From a980740fd5244030016ed6382b19239b11580cca Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Thu, 24 Jul 2025 09:40:52 +0200
Subject: [PATCH] Test timing problem

---
 src/turboPmacAxis.cpp       | 26 ++++++++++++++++++--------
 src/turboPmacController.cpp | 16 ----------------
 2 files changed, 18 insertions(+), 24 deletions(-)

diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index 4dd1219..644e3ee 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -13,6 +13,15 @@
 #include <unistd.h>
 #include <vector>
 
+#include <sys/time.h>
+
+long long timeInMilliseconds(void) {
+    struct timeval tv;
+
+    gettimeofday(&tv, NULL);
+    return (((long long)tv.tv_sec) * 1000) + (tv.tv_usec / 1000);
+}
+
 struct turboPmacAxisImpl {
     bool waitForHandshake;
     time_t timeAtHandshake;
@@ -739,6 +748,9 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                                  double minVelocity, double maxVelocity,
                                  double acceleration) {
 
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+              "Received move command at %lli\n", timeInMilliseconds());
+
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
 
@@ -886,14 +898,8 @@ asynStatus turboPmacAxis::doReset() {
     // if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
-    // Disable the axis, if it is not in a moving state
-    int axStat = pTurboPmacA_->axisStatus;
-    if (axStat == 0 || axStat == -6) {
-        snprintf(command, sizeof(command), "M%2.2d14=0", axisNo_);
-        status = pC_->writeRead(axisNo_, command, response, 0);
-    }
-
-    return status;
+    // Disable the axis
+    return enable(false);
 }
 
 /*
@@ -1143,6 +1149,10 @@ asynStatus turboPmacAxis::enable(bool on) {
             bool moving = false;
             // Perform a poll to update the parameter library
             poll(&moving);
+
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Finished enable %i at %lli\n", on, timeInMilliseconds());
+
             return asynSuccess;
         }
     }
diff --git a/src/turboPmacController.cpp b/src/turboPmacController.cpp
index f4426b0..6256a1c 100644
--- a/src/turboPmacController.cpp
+++ b/src/turboPmacController.cpp
@@ -254,22 +254,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
         pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
-    /*
-    If sth. is written to the controller, it needs some time to process the
-    command. However, the controller returns the acknowledgment via
-    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
-    ready to receive the next command. In practice, this can result in commands
-    getting discarded on the driver side or in bringing the driver in undefined
-    states (e.g. stuck in status 1).
-
-    To prevent this, we wait for 20 ms after a write command to give the
-    controller enough time to process everything. A write command can be
-    identified by looking for the equal sign.
-    */
-    if (strchr(command, '=')) {
-        usleep(20000);
-    }
-
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);