Report if motor is deactivated or in emergency stop mode

src/turboPmacAxis.cpp

@@ -289,7 +289,7 @@ asynStatus turboPmacAxis::init() {
 asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     // Return value for the poll
-    asynStatus errorStatus = asynSuccess;
+    asynStatus pollStatus = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus status = asynSuccess;
@@ -446,6 +446,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = false;
         setAxisParamChecked(this, motorMessageText,
                             "Deactivated. Please call the support.");
+        pollStatus = asynError;
         break;
     case -4:
         // Emergency stop
@@ -454,9 +455,8 @@ 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 "
-                      "activated.%s\n",
+                      "Controller \"%s\", axis %d  => %s, line %d\nEmergency "
+                      "stop activated.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
@@ -464,6 +464,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         setAxisParamChecked(
             this, motorMessageText,
             "Emergency stop. Reset SPS or check emergency stop buttons.");
+        pollStatus = asynError;
         break;
     case -3:
         // Disabled
@@ -572,7 +573,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    errorStatus = handleError(error, userMessage, sizeof(userMessage));
+    asynStatus errorStatus =
+        handleError(error, userMessage, sizeof(userMessage));
+    if (errorStatus != asynSuccess) {
+        pollStatus = errorStatus;
+    }
 
     if (*moving == false) {
         setAxisParamChecked(this, motorMoveToHome, false);
@@ -594,7 +599,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     if (status != asynSuccess) {
         return status;
     }
-    return errorStatus;
+    return pollStatus;
 }
 
 asynStatus turboPmacAxis::handleError(int error, char *userMessage,