In the poll method, it is now checked whether the parameter library has

been initialized. If this isn't the case, the poll is repeated (this is
triggered by returning an error from the poll method)

Makefile.RHEL8

@@ -10,10 +10,10 @@ ARCH_FILTER=RHEL%
 REQUIRED+=SynApps
 REQUIRED+=stream
 REQUIRED+=scaler
-REQUIRED+=motorBase
+REQUIRED+=asynMotor
 
 # Release version
-LIBVERSION=2025
+LIBVERSION=2024-dev
 
 # DB files to include in the release
 TEMPLATES += sinqEPICSApp/Db/dimetix.db
@@ -32,9 +32,9 @@ SOURCES += sinqEPICSApp/src/NanotecDriver.cpp
 SOURCES += sinqEPICSApp/src/stptok.cpp
 SOURCES += sinqEPICSApp/src/PhytronDriver.cpp
 SOURCES += sinqEPICSApp/src/EuroMoveDriver.cpp
-# SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
+SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
-# SOURCES += sinqEPICSApp/src/pmacAxis.cpp
+SOURCES += sinqEPICSApp/src/pmacAxis.cpp
-# SOURCES += sinqEPICSApp/src/pmacController.cpp
+SOURCES += sinqEPICSApp/src/pmacController.cpp
 SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
 SOURCES += sinqEPICSApp/src/C804Axis.cpp
 SOURCES += sinqEPICSApp/src/C804Controller.cpp

sinqEPICSApp/Db/sinq_asyn_motor.db

@@ -50,5 +50,14 @@ record(longin, "$(P)$(M):Enable_RBV") {
 record(longout, "$(P)$(M):Reread_Encoder") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION")
-    field(PINI, "NO")
+    field(PINI, "YES")
 }
+
+# reread encoder
+record(longin, "$(P)$(M):Reread_Encoder_RBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION_RBV")
+    field(PINI, "NO")
+    field(SCAN, "1 second")
+}
+

sinqEPICSApp/src/C804Axis.cpp

@@ -1,14 +1,14 @@
 #include "C804Axis.h"
 #include "C804Controller.h"
-#include <cmath>
 #include <errlog.h>
-#include <limits>
-#include <math.h>
 #include <string.h>
+#include <math.h>
+#include <cmath>
 #include <unistd.h>
+#include <limits>
 
-C804Axis::C804Axis(C804Controller *pC, int axisNo)
+C804Axis::C804Axis(C804Controller *pC, int axisNo) : SINQAxis(pC, axisNo), pC_(pC)
-    : SINQAxis(pC, axisNo), pC_(pC) {
+{
     /*
     The superclass constructor SINQAxis calls in turn its superclass constructor
     asynMotorAxis. In the latter, a pointer to the constructed object this is
@@ -16,14 +16,13 @@ C804Axis::C804Axis(C804Controller *pC, int axisNo)
 
         pC->pAxes_[axisNo] = this;
 
-    Therefore, the axes are managed by the controller pC. See C804Controller.cpp
+    Therefore, the axes are managed by the controller pC. See C804Controller.cpp for further explanation.
-    for further explanation. If axisNo is out of bounds, asynMotorAxis prints an
+    If axisNo is out of bounds, asynMotorAxis prints an error (see
-    error (see
+    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp, line 40).
-    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp,
+    However, we want the IOC creation to stop completely, since this is a configuration error.
-    line 40). However, we want the IOC creation to stop completely, since this
-    is a configuration error.
     */
-    if (axisNo >= pC->numAxes_) {
+    if (axisNo >= pC->numAxes_)
+    {
         exit(-1);
     }
     last_position_steps_ = 0;
@@ -31,7 +30,8 @@ C804Axis::C804Axis(C804Controller *pC, int axisNo)
     last_poll_ = 0.0;
 }
 
-C804Axis::~C804Axis(void) {
+C804Axis::~C804Axis(void)
+{
     // Since the controller memory is managed somewhere else, we don't need to
     // clean up the pointer pC here.
 }
@@ -39,44 +39,47 @@ C804Axis::~C804Axis(void) {
 /*
 The polling function informs us about the state of the axis, in particular if it
 is currently moving. It is called periodically, with the period defined by
-the controller constructor arguments idlePollPeriod and movingPollPeriod
+the controller constructor arguments idlePollPeriod and movingPollPeriod depending on
-depending on the current axis state.
+the current axis state.
 */
-asynStatus C804Axis::poll(bool *moving) {
+asynStatus C804Axis::poll(bool *moving)
+{
     // Local variable declaration
     static const char *functionName = "C804Axis::poll";
 
-    // The poll function is just a wrapper around poll_no_param_lib_update and
+    // The poll function is just a wrapper around poll_no_param_lib_update and handles mainly
-    // handles mainly the callParamCallbacks() function
+    // the callParamCallbacks() function
     asynStatus status_poll = C804Axis::poll_no_param_lib_update(moving);
 
     // According to the function documentation of asynMotorAxis::poll, this
     // function should be called at the end of a poll implementation.
     asynStatus status_callback = callParamCallbacks();
-    if (status_callback != asynSuccess) {
+    if (status_callback != asynSuccess)
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: Updating the parameter library failed for axis %d\n",
+                  "%s: Updating the parameter library failed for axis %d\n", functionName, axisNo_);
-                  functionName, axisNo_);
         return status_callback;
-    } else {
+    }
+    else
+    {
         return status_poll;
     }
 }
 
 // Perform the actual poll
-asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
+asynStatus C804Axis::poll_no_param_lib_update(bool *moving)
+{
     // Local variable declaration
     static const char *functionName = "C804Axis::poll";
     asynStatus status;
     int axis_status = 0;
 
     // The controller returns the position and velocity in encoder steps.
-    // This value needs to be converted in user units (engineering units EGU)
+    // This value needs to be converted in user units (engineering units EGU) via
-    // via the record field MRES of the motor record. This field has already
+    // the record field MRES of the motor record. This field has already been read
-    // been read by the constructor into the member variable
+    // by the constructor into the member variable motorRecResolution_.
-    // motorRecResolution_. To go from steps to user units, multiply with
+    // To go from steps to user units, multiply with motorRecResolution_
-    // motorRecResolution_ Example: If 10 steps correspond to 1 mm, MRES should
+    // Example: If 10 steps correspond to 1 mm, MRES should be 0.1.
-    // be 0.1.
     int position_error_steps = 0;
     int motor_position_steps = 0;
     int motor_velocity_steps = 0;
@@ -86,28 +89,28 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
     double motor_velocity = .0;
     double programmed_motor_velocity = .0;
 
-    // The buffer sizes for command and response are defined in the controller
+    // The buffer sizes for command and response are defined in the controller (see the corresponding source code files)
-    // (see the corresponding source code files)
     char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
 
     /*
     Cancel the poll if the last poll has "just" happened.
     */
-    if (time(NULL) < last_poll_ + 0.5 * pC_->movingPollPeriod_) {
+    if (time(NULL) < last_poll_ + 0.5 * pC_->movingPollPeriod_)
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
-                  "%s: Aborted poll since the last poll for axis %d happened a "
+                  "%s: Aborted poll since the last poll for axis %d happened a short time ago\n", functionName, axisNo_);
-                  "short time ago\n",
-                  functionName, axisNo_);
         return asynSuccess;
-    } else {
+    }
+    else
+    {
         last_poll_ = time(NULL);
     }
 
     /*
     The parameter motorRecResolution_ is coupled to the field MRES of the motor
     record in the following manner:
-    - In sinq_asyn_motor.db, the PV (motor_record_pv_name)MOTOR_REC_RESOLUTION
+    - In sinq_asyn_motor.db, the PV (motor_record_pv_name)MOTOR_REC_RESOLUTION is
-    is defined as a copy of the field (motor_record_pv_name).MRES:
+    defined as a copy of the field (motor_record_pv_name).MRES:
 
         record(ao,"$(P)$(M):Resolution") {
             field(DESC, "$(M) resolution")
@@ -118,33 +121,52 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
             field(PREC, "$(PREC)")
         }
 
-    - The PV name MOTOR_REC_RESOLUTION is coupled in asynMotorController.h to
+    - The PV name MOTOR_REC_RESOLUTION is coupled in asynMotorController.h to the constant motorRecResolutionString
-    the constant motorRecResolutionString
+    - ... which in turn is assigned to motorRecResolution_ in asynMotorController.cpp
-    - ... which in turn is assigned to motorRecResolution_ in
+    This way of making the field visible to the driver is described here: https://epics.anl.gov/tech-talk/2020/msg00378.php
-    asynMotorController.cpp This way of making the field visible to the driver
+    This is a one-way coupling, changes to the parameter library via setDoubleParam
-    is described here: https://epics.anl.gov/tech-talk/2020/msg00378.php This is
+    are NOT transferred to (motor_record_pv_name).MRES or to (motor_record_pv_name):Resolution.
-    a one-way coupling, changes to the parameter library via setDoubleParam are
-    NOT transferred to (motor_record_pv_name).MRES or to
-    (motor_record_pv_name):Resolution.
 
     NOTE: This function must not be called in the constructor (e.g. in order to
-    save the read result to the member variable earlier), since the parameter
+    save the read result to the member variable earlier), since the parameter library
-    library is updated at a later stage!
+    is updated at a later stage!
     */
-    pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+    status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_, &motorRecResolution_);
-                        &motorRecResolution_);
+
 
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW, "Poll axis %d\n", axisNo_);
 
     /*
-    We know that the motor resolution must not be zero. During the startup of
+    The poll function might be called at IOC startup before the parameter 
-    the IOC, polls can happen before the record is fully initialized. In that
+    library has been fully initialized. In this case, calling getDoubleParam 
-    case, all values are zero.
+    returns the error status 10 (asynParamUndefined). Returning an asynError
-    */
+    from the poll method means that the poll is repeated. This is exactly what
-    if (motorRecResolution_ == 0) {
+    we want, because this means that the poll will be repeated until the
+    parameter library has been initialized.
+    
+    asynStatus is defined as 
+
+    typedef enum {
+        asynSuccess,asynTimeout,asynOverflow,asynError,asynDisconnected,asynDisabled
+    }asynStatus;
+
+    in asynDriver.h (see https://github.com/epics-modules/asyn/blob/master/asyn/asynDriver/asynDriver.h),
+    Therefore, it should only have the values 0 to 5. However, the enum value 
+    range is extended in paramErrors.h (https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/paramErrors.h)
+     */
+    if (status == asynParamUndefined) 
+    {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Parameter library is not yet initialized. Repeating poll on axis %d\n", functionName, axisNo_);
+        return asynError;
+    } 
+    else if (status != asynSuccess) 
+    {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the motor resolution failed for axis %d\n (asynStatus = %d)", functionName, axisNo_, status);
         return asynError;
     }
 
+
     /*
     Assume that the axis does not have a status problem. If it does have a
     problem, this value will be overwritten further below. Setting this value
@@ -154,11 +176,11 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
     */
     setIntegerParam(pC_->motorStatusProblem_, false);
 
-    // Read out the position error of the axis (delta of target position to
+    // Read out the position error of the axis (delta of target position to actual position)
-    // actual position)
     snprintf(command, pC_->C804_MAXBUF_ - 1, "%dTE", axisNo_);
     status = pC_->lowLevelWriteRead(axisNo_, command, response, true);
-    if (status == asynSuccess) {
+    if (status == asynSuccess)
+    {
         int parsed_axis;
         sscanf(response, "%2dE%10d", &parsed_axis, &position_error_steps);
 
@@ -166,12 +188,12 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
         position_error = double(position_error_steps) * motorRecResolution_;
 
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "%s: Axis %d, response %s, position error %f\n", functionName,
+                  "%s: Axis %d, response %s, position error %f\n", functionName, axisNo_, response, position_error);
-                  axisNo_, response, position_error);
+    }
-    } else {
+    else
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: Reading the position error failed for axis %d\n",
+                  "%s: Reading the position error failed for axis %d\n", functionName, axisNo_);
-                  functionName, axisNo_);
         setIntegerParam(pC_->motorStatusProblem_, true);
 
         // Stop the evaluation prematurely
@@ -180,9 +202,9 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
 
     // Read the current position.
     snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTP", this->axisNo_);
-    status =
+    status = this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
-        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess)
-    if (status == asynSuccess) {
+    {
         int parsed_axis;
         sscanf(response, "%2dP%10d", &parsed_axis, &motor_position_steps);
 
@@ -190,14 +212,14 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
         motor_position = double(motor_position_steps) * motorRecResolution_;
 
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "%s: Axis %d, response %s, position %f\n", functionName,
+                  "%s: Axis %d, response %s, position %f\n", functionName, axisNo_, response, motor_position);
-                  axisNo_, response, motor_position);
         setDoubleParam(pC_->motorPosition_, motor_position);
         setDoubleParam(pC_->motorEncoderPosition_, motor_position);
-    } else {
+    }
+    else
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: Reading the position failed for axis %d\n", functionName,
+                  "%s: Reading the position failed for axis %d\n", functionName, axisNo_);
-                  axisNo_);
         setIntegerParam(pC_->motorStatusProblem_, true);
 
         return status;
@@ -205,9 +227,9 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
 
     // Read the current velocity
     snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTV", this->axisNo_);
-    status =
+    status = this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
-        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess)
-    if (status == asynSuccess) {
+    {
         int parsed_axis;
         sscanf(response, "%2dV%10d", &parsed_axis, &motor_velocity_steps);
 
@@ -215,12 +237,12 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
         motor_velocity = double(motor_velocity_steps) * motorRecResolution_;
 
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "%s: Axis %d, response %s, velocity %f\n", functionName,
+                  "%s: Axis %d, response %s, velocity %f\n", functionName, axisNo_, response, motor_velocity);
-                  axisNo_, response, motor_velocity);
+    }
-    } else {
+    else
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: Reading the velocity failed for axis %d\n", functionName,
+                  "%s: Reading the velocity failed for axis %d\n", functionName, axisNo_);
-                  axisNo_);
         setIntegerParam(pC_->motorStatusProblem_, true);
 
         return status;
@@ -228,25 +250,23 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
 
     // Read the programmed velocity
     snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTY", this->axisNo_);
-    status =
+    status = this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
-        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess)
-    if (status == asynSuccess) {
+    {
 
         int parsed_axis;
-        sscanf(response, "%2dY%10d", &parsed_axis,
+        sscanf(response, "%2dY%10d", &parsed_axis, &programmed_motor_velocity_steps);
-               &programmed_motor_velocity_steps);
 
         // Scale from the encoder resultion to user units
-        programmed_motor_velocity =
+        programmed_motor_velocity = double(programmed_motor_velocity_steps) * motorRecResolution_;
-            double(programmed_motor_velocity_steps) * motorRecResolution_;
 
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "%s: Axis %d, response %s, programmed velocity %f\n",
+                  "%s: Axis %d, response %s, programmed velocity %f\n", functionName, axisNo_, response, programmed_motor_velocity);
-                  functionName, axisNo_, response, programmed_motor_velocity);
+    }
-    } else {
+    else
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: Reading the programmed velocity failed for axis %d\n",
+                  "%s: Reading the programmed velocity failed for axis %d\n", functionName, axisNo_);
-                  functionName, axisNo_);
         setIntegerParam(pC_->motorStatusProblem_, true);
 
         return status;
@@ -255,13 +275,15 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
     // Read the motor status
     snprintf(command, pC_->C804_MAXBUF_ - 1, "%dTS", axisNo_);
     status = pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
-    if (status == asynSuccess) {
+    if (status == asynSuccess)
+    {
         int parsed_axis;
         sscanf(response, "%2dS%10d", &parsed_axis, &axis_status);
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "%s: Axis %d, response %s, status %d\n", functionName,
+                  "%s: Axis %d, response %s, status %d\n", functionName, axisNo_, response, axis_status);
-                  axisNo_, response, axis_status);
+    }
-    } else {
+    else
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                   "%s: Reading the motor status %d\n", functionName, axisNo_);
         setIntegerParam(pC_->motorStatusProblem_, true);
@@ -270,22 +292,24 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
         return status;
     }
 
-    // Check if the axis is enabled by reading out bit 2 (see
+    // Check if the axis is enabled by reading out bit 2 (see https://stackoverflow.com/questions/2249731/how-do-i-get-bit-by-bit-data-from-an-integer-value-in-c)
-    // https://stackoverflow.com/questions/2249731/how-do-i-get-bit-by-bit-data-from-an-integer-value-in-c)
     int mask = 1 << 2;
     int masked_n = axis_status & mask;
     // Is 1 if the axis is disabled
     int disabled = masked_n >> 2;
-    if (disabled) {
+    if (disabled)
+    {
         enabled_ = false;
-    } else {
+    }
+    else
+    {
         enabled_ = true;
     }
 
     /*
-    Determine if the motor is moving. This is determined by the following
+    Determine if the motor is moving. This is determined by the following criteria:
-    criteria: 1) The motor position changes from poll to poll 2) The motor is
+    1) The motor position changes from poll to poll
-    enabled
+    2) The motor is enabled
     */
     *moving = enabled_ && motor_position_steps != this->last_position_steps_;
 
@@ -298,21 +322,22 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
     moving. If it has spent too much time in a moving state without reaching
     the target, stop the motor and return an error.
     */
-    if (*moving) {
+    if (*moving)
+    {
 
         int motorStatusMoving = 0;
-        pC_->getIntegerParam(axisNo_, pC_->motorStatusMoving_,
+        pC_->getIntegerParam(axisNo_, pC_->motorStatusMoving_, &motorStatusMoving);
-                             &motorStatusMoving);
 
         // motor is moving, but didn't move in the last poll
-        if (motorStatusMoving == 0) {
+        if (motorStatusMoving == 0)
+        {
             time_t current_time = time(NULL);
 
             // Factor 2 of the calculated moving time
-            estimatedArrivalTime_ =
+            estimatedArrivalTime_ = current_time + std::ceil(2 * std::fabs(position_error) / programmed_motor_velocity);
-                current_time + std::ceil(2 * std::fabs(position_error) /
+        }
-                                         programmed_motor_velocity);
+        else
-        } else {
+        {
             // /*
             // Motor is moving for a longer time than it should: Stop it
             // */
@@ -320,9 +345,7 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
             // {
             //     snprintf(command, pC_->C804_MAXBUF_ - 1, "%dST", axisNo_);
             //     status = pC_->lowLevelWriteRead(axisNo_, command, response);
-            //     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Stopped
+            //     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Stopped axis %d since it moved for double the time it should to reach its target\n", functionName, axisNo_);
-            //     axis %d since it moved for double the time it should to reach
-            //     its target\n", functionName, axisNo_);
             // }
         }
     }
@@ -338,58 +361,54 @@ asynStatus C804Axis::poll_no_param_lib_update(bool *moving) {
     return status;
 }
 
-asynStatus C804Axis::move(double position, int relative, double minVelocity,
+asynStatus C804Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
-                          double maxVelocity, double acceleration) {
+{
     asynStatus status;
     static const char *functionName = "C804Axis::move";
     char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
     double position_c_units = 0.0; // Controller units
     int position_steps = 0;
 
-    // Convert from user coordinates (EGU) to controller coordinates (steps).
+    // Convert from user coordinates (EGU) to controller coordinates (steps). Check for overflow
-    // Check for overflow
+    if (motorRecResolution_ == 0.0)
-    if (motorRecResolution_ == 0.0) {
+    {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: MRES must not be zero. Movement is aborted", functionName);
-                  "%s: MRES must not be zero. Movement is aborted",
-                  functionName);
         return asynError;
     }
     position_c_units = position / motorRecResolution_;
 
     // Check for overflow during the division
-    if (position_c_units * motorRecResolution_ != position) {
+    if (position_c_units * motorRecResolution_ != position)
-        asynPrint(
+    {
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "%s: could not convert from user units (%f) to controller units "
+                  "%s: could not convert from user units (%f) to controller units (user units divided by resolution MRES %f) due to overflow.",
-            "(user units divided by resolution MRES %f) due to overflow.",
+                  functionName, position, motorRecResolution_);
-            functionName, position, motorRecResolution_);
         return asynError;
     }
 
-    // Steps can only be integer values => cast to integer while checking for
+    // Steps can only be integer values => cast to integer while checking for overflow
-    // overflow
+    if (std::numeric_limits<int>::max() < position_c_units || std::numeric_limits<int>::min() > position_c_units)
-    if (std::numeric_limits<int>::max() < position_c_units ||
+    {
-        std::numeric_limits<int>::min() > position_c_units) {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: target position %f cannot be converted to int "
+                  "%s: target position %f cannot be converted to int (overflow). Check target value %f and MRES %f",
-                  "(overflow). Check target value %f and MRES %f",
+                  functionName, position_c_units, position_c_units, motorRecResolution_);
-                  functionName, position_c_units, position_c_units,
-                  motorRecResolution_);
         return asynError;
     }
     position_steps = static_cast<int>(position_c_units);
 
     // Convert from relative to absolute values
-    if (relative) {
+    if (relative)
+    {
         position_steps += last_position_steps_;
     }
 
     // If the axis is currently disabled, enable it
-    if (!enabled_) {
+    if (!enabled_)
+    {
         snprintf(command, pC_->C804_MAXBUF_ - 1, "%dGO", axisNo_);
-        status =
+        status = pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
-            pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
+        if (status != asynSuccess)
-        if (status != asynSuccess) {
+        {
             asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                       "%s: Enabling axis %d\n failed", functionName, axisNo_);
             return status;
@@ -399,10 +418,10 @@ asynStatus C804Axis::move(double position, int relative, double minVelocity,
     // Start movement
     snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMA%d", axisNo_, position_steps);
     status = pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
-    if (status != asynSuccess) {
+    if (status != asynSuccess)
+    {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "%s: Setting the target position %d failed for axis %d\n",
+                  "%s: Setting the target position %d failed for axis %d\n", functionName, position_steps, axisNo_);
-                  functionName, position_steps, axisNo_);
         setIntegerParam(pC_->motorStatusProblem_, true);
         return status;
     }
@@ -414,13 +433,14 @@ asynStatus C804Axis::move(double position, int relative, double minVelocity,
     return status;
 }
 
-asynStatus C804Axis::moveVelocity(double min_velocity, double max_velocity,
+asynStatus C804Axis::moveVelocity(double min_velocity, double max_velocity, double acceleration)
-                                  double acceleration) {
+{
     static const char *functionName = "C804Axis::moveVelocity";
     return asynError;
 }
 
-asynStatus C804Axis::stop(double acceleration) {
+asynStatus C804Axis::stop(double acceleration)
+{
     asynStatus status = asynSuccess;
     static const char *functionName = "C804Axis::stop";
     char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
@@ -428,28 +448,26 @@ asynStatus C804Axis::stop(double acceleration) {
     bool moving = false;
 
     poll(&moving);
-    if (moving) {
+    if (moving)
+    {
         // ST = Stop
         snprintf(command, pC_->C804_MAXBUF_ - 1, "%dST", axisNo_);
         status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Stop axis %d\n",
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Stop axis %d\n", functionName, axisNo_);
-                  functionName, axisNo_);
     }
 
     return status;
 }
 
-asynStatus C804Axis::home(double minVelocity, double maxVelocity,
+asynStatus C804Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
-                          double acceleration, int forwards) {
+{
     asynStatus status = asynSuccess;
     static const char *functionName = "C804Axis::home";
     char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
 
-    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dFE0",
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dFE0", axisNo_); // Home to the upper limit of the axis (25 mm)
-             axisNo_); // Home to the upper limit of the axis (25 mm)
     status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
-    asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Homing axis %d\n",
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Homing axis %d\n", functionName, axisNo_);
-              functionName, axisNo_);
 
     return status;
 }
@@ -457,21 +475,23 @@ asynStatus C804Axis::home(double minVelocity, double maxVelocity,
 /**
 If on is 0, disable the motor, otherwise enable it.
  */
-asynStatus C804Axis::enable(int on) {
+asynStatus C804Axis::enable(int on)
+{
     asynStatus status = asynSuccess;
     static const char *functionName = "C804Axis::enable";
     char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
 
-    if (on == 0) {
+    if (on == 0)
+    {
         snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMF", axisNo_);
         status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE,
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Disable axis %d\n", functionName, axisNo_);
-                  "%s: Disable axis %d\n", functionName, axisNo_);
+    }
-    } else {
+    else
+    {
         snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMN", axisNo_);
         status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE,
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Enable axis %d\n", functionName, axisNo_);
-                  "%s: Enable axis %d\n", functionName, axisNo_);
     }
     return status;
 }

sinqEPICSApp/src/EL734Driver.cpp

@@ -143,11 +143,6 @@ asynStatus EL734Controller::transactController(int axisNo, char command[COMLEN],
 
   pasynOctetSyncIO->flush(pasynUserController_);
 
-  if (axis != NULL)
-  {
-    axis->updateMsgTxtFromDriver("");
-  }
-
   status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
                                        reply, COMLEN, 2., &out, &in, &reason);
   if (status != asynSuccess)

sinqEPICSApp/src/pmacAxis.cpp

@@ -1186,8 +1186,6 @@ AmorDetectorAxis::AmorDetectorAxis(pmacController *pC, int axisNo, int function)
   pC_->debugFlow(functionName);
 
   _function = function;
-  det_starting = false;
-  det_startTime = time(NULL);
 
   callParamCallbacks();
 

sinqEPICSApp/src/pmacAxis.h

@@ -1,180 +1,169 @@
 /********************************************
  *  pmacAxis.cpp
- *
+ * 
- *  PMAC Asyn motor based on the
+ *  PMAC Asyn motor based on the 
  *  asynMotorAxis class.
- *
+ * 
  *  Matthew Pearson
  *  23 May 2012
- *
+ * 
  * Modified to use the MsgTxt field for SINQ
  *
  * Mark Koennecke, January 2019
  *
- * EXtended with special motor axis for the Selene
+ * EXtended with special motor axis for the Selene 
  * guide, Mark Koennecke, February 2020
  ********************************************/
 
 #ifndef pmacAxis_H
 #define pmacAxis_H
 
-#include "SINQAxis.h"
 #include "SINQController.h"
+#include "SINQAxis.h"
 
 class pmacController;
 class SeleneController;
 
-class pmacAxis : public SINQAxis {
+class pmacAxis : public SINQAxis
+{
   public:
-    /* These are the methods we override from the base class */
+  /* These are the methods we override from the base class */
-    pmacAxis(pmacController *pController, int axisNo, bool enable = true);
+  pmacAxis(pmacController *pController, int axisNo, bool enable=true);
-    virtual ~pmacAxis();
+  virtual ~pmacAxis();
-    asynStatus move(double position, int relative, double min_velocity,
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-                    double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-    asynStatus moveVelocity(double min_velocity, double max_velocity,
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-                            double acceleration);
+  asynStatus stop(double acceleration);
-    asynStatus home(double min_velocity, double max_velocity,
+  asynStatus poll(bool *moving);
-                    double acceleration, int forwards);
+  asynStatus setPosition(double position);
-    asynStatus stop(double acceleration);
+  asynStatus enable(int on);
-    asynStatus poll(bool *moving);
-    asynStatus setPosition(double position);
-    asynStatus enable(int on);
 
-  protected:
+protected:
-    pmacController *pC_;
+  pmacController *pC_;
+  
+  asynStatus getAxisStatus(bool *moving);
+  asynStatus getAxisInitialStatus(void);
 
-    asynStatus getAxisStatus(bool *moving);
+  double setpointPosition_;
-    asynStatus getAxisInitialStatus(void);
+  double encoderPosition_;
+  double currentVelocity_;
+  double velocity_;
+  double accel_;
+  double highLimit_;
+  double lowLimit_;
+  double scale_;
+  double previous_position_;
+  int previous_direction_;
+  int encoder_axis_;
+  int axisErrorCount;
 
-    double setpointPosition_;
+  time_t startTime;
-    double encoderPosition_;
+  time_t status6Time;
-    double currentVelocity_;
+  int starting;
-    double velocity_;
+  int homing;
-    double accel_;
+  double statusPos;
-    double highLimit_;
-    double lowLimit_;
-    double scale_;
-    double previous_position_;
-    int previous_direction_;
-    int encoder_axis_;
-    int axisErrorCount;
 
-    time_t startTime;
+  time_t next_poll;
-    time_t status6Time;
-    int starting;
-    int homing;
-    double statusPos;
 
-    time_t next_poll;
+  bool autoEnable;
-
+  
-    bool autoEnable;
+  friend class pmacController;
-
+  friend class pmacV3Controller;
-    friend class pmacController;
-    friend class pmacV3Controller;
 };
 /*--------------------------------------------------------------------------------------------*/
-class SeleneAxis : public pmacAxis {
+class SeleneAxis : public pmacAxis
+{
   public:
-    SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
+   SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
-    asynStatus move(double position, int relative, double min_velocity,
+   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-                    double max_velocity, double acceleration);
+   asynStatus setPosition(double position);
-    asynStatus setPosition(double position);
+   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-    asynStatus home(double min_velocity, double max_velocity,
-                    double acceleration, int forwards);
 
-  protected:
+ protected:
-    friend class SeleneController;
+  friend class SeleneController;
-    friend class pmacController;
+  friend class pmacController;
+
+ private:
+  double limitTarget;
+  asynStatus getSeleneAxisInitialStatus(void);
 
-  private:
-    double limitTarget;
-    asynStatus getSeleneAxisInitialStatus(void);
 };
 
 /*
-  Yet another special set of motors for the Selene Guide at AMOR. Each segment
+  Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is 
-  can be lifted or tilted. This is two motors. One acts as a slave and only
+  two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the 
-  writes a new target, the other also sets a new target and sends the actual
+  actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on 
-  movement command. Both motors are coordianted in the motor controller in order
+  the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
-  to avoid tension on the guide elements. This gaves rise to the function code
-  LIFTSLAVE and LIFTMASTER.
 
-  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6
+  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them 
-  get new values and one of them sends the drive command. This causes all 6
+  sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is 
-  motors to drive synchronously to their new targets. This is implemented
+  implemented through the LIFTSEGMENT function code. 
-  through the LIFTSEGMENT function code.
 
-  Mark Koennecke, February 2020
+  Mark Koennecke, February 2020 
 
   The axis should not be enabled automatically
 
-  Michele Brambilla, February 2020
+  Michele Brambilla, February 2020 
 
  */
-class LiftAxis : public pmacAxis {
+class LiftAxis : public pmacAxis
-  public:
+{
-    /*
+ public:
-    The default constructor of LiftAxis just forwards to the pmacAxis
+ LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
-    constructor, which has an optional argument "autoenable" with the default
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-    value "true". However, we want that argument to be false, hence we provide
+  asynStatus poll(bool *moving);
-    an explicit constructor.
+  asynStatus stop(double acceleration);
-    */
+ private:
-    LiftAxis(pmacController *pController, int axisNo)
+  int waitStart;
-        : pmacAxis((pmacController *)pController, axisNo, false) {};
-    asynStatus move(double position, int relative, double min_velocity,
-                    double max_velocity, double acceleration);
-    asynStatus poll(bool *moving);
-    asynStatus stop(double acceleration);
-
-  private:
-    int waitStart;
 };
 
-/********************************************
+ /********************************************
  * Protocol version 3 requires just some minor change
  *
  * Michele Brambilla, February 2022
  ********************************************/
 
 class pmacV3Axis : public pmacAxis {
-  public:
+public:
-    pmacV3Axis(pmacController *pController, int axisNo);
 
-    asynStatus move(double position, int relative, double min_velocity,
+  pmacV3Axis(pmacController *pController, int axisNo);
-                    double max_velocity, double acceleration);
-    asynStatus poll(bool *moving);
 
-  protected:
+  asynStatus move(double position, int relative, double min_velocity,
-    int IsEnable;
+                  double max_velocity, double acceleration);
-    double Speed;
+  asynStatus poll(bool *moving);
+ protected:
+  int IsEnable;
+  double Speed;
 
-    asynStatus getAxisStatus(bool *moving);
+  asynStatus getAxisStatus(bool *moving);
 
-    friend class pmacController;
+  friend class pmacController;
-    friend class pmacV3Controller;
+  friend class pmacV3Controller;
-};
+ };
 
 /*----------------------------------------------------------------------------------------------*/
-class pmacHRPTAxis : public pmacV3Axis {
+class pmacHRPTAxis : public pmacV3Axis
-  public:
+{
-    pmacHRPTAxis(pmacController *pController, int axisNo)
+ public: 
-        : pmacV3Axis(pController, axisNo) {};
+ pmacHRPTAxis(pmacController *pController, int axisNo) : pmacV3Axis(pController,axisNo) {};
-    /**
+  /**
-     * Override getAxisStatus in order to read the special parameter indicating
+   * Override getAxisStatus in order to read the special parameter indicating a
-     * a slit blade crash at HRPT
+   * slit blade crash at HRPT
-     */
+   */
-    asynStatus getAxisStatus(bool *moving);
+  asynStatus getAxisStatus(bool *moving);
 
-  protected:
+ protected:
-    friend class pmacController;
+  friend class pmacController;
+  
 };
 
+
 /*
  * Special motors for the AMOR detector movement. The whole
  * command set is different but on a pmac controller. This implements
  * a coordinated movement of cox, coz and ftz in order not to break
  * the flight tube which may have been mounted. This is mapped to three
- * motors selected via the function code: com, the detector omega, coz,
+ * motors selected via the function code: com, the detector omega, coz, 
  * the detector z offset and park, for parking the flightpath.
  */
 
@@ -182,41 +171,39 @@ class pmacHRPTAxis : public pmacV3Axis {
 #define ADCOZ 2
 #define ADPARK 3
 
-class AmorDetectorAxis : public pmacAxis {
+class AmorDetectorAxis: public pmacAxis {
-  public:
+public:
-    AmorDetectorAxis(pmacController *pController, int axisNo, int function);
+  AmorDetectorAxis(pmacController *pController, int axisNo, int function);
 
-    asynStatus move(double position, int relative, double min_velocity,
+  asynStatus move(double position, int relative, double min_velocity,
-                    double max_velocity, double acceleration);
+                  double max_velocity, double acceleration);
-    asynStatus poll(bool *moving);
+  asynStatus poll(bool *moving);
-    asynStatus moveVelocity(double min_velocity, double max_velocity,
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
-                            double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
-    asynStatus home(double min_velocity, double max_velocity,
+  asynStatus stop(double acceleration);
-                    double acceleration, int forwards);
+  asynStatus setPosition(double position);
-    asynStatus stop(double acceleration);
-    asynStatus setPosition(double position);
 
-  protected:
+protected:
-    int _function;
+  int _function;
-    int det_starting;
+  int det_starting;
-    time_t det_startTime;
+  time_t det_startTime;
 };
 
 /*----------------------------------------------------------------------------------------------*/
 
-class GirderAxis : public pmacV3Axis {
+
+class GirderAxis: public pmacV3Axis {
   public:
     GirderAxis(pmacController *pController, int axisNo);
-    asynStatus move(double position, int relative, double min_velocity,
+    asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
-                    double max_velocity, double acceleration);
     asynStatus stop(double acceleration);
     asynStatus poll(bool *moving);
 
   protected:
     int IsEnable;
 
-    friend class pmacController;
+  friend class pmacController;
-    friend class pmacV3Controller;
+  friend class pmacV3Controller;
 };
 
 #endif /* pmacAxis_H */

sinqEPICSApp/src/sinq.dbd

@@ -5,9 +5,9 @@ registrar(EL734Register)
 registrar(PhytronRegister) 
 registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
-# registrar(pmacControllerRegister) 
+registrar(pmacControllerRegister) 
 registrar(C804ControllerRegister) 
-# registrar(pmacAsynIPPortRegister) 
+registrar(pmacAsynIPPortRegister) 
 registrar(MasterMACSRegister) 
 registrar(SINQControllerRegister)