From adf8b30692d58ab16eb2ba83a17666b57db651f4 Mon Sep 17 00:00:00 2001
From: koennecke <mark.koennecke@psi.ch>
Date: Tue, 20 Aug 2024 11:12:18 +0200
Subject: [PATCH] Minor changes to SINQ drivers: - Fixed enable/disable at
 MasterMACS

---
 sinqEPICSApp/src/EuroMoveDriver.cpp   | 1 +
 sinqEPICSApp/src/MasterMACSDriver.cpp | 8 ++++++--
 sinqEPICSApp/src/NanotecDriver.cpp    | 2 +-
 sinqEPICSApp/src/PhytronDriver.cpp    | 3 ++-
 sinqEPICSApp/src/pmacAxis.cpp         | 2 +-
 sinqEPICSApp/src/pmacController.cpp   | 2 +-
 6 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/sinqEPICSApp/src/EuroMoveDriver.cpp b/sinqEPICSApp/src/EuroMoveDriver.cpp
index 7db7a86..10e4854 100644
--- a/sinqEPICSApp/src/EuroMoveDriver.cpp
+++ b/sinqEPICSApp/src/EuroMoveDriver.cpp
@@ -279,6 +279,7 @@ EuroMoveAxis::EuroMoveAxis(EuroMoveController *pC, int axisNo)
     pC_(pC)
 {  
   motNo = axisNo;
+  next_poll = -1;
 }
 
 
diff --git a/sinqEPICSApp/src/MasterMACSDriver.cpp b/sinqEPICSApp/src/MasterMACSDriver.cpp
index 79b5602..a6bfc9c 100644
--- a/sinqEPICSApp/src/MasterMACSDriver.cpp
+++ b/sinqEPICSApp/src/MasterMACSDriver.cpp
@@ -191,13 +191,13 @@ asynStatus
     startTime = DoubleTime();
     status =
 	pasynOctetSyncIO->writeRead(pasynUserController_, mmacsData,
-				    len - 1, mmacsResponse, 35, 10., &out,
+				    len - 1, mmacsResponse, 35, 20., &out,
 				    &in, &reason);
 
     if(timeDebug) {
         now = DoubleTime();
         if((now - startTime) > 1.) {
-            errlogSevPrintf(errlogMajor, "Unusual response time %lf to command %s\n", (now - startTime), command);      
+            errlogSevPrintf(errlogMajor, "Unusual long response time %lf to command %s\n", (now - startTime), command);      
         }
     }
 
@@ -399,6 +399,7 @@ pC_(pC)
     int devStatus = readStatus();
     setIntegerParam(pC_->enableAxis_, isOn(devStatus));
     setIntegerParam(pC_->axisEnabled_, isOn(devStatus));
+    lastPoll = -1;
 }
 
 /** Reports on status of the axis
@@ -657,6 +658,9 @@ asynStatus MasterMACSAxis::poll(bool * moving)
        }
     } else {
         errlogPrintf("MMACS: communication problem reading axis %d position\n", axisNo_);
+        *moving = false;
+        comStatus = asynError;
+        goto skip;
     }
 
     // Read the overall  status of this motor */
diff --git a/sinqEPICSApp/src/NanotecDriver.cpp b/sinqEPICSApp/src/NanotecDriver.cpp
index f630d17..fdb02ed 100644
--- a/sinqEPICSApp/src/NanotecDriver.cpp
+++ b/sinqEPICSApp/src/NanotecDriver.cpp
@@ -138,7 +138,7 @@ NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
     pC_(pC)
 {  
   this->busAddress = busAddress;
-
+  next_poll = -1;
 }
 
 
diff --git a/sinqEPICSApp/src/PhytronDriver.cpp b/sinqEPICSApp/src/PhytronDriver.cpp
index ae6a617..7529064 100644
--- a/sinqEPICSApp/src/PhytronDriver.cpp
+++ b/sinqEPICSApp/src/PhytronDriver.cpp
@@ -185,7 +185,7 @@ asynStatus PhytronController::transactController(int axisNo,char command[COMLEN]
   SINQAxis *axis = getAxis(axisNo);
 
 
-  pasynOctetSyncIO->flush(pasynUserController_);
+  /* pasynOctetSyncIO->flush(pasynUserController_); */
   
 
   memset(myCommand,0,sizeof(myCommand));
@@ -249,6 +249,7 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
   }
   haveBrake = 0;
   brakeIO = -1;
+  next_poll = -1;
 }
 
 int PhytronAxis::setBrake(int brakeNO)
diff --git a/sinqEPICSApp/src/pmacAxis.cpp b/sinqEPICSApp/src/pmacAxis.cpp
index 79cd046..6e80dfb 100644
--- a/sinqEPICSApp/src/pmacAxis.cpp
+++ b/sinqEPICSApp/src/pmacAxis.cpp
@@ -631,7 +631,7 @@ asynStatus pmacAxis::enable(int on) {
  * ======================================================*/
 SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
     : pmacAxis(pC, axisNo, false) {
-  static const char *functionName = "pmacAxis::pmacAxis";
+  static const char *functionName = "SeleneAxis::SeleneAxis";
 
   pC_->debugFlow(functionName);
 
diff --git a/sinqEPICSApp/src/pmacController.cpp b/sinqEPICSApp/src/pmacController.cpp
index 8548e32..e03d81b 100644
--- a/sinqEPICSApp/src/pmacController.cpp
+++ b/sinqEPICSApp/src/pmacController.cpp
@@ -788,7 +788,7 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
 int function = pasynUser->reason;
 asynStatus status = asynError;
 SeleneAxis *pAxis = NULL;
-char command[64] = {0};
+cchar command[64] = {0};
 char response[64] = {0};
 char message[132];