From 972131d86ae3eaeaf3921cf39f8b745adbafd673 Mon Sep 17 00:00:00 2001
From: koennecke <mark.koennecke@psi.ch>
Date: Tue, 8 Jan 2019 11:35:09 +0100
Subject: [PATCH] Added new system disconnect reporting to the phytron driver

---
 sinqEPICSApp/src/PhytronDriver.cpp | 27 ++++++++++++++++-----------
 sinqEPICSApp/src/PhytronDriver.h   |  2 +-
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/sinqEPICSApp/src/PhytronDriver.cpp b/sinqEPICSApp/src/PhytronDriver.cpp
index 2b2d5f1..3c7123d 100644
--- a/sinqEPICSApp/src/PhytronDriver.cpp
+++ b/sinqEPICSApp/src/PhytronDriver.cpp
@@ -139,12 +139,14 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
  * \param[out] reply The controllers reply
  */
 
-asynStatus PhytronController::transactController(char command[COMLEN], char reply[COMLEN])
+asynStatus PhytronController::transactController(int axisNo,char command[COMLEN], char reply[COMLEN])
 {
   asynStatus status;
   size_t in, out;
   int reason;
   char myReply[COMLEN+10], myCommand[COMLEN+10], *pPtr;
+  SINQAxis *axis = getAxis(axisNo);
+
 
   pasynOctetSyncIO->flush(pasynUserController_);
   
@@ -160,6 +162,9 @@ asynStatus PhytronController::transactController(char command[COMLEN], char repl
   status = pasynOctetSyncIO->writeRead(pasynUserController_, myCommand, strlen(myCommand),
 				       myReply,sizeof(myReply), 1.,&out,&in,&reason); 
   if(status != asynSuccess){
+    if(axis!= NULL){
+      axis->updateMsgTxtFromDriver("Lost connection to motor controller");
+    }
     return status;
   }
 
@@ -241,7 +246,7 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
   }
   homing = 0;
   sprintf(command, "%s%cA%f", pC_->selector,phytronChar,position/1000.);
-  status = pC_->transactController(command,reply);
+  status = pC_->transactController(axisNo_,command,reply);
   if(strstr(reply,"NACK") != NULL){
     errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
     updateMsgTxtFromDriver("Drive command not acknowledged");
@@ -263,7 +268,7 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
   sprintf(command, "%s%cO-",pC_->selector,phytronChar);
   homing = 1;
   next_poll= -1;
-  status = pC_->transactController(command,reply);
+  status = pC_->transactController(axisNo_,command,reply);
   if(strstr(reply,"NACK") != NULL){
     errlogSevPrintf(errlogMajor, "Home command not acknowledged on %d", axisNo_);
     setIntegerParam(pC_->motorStatusProblem_, true);
@@ -306,7 +311,7 @@ asynStatus PhytronAxis::stop(double acceleration )
   char command[COMLEN], reply[COMLEN];
 
   sprintf(command, "%s%cSN", pC_->selector,phytronChar);
-  status = pC_->transactController(command,reply);
+  status = pC_->transactController(axisNo_,command,reply);
   errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
   updateMsgTxtFromDriver("Axis interrupted");
 
@@ -320,9 +325,9 @@ asynStatus PhytronAxis::setPosition(double position)
   char command[COMLEN], reply[COMLEN];
 
   sprintf(command, "%s%cP22S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(command,reply);
+  status = pC_->transactController(axisNo_,command,reply);
   sprintf(command, "%s%cP20S%f", pC_->selector,phytronChar, position/1000.);
-  status = pC_->transactController(command,reply);
+  status = pC_->transactController(axisNo_,command,reply);
   next_poll = -1;
 
   return status;
@@ -366,7 +371,7 @@ asynStatus PhytronAxis::poll(bool *moving)
     sprintf(command,"%s%cP20R",pC_->selector,phytronChar);
   }
 
-  comStatus = pC_->transactController(command,reply);
+  comStatus = pC_->transactController(axisNo_,command,reply);
   if(comStatus) goto skip;
 
   if(strstr(reply,"NACK") != NULL){
@@ -386,7 +391,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 
   // Read the moving status of this motor
   sprintf(command,"%s%c=H",pC_->selector,phytronChar);
-  comStatus = pC_->transactController(command,reply);
+  comStatus = pC_->transactController(axisNo_,command,reply);
   if(comStatus) goto skip;
   /* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */
   if(strstr(reply,"ACKN") != NULL){
@@ -410,7 +415,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	 check limits and errors, upper
       */
       sprintf(command,"%s%c=I+",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(command,reply);
+      comStatus = pC_->transactController(axisNo_,command,reply);
       if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusHighLimit_, true);
@@ -423,7 +428,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	lower limit
       */
       sprintf(command,"%s%c=I-",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(command,reply);
+      comStatus = pC_->transactController(axisNo_,command,reply);
       if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusLowLimit_, true);
@@ -436,7 +441,7 @@ asynStatus PhytronAxis::poll(bool *moving)
 	error
       */
       sprintf(command,"%s%c=E",pC_->selector,phytronChar);
-      comStatus = pC_->transactController(command,reply);
+      comStatus = pC_->transactController(axisNo_,command,reply);
       if(comStatus) goto skip;
       if(strstr(reply,"ACKE") != NULL){
 	setIntegerParam(pC_->motorStatusProblem_, true);
diff --git a/sinqEPICSApp/src/PhytronDriver.h b/sinqEPICSApp/src/PhytronDriver.h
index 7934694..9b0e07b 100644
--- a/sinqEPICSApp/src/PhytronDriver.h
+++ b/sinqEPICSApp/src/PhytronDriver.h
@@ -56,7 +56,7 @@ friend class PhytronAxis;
  private:
  asynUser *pasynUserController_;
 
- asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
+ asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
 
  const char *selector;