Added error reset function.

Makefile

@@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.8.0
+sinqMotor_VERSION=mathis_s
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/turboPmacAxis.h

src/turboPmacAxis.cpp

@@ -78,6 +78,7 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
 
     // Initialize all member variables
     waitForHandshake_ = false;
+    timeAtHandshake_ = 0;
     axisStatus_ = 0;
 
     // Provide initial values for some parameter library entries
@@ -191,6 +192,13 @@ asynStatus turboPmacAxis::init() {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
+    // Initial motor status is idle
+    status = pC_->setIntegerParam(axisNo_, pC_->motorStatusDone_, 1);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorStatusDone_", axisNo_,
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
     // Write to the motor record fields
     status = setVeloFields(motorVelocity, 0.0, motorVmax);
     if (status != asynSuccess) {
@@ -245,11 +253,41 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     double lowLimit = 0.0;
     double limitsOffset = 0.0;
 
+    // Was the axis idle during the previous poll?
+    int previousStatusDone = 1;
+
     // =========================================================================
 
     // Are we currently waiting for a handshake?
     if (waitForHandshake_) {
 
+        // Check if the handshake takes too long and communicate an error in
+        // this case. A handshake should not take more than 5 seconds.
+        time_t currentTime = time(NULL);
+        bool timedOut = (currentTime > timeAtHandshake_ + 5);
+
+        if (pC_->msgPrintControl_.shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
+                pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAsked for a "
+                      "handshake at %ld s and didn't get a positive reply yet "
+                      "(current time is %ld s).\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      timeAtHandshake_, currentTime);
+        }
+
+        if (timedOut) {
+            pl_status =
+                setStringParam(pC_->motorMessageText_,
+                               "Timed out while waiting for a handshake");
+            if (pl_status != asynSuccess) {
+                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
+                                                 axisNo_, __PRETTY_FUNCTION__,
+                                                 __LINE__);
+            }
+        }
+
         snprintf(command, sizeof(command), "P%2.2d23 P%2.2d01", axisNo_,
                  axisNo_);
         rw_status = pC_->writeRead(axisNo_, command, response, 2);
@@ -312,6 +350,14 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
+    // Read the previous motor position
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusDone_,
+                                     &previousStatusDone);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
     // Transform from EPICS to motor coordinates (see comment in
     // turboPmacAxis::atFirstPoll)
     previousPosition = previousPosition * motorRecResolution;
@@ -375,7 +421,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     switch (axStatus) {
     case -6:
         // Axis is stopping
-        *moving = true;
+
+        // If the axis was already idle during the last poll, it is not moving
+        if (previousStatusDone == 0) {
+            *moving = true;
+        } else {
+            *moving = false;
+        }
         break;
     case -5:
         // Axis is deactivated
@@ -479,7 +531,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     if (resetCountStatus) {
-        pC_->msgPrintControl_.resetCount(keyStatus);
+        pC_->msgPrintControl_.resetCount(keyStatus, pC_->pasynUserSelf);
     }
 
     if (*moving) {
@@ -767,7 +819,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     if (resetError) {
-        pC_->msgPrintControl_.resetCount(keyError);
+        pC_->msgPrintControl_.resetCount(keyError, pC_->pasynUserSelf);
     }
 
     // Update the parameter library
@@ -990,6 +1042,41 @@ asynStatus turboPmacAxis::stop(double acceleration) {
     return rw_status;
 }
 
+asynStatus turboPmacAxis::reset() {
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+
+    // =========================================================================
+
+    // Reset the error for this axis manually
+    snprintf(command, sizeof(command), "P%2.2d01=0", axisNo_);
+    rw_status = pC_->writeRead(axisNo_, command, response, 0);
+
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "Resetting\n");
+
+    if (rw_status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nResetting the "
+                  "error failed\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+    }
+
+    return rw_status;
+}
+
 /*
 Home the axis. On absolute encoder systems, this is a no-op
 */
@@ -1421,4 +1508,4 @@ static void turboPmacAxisRegister(void) {
 }
 epicsExportRegistrar(turboPmacAxisRegister);
 
-} // extern "C"
+} // extern "C"

src/turboPmacAxis.h

@@ -81,6 +81,14 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus init();
 
+    /**
+     * @brief Reset the axis error
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus reset();
+
     /**
      * @brief Enable / disable the axis.
      *

src/turboPmacController.cpp

@@ -300,7 +300,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(writeKey);
+        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
     }
 
     // Read the response from the MCU buffer
@@ -351,7 +351,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(readKey);
+        msgPrintControl_.resetCount(readKey, pasynUserSelf);
     }
 
     if (timeoutStatus == asynError) {
@@ -377,7 +377,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                       eomReason, msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey);
+        msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
     }
 
     /*
@@ -412,7 +412,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey);
+        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes, if no error