if (axStat < 0 || axErr != 0) {
+  if ((axStat < 0 && axStat != -3) || axErr != 0) {
     axisProblemFlag = 1;
     if (axisErrorCount < 10) {
       axMessage = translateAxisError(axErr);
+      printf("axErr: %d\taxStat: %d\taxMessage: %s\n", axErr, axStat, axMessage);
       asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                 "drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error "
                 "code %d, translated: %s:, status code = %d\n",
@@ -1084,6 +1090,7 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
   }
   setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
 
+  callParamCallbacks();
   return asynSuccess;
 }
 
diff --git a/sinqEPICSApp/src/pmacAxis.h b/sinqEPICSApp/src/pmacAxis.h
index e38bff4..90b530f 100644
--- a/sinqEPICSApp/src/pmacAxis.h
+++ b/sinqEPICSApp/src/pmacAxis.h
@@ -68,6 +68,7 @@ protected:
   bool autoEnable;
   
   friend class pmacController;
+  friend class pmacV3Controller;
 };
 /*----------------------------------------------------------------------------------------------*/
 class pmacHRPTAxis : public pmacAxis
@@ -142,16 +143,10 @@ class pmacV3Axis : public pmacAxis {
 public:
 
   pmacV3Axis(pmacController *pController, int axisNo);
-  /* : pmacAxis(pController,axisNo, false) { */
-/*     printf("\n*************************\n\n"); */
-/*   printf("class name: %s", getClassName(*this)); */
-/*   printf("\n*************************\n\n"); */
-/* }; */
+
   asynStatus poll(bool *moving);
  protected:
 
-  int axisState_;
-
   asynStatus getAxisStatus(bool *moving);
 
   friend class pmacController;
diff --git a/sinqEPICSApp/src/pmacController.cpp b/sinqEPICSApp/src/pmacController.cpp
index 9a5c8bc..b35cda4 100644
--- a/sinqEPICSApp/src/pmacController.cpp
+++ b/sinqEPICSApp/src/pmacController.cpp
@@ -858,23 +858,25 @@ asynStatus pmacV3Controller::readInt32(asynUser *pasynUser, epicsInt32 *value) {
 
   int function = pasynUser->reason;
   asynStatus status = asynError;
-  pmacAxis *pAxis = NULL;
-  static const char *functionName = "pmacController::readInt32";
-  char command[this->PMAC_MAXBUF_];
-  char response[this->PMAC_MAXBUF_];
+  pmacV3Axis *pAxis = NULL;
+  static const char *functionName = "pmacV3Controller::readInt32";
+  char command[128];
+  char response[128];
 
   debugFlow(functionName);
 
-  pAxis = this->getAxis(pasynUser);
+  pAxis = (pmacV3Axis*)(this->getAxis(pasynUser));
   if (!pAxis) {
     return asynError;
   }
   if (function == axisState_) {
     snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
-    status = this->lowLevelWriteRead(axisNo_, command, response);
+    status = this->lowLevelWriteRead(pAxis->axisNo_, command, response);
     *value = strtol(response, NULL, 10);
-    setIntegerParam(pAxis->axisState_, value);
-    return status
+    
+    setIntegerParam(axisState_, *value);
+    callParamCallbacks();
+    return status;
   }
   return pmacController::readInt32(pasynUser, value);
 }
diff --git a/sinqEPICSApp/src/pmacController.h b/sinqEPICSApp/src/pmacController.h
index 647d021..4f0ba64 100644
--- a/sinqEPICSApp/src/pmacController.h
+++ b/sinqEPICSApp/src/pmacController.h
@@ -183,7 +183,10 @@ public:
   friend class pmacAxis;
 
 protected:
+  pmacV3Axis **pAxes_;       /**< Array of pointers to axis objects */
+
   int enableAxis_;
+  int axisState_;
 };
 
 #endif /* pmacController_H */