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moved disconnect handling to sinqMotor

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This commit is contained in:
mathis_s
2026-01-22 09:47:36 +01:00
parent 9c5fb9fecf
commit 6bc2d7de22
3 changed files with 189 additions and 158 deletions
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2
sinqMotor

Submodule sinqMotor updated: 2578081814...97c3ed4556

277
src/turboPmacAxis.cpp
View File

@@ -179,22 +179,52 @@ asynStatus turboPmacAxis::init() {
"Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65",
axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
status = pC_->writeRead(axisNo_, command, response, 7);
msgPrintControlKey keyDisconnected = msgPrintControlKey(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 1);
if (status != asynSuccess) {
if (pC_->getMsgPrintControl().shouldBePrinted(keyDisconnected, true,
pC_->pasynUser())) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nCould not communicate "
"with controller during IOC initialization. Check if you used "
"\"pmacAsynIPPortConfigure\" instead of the standard "
"\"drvAsynIPPortConfigure\" function in the .cmd file in order to "
"create the port driver.\n",
pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
pTurboPmacA_->needInit = true;
"Controller \"%s\", axis %d => %s, line %d\nCould not "
"communicate with controller during IOC initialization (error "
"%s). Did you use \"drvAsynIPPortConfigure\" instead of "
"\"pmacAsynIPPortConfigure\" in the .cmd file to create the "
"port driver?\n",
pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__,
pC_->stringifyAsynStatus(status));
}
pTurboPmacA_->needInit = true;
status = callParamCallbacks();
if (status != asynSuccess) {
// If we can't communicate with the parameter library, it
// doesn't make sense to try and upstream this to the user ->
// Just log the error
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\ncallParamCallbacks failed with %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->stringifyAsynStatus(status));
return status;
}
return status;
}
// No error has been detected -> Reset the error count
if (status == asynSuccess) {
pC_->getMsgPrintControl().resetCount(keyDisconnected, pC_->pasynUser());
}
nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
&motorVmax, &motorVelocity, &motorAccel, &acoDelay,
&counts_to_eu, &deadband_counts);
// The acoDelay is given in milliseconds -> Convert to seconds, rounded up
// The acoDelay is given in milliseconds -> Convert to seconds, rounded
// up
setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
// The PMAC electronic specifies the acceleration in m/s^2. Since we
@@ -227,18 +257,18 @@ asynStatus turboPmacAxis::init() {
}
/*
Check if the new target position is within the range current position +/-
deadband. If that is the case, no movement command should be sent. This
functionality is implemented within the motor record itself, we just need to
populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
Check if the new target position is within the range current position
+/- deadband. If that is the case, no movement command should be sent.
This functionality is implemented within the motor record itself, we
just need to populate the field SPDP (see record PushSPDB2Field in
db/turboPmac.db)
First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
160). This value then needs to be converted into counts (by dividing it by
16). After words, the deadband in counts then need to be converted into
engineering units. For this, the scaling factor Qxx10 needs to be applied
(see SINQ_2G_MCU_SW_manual_rev7, p. 17):
[Qxx10] = engineering units (eu) / counts
deadband_eu = Qxx10 * Ixx65 / 16
160). This value then needs to be converted into counts (by dividing it
by 16). After words, the deadband in counts then need to be converted
into engineering units. For this, the scaling factor Qxx10 needs to be
applied (see SINQ_2G_MCU_SW_manual_rev7, p. 17): [Qxx10] = engineering
units (eu) / counts deadband_eu = Qxx10 * Ixx65 / 16
The values of Qxx10 and Ixx65 are read out during initialization and are
assumed to not change during operation.
@@ -249,11 +279,12 @@ asynStatus turboPmacAxis::init() {
// Update the parameter library immediately
status = callParamCallbacks();
if (status != asynSuccess) {
// If we can't communicate with the parameter library, it doesn't make
// sense to try and upstream this to the user -> Just log the error
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\ncallParamCallbacks "
// If we can't communicate with the parameter library, it doesn't
// make sense to try and upstream this to the user -> Just log the
// error
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\ncallParamCallbacks "
"failed with %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->stringifyAsynStatus(status));
@@ -341,13 +372,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
}
if (error != 0) {
// If an error occurred while waiting for the handshake, abort the
// waiting procedure and continue with the poll in order to handle
// the error.
// If an error occurred while waiting for the handshake, abort
// the waiting procedure and continue with the poll in order to
// handle the error.
pTurboPmacA_->waitForHandshake = false;
} else if (handshakePerformed == 1) {
// Handshake has been performed successfully -> Continue with the
// poll
// Handshake has been performed successfully -> Continue with
// the poll
pTurboPmacA_->waitForHandshake = false;
} else {
// Still waiting for the handshake - try again in the next busy
@@ -387,15 +418,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
/*
The axis limits are set as: ({[]})
where [] are the positive and negative limits set in EPICS/NICOS, {} are the
software limits set on the MCU and () are the hardware limit switches. In
other words, the EPICS/NICOS limits should be stricter than the software
limits on the MCU which in turn should be stricter than the hardware limit
switches. For example, if the hardware limit switches are at [-10, 10], the
software limits could be at [-9, 9] and the EPICS / NICOS limits could be at
where [] are the positive and negative limits set in EPICS/NICOS, {} are
the software limits set on the MCU and () are the hardware limit
switches. In other words, the EPICS/NICOS limits should be stricter than
the software limits on the MCU which in turn should be stricter than the
hardware limit switches. For example, if the hardware limit switches are
at [-10, 10], the software limits could be at [-9, 9] and the EPICS /
NICOS limits could be at
[-8, 8]. Therefore, we cannot use the software limits read from the MCU
directly, but need to shrink them a bit. In this case, we're shrinking them
by limitsOffset on both sides.
directly, but need to shrink them a bit. In this case, we're shrinking
them by limitsOffset on both sides.
*/
getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
highLimit = highLimit - limitsOffset;
@@ -411,8 +443,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
(axStatus != -3 && axStatus != -5));
}
// Create the unique callsite identifier manually so it can be used later in
// the shouldBePrinted calls.
// Create the unique callsite identifier manually so it can be used
// later in the shouldBePrinted calls.
msgPrintControlKey keyStatus = msgPrintControlKey(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
bool resetCountStatus = true;
@@ -433,9 +465,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
pC_->pasynUser())) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nEmergency stop "
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line "
"%d\nEmergency stop "
"activated.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->getMsgPrintControl().getSuffix());
@@ -508,8 +540,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
*moving = false;
break;
case 15:
// Move is interrupted, but the motor is not ready to receive another
// move command. Therefore it is treated as still moving.
// Move is interrupted, but the motor is not ready to receive
// another move command. Therefore it is treated as still moving.
*moving = true;
break;
case 16:
@@ -604,11 +636,11 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
pC_->pasynUser())) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is "
"still moving, but received another move command. EPICS "
"should prevent this, check if *moving is set correctly.%s\n",
"should prevent this, check if *moving is set "
"correctly.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->getMsgPrintControl().getSuffix());
}
@@ -623,13 +655,14 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nLost feedback "
"from auxiliary device during movement (P%2.2d01 = %d).%s\n",
"from auxiliary device during movement (P%2.2d01 = "
"%d).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
error, pC_->getMsgPrintControl().getSuffix());
}
snprintf(
userMessage, sizeUserMessage,
"Lost feedback from auxiliary device during movement (P%2.2d01 = "
snprintf(userMessage, sizeUserMessage,
"Lost feedback from auxiliary device during movement "
"(P%2.2d01 = "
"%d). Please call the support.",
axisNo_, error);
setAxisParamChecked(this, motorMessageText, userMessage);
@@ -638,12 +671,12 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
pC_->pasynUser())) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nNo feedback from "
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nNo feedback "
"from "
"auxiliary device before movement (P%2.2d01 = %d).%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
error, pC_->getMsgPrintControl().getSuffix());
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axisNo_, error, pC_->getMsgPrintControl().getSuffix());
}
snprintf(
@@ -655,10 +688,10 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
break;
case 10:
/*
Software limits of the controller have been hit. Since the EPICS limits
are derived from the software limits and are a little bit smaller, this
error case can only happen if either the axis has an incremental encoder
which is not properly homed or if a bug occured.
Software limits of the controller have been hit. Since the EPICS
limits are derived from the software limits and are a little bit
smaller, this error case can only happen if either the axis has an
incremental encoder which is not properly homed or if a bug occured.
*/
if (pC_->getMsgPrintControl().shouldBePrinted(
@@ -685,9 +718,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
if (pC_->getMsgPrintControl().shouldBePrinted(
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
pC_->pasynUser())) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMaximum allowed "
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMaximum "
"allowed "
"following error exceeded.%s\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->getMsgPrintControl().getSuffix());
@@ -730,9 +763,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
pC_->getMsgPrintControl().getSuffix());
}
snprintf(
userMessage, sizeUserMessage,
"Driver hardware error (P%2.2d01 = 13). Please call the support.",
snprintf(userMessage, sizeUserMessage,
"Driver hardware error (P%2.2d01 = 13). Please call the "
"support.",
axisNo_);
setAxisParamChecked(this, motorMessageText, userMessage);
break;
@@ -798,9 +831,9 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
if (enabled == 0) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is disabled.\n",
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is "
"disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return asynSuccess;
}
@@ -819,8 +852,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
// Prepend the new motor speed, if the user is allowed to set the speed.
// Mind the " " (space) before the closing "", as the command created here
// is prepended to the one down below.
// Mind the " " (space) before the closing "", as the command created
// here is prepended to the one down below.
if (motorCanSetSpeed != 0) {
snprintf(command, sizeof(command), "Q%2.2d04=%lf ", axisNo_,
motorVelocity);
@@ -833,8 +866,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
motorVelocity);
}
// Perform handshake, Set target position (and speed, if allowed) and start
// the move command
// Perform handshake, Set target position (and speed, if allowed) and
// start the move command
if (relative) {
snprintf(&command[writeOffset], sizeof(command) - writeOffset,
"P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
@@ -849,9 +882,9 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
status = pC_->writeRead(axisNo_, command, response, 0);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStarting movement to "
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStarting "
"movement to "
"target position %lf failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
motorTargetPosition);
@@ -859,8 +892,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
return status;
}
// In the next poll, we will check if the handshake has been performed in a
// reasonable time
// In the next poll, we will check if the handshake has been performed
// in a reasonable time
pTurboPmacA_->waitForHandshake = true;
pTurboPmacA_->timeAtHandshake = time(NULL);
@@ -889,25 +922,25 @@ asynStatus turboPmacAxis::stop(double acceleration) {
status = pC_->writeRead(axisNo_, command, response, 0);
if (status != asynSuccess) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStopping the movement "
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nStopping "
"the movement "
"failed.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
setAxisParamChecked(this, motorStatusProblem, true);
}
// Reset the driver to idle state and move out of the handshake wait loop,
// if we're currently inside it.
// Reset the driver to idle state and move out of the handshake wait
// loop, if we're currently inside it.
pTurboPmacA_->waitForHandshake = false;
/*
Stopping the motor results in a movement and further move commands have to
wait until the stopping movement is done. Therefore, we need to wait until
the poller "sees" the changed state (otherwise, we risk issuing move
commands while the motor is stopping). To ensure that at least one poll is
done, this thread (which also runs move commands) is paused for twice the
idle poll period.
Stopping the motor results in a movement and further move commands have
to wait until the stopping movement is done. Therefore, we need to wait
until the poller "sees" the changed state (otherwise, we risk issuing
move commands while the motor is stopping). To ensure that at least one
poll is done, this thread (which also runs move commands) is paused for
twice the idle poll period.
*/
unsigned int idlePollMicros =
(unsigned int)ceil(pC_->idlePollPeriod() * 1e6);
@@ -938,8 +971,8 @@ asynStatus turboPmacAxis::doReset() {
setAxisParamChecked(this, motorStatusProblem, true);
}
// Reset the driver to idle state and move out of the handshake wait loop,
// if we're currently inside it.
// Reset the driver to idle state and move out of the handshake wait
// loop, if we're currently inside it.
pTurboPmacA_->waitForHandshake = false;
// Disable the axis
@@ -1037,13 +1070,14 @@ asynStatus turboPmacAxis::readEncoderType() {
}
/*
This is not a command that can always be run when enabling a motor as it also
causes relative encoders to reread a position necessitating recalibration. We
only want it to run on absolute encoders. We also want it to be clear to
instrument scientists, that power has to be cut to the motor, in order to reread
the encoder as not all motors have breaks and they may start to move when
disabled. For that reason, we don't automatically disable the motors to run the
command and instead require that the scientists first disable the motor.
This is not a command that can always be run when enabling a motor as it
also causes relative encoders to reread a position necessitating
recalibration. We only want it to run on absolute encoders. We also want it
to be clear to instrument scientists, that power has to be cut to the motor,
in order to reread the encoder as not all motors have breaks and they may
start to move when disabled. For that reason, we don't automatically disable
the motors to run the command and instead require that the scientists first
disable the motor.
*/
asynStatus turboPmacAxis::rereadEncoder() {
char command[pC_->MAXBUF_] = {0};
@@ -1087,11 +1121,12 @@ asynStatus turboPmacAxis::rereadEncoder() {
return asynError;
} else {
snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
asynPrint(
pC_->pasynUser(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nRereading absolute "
asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
"Controller \"%s\", axis %d => %s, line %d\nRereading "
"absolute "
"encoder via command %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, command);
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
command);
pC_->writeRead(axisNo_, command, response, 0);
}
@@ -1100,8 +1135,8 @@ asynStatus turboPmacAxis::rereadEncoder() {
// it is actually finished, so we instead wait for 0.5 seconds.
usleep(500000);
// Turn off parameter as finished rereading, this will only be immediately
// noticed in the read back variable though
// Turn off parameter as finished rereading, this will only be
// immediately noticed in the read back variable though
setAxisParamChecked(this, rereadEncoderPosition, false);
return asynSuccess;
}
@@ -1121,27 +1156,28 @@ asynStatus turboPmacAxis::enable(bool on) {
/*
Continue regardless of the status returned by the poll; we just want to
find out whether the motor is currently moving or not. If the poll
function fails before it can determine that, it is assumed that the motor
is not moving.
function fails before it can determine that, it is assumed that the
motor is not moving.
*/
bool moving = false;
doPoll(&moving);
// If the axis is currently moving, it cannot be disabled. Ignore the
// command and inform the user. We check the last known status of the axis
// instead of "moving", since status -6 is also moving, but the motor can
// actually be disabled in this state!
// command and inform the user. We check the last known status of the
// axis instead of "moving", since status -6 is also moving, but the
// motor can actually be disabled in this state!
int axStatus = pTurboPmacA_->axisStatus;
if (axStatus == 1 || axStatus == 2 || axStatus == 3 || axStatus == 4 ||
axStatus == 5 || axStatus == 6 || axStatus == 7 || axStatus == 8 ||
axStatus == 9 || axStatus == 10 || axStatus == 11 || axStatus == 12 ||
axStatus == 13 || axStatus == 15 || axStatus == 16) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_ERROR,
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
"idle (status %d) and can therefore not be enabled / disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axStatus);
"idle (status %d) and can therefore not be enabled / "
"disabled.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
axStatus);
setAxisParamChecked(this, motorMessageText,
"Axis cannot be disabled while it is moving.");
@@ -1152,9 +1188,9 @@ asynStatus turboPmacAxis::enable(bool on) {
// Axis is already enabled / disabled and a new enable / disable command
// was sent => Do nothing
if ((axStatus != -3) == on) {
asynPrint(
pC_->pasynUser(), ASYN_TRACE_WARNING,
"Controller \"%s\", axis %d => %s, line %d\nAxis is already %s.\n",
asynPrint(pC_->pasynUser(), ASYN_TRACE_WARNING,
"Controller \"%s\", axis %d => %s, line %d\nAxis is "
"already %s.\n",
pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
on ? "enabled" : "disabled");
return asynSuccess;
@@ -1305,8 +1341,8 @@ asynStatus turboPmacCreateAxis(const char *portName, int axis) {
https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
The created object is registered in EPICS in its constructor and can safely
be "leaked" here.
The created object is registered in EPICS in its constructor and can
safely be "leaked" here.
*/
#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
#pragma GCC diagnostic ignored "-Wunused-variable"
@@ -1329,14 +1365,15 @@ static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
static const iocshFuncDef configTurboPmacCreateAxis = {
"turboPmacAxis", 2, CreateAxisArgs,
"Create an instance of a turboPmac axis. The first argument is the "
"controller this axis should be attached to, the second argument is the "
"controller this axis should be attached to, the second argument is "
"the "
"axis number."};
static void configTurboPmacCreateAxisCallFunc(const iocshArgBuf *args) {
turboPmacCreateAxis(args[0].sval, args[1].ival);
}
// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
// in order to register both functions in the IOC shell
// This function is made known to EPICS in turboPmac.dbd and is called by
// EPICS in order to register both functions in the IOC shell
static void turboPmacAxisRegister(void) {
iocshRegister(&configTurboPmacCreateAxis,
configTurboPmacCreateAxisCallFunc);

12
src/turboPmacController.cpp
View File

@@ -206,7 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
// Definition of local variables.
asynStatus status = asynSuccess;
asynStatus timeoutStatus = asynSuccess;
char drvMessageText[MAXBUF_] = {0};
char modResponse[MAXBUF_] = {0};
int motorStatusProblem = 0;
@@ -284,8 +283,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
getMsgPrintControl().getSuffix());
}
timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
sizeof(drvMessageText));
checkComTimeoutWatchdog(axisNo, drvMessageText, sizeof(drvMessageText));
int timeoutCounter = 0;
while (1) {
@@ -333,14 +331,10 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
axis->setNeedInit(true);
}
if (timeoutStatus == asynError) {
status = asynError;
}
// The message should only ever terminate due to reason 2
msgPrintControlKey terminateKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (eomReason != 2) {
if (status == asynSuccess && eomReason != 2) {
status = asynError;
char reasonStringified[30] = {0};
@@ -391,7 +385,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
}
msgPrintControlKey numResponsesKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (numExpectedResponses != numReceivedResponses) {
if (status == asynSuccess && numExpectedResponses != numReceivedResponses) {
adjustResponseForPrint(modResponse, response, MAXBUF_);
if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,