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Added new feature msgPrintControl from sinqMotor 0.8.0. Correspondingly,

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the minimum version requirement for sinqMotor has been bumped to 0.8.0.
This commit is contained in:
mathis_s
2025-03-04 09:29:19 +01:00
parent 8f597550fa
commit dfb55a1b76
5 changed files with 261 additions and 203 deletions
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166
src/turboPmacController.cpp
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@@ -133,39 +133,18 @@ Access one of the axes of the controller via the axis adress stored in asynUser.
If the axis does not exist or is not a Axis, a nullptr is returned and an
error is emitted.
*/
turboPmacAxis *turboPmacController::getAxis(asynUser *pasynUser) {
turboPmacAxis *turboPmacController::getTurboPmacAxis(asynUser *pasynUser) {
asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
return turboPmacController::castToAxis(asynAxis);
return dynamic_cast<turboPmacAxis *>(asynAxis);
}
/*
Access one of the axes of the controller via the axis index.
If the axis does not exist or is not a Axis, the function must return Null
*/
turboPmacAxis *turboPmacController::getAxis(int axisNo) {
turboPmacAxis *turboPmacController::getTurboPmacAxis(int axisNo) {
asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
return turboPmacController::castToAxis(asynAxis);
}
turboPmacAxis *turboPmacController::castToAxis(asynMotorAxis *asynAxis) {
// =========================================================================
// If the axis slot of the pAxes_ array is empty, a nullptr must be returned
if (asynAxis == nullptr) {
return nullptr;
}
// Here, an error is emitted since asyn_axis is not a nullptr but also not
// an instance of Axis
turboPmacAxis *axis = dynamic_cast<turboPmacAxis *>(asynAxis);
if (axis == nullptr) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nAxis is not "
"an instance of turboPmacAxis",
portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
}
return axis;
return dynamic_cast<turboPmacAxis *>(asynAxis);
}
asynStatus turboPmacController::writeRead(int axisNo, const char *command,
@@ -204,7 +183,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
// =========================================================================
turboPmacAxis *axis = getAxis(axisNo);
turboPmacAxis *axis = getTurboPmacAxis(axisNo);
if (axis == nullptr) {
// We already did the error logging directly in getAxis
return asynError;
@@ -261,10 +240,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
// +1 for the carriage return.
const size_t fullComandLength = offset + commandLength + 1;
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line %d\nSending command %s",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand);
/*
We use separated write and read commands here, not the combined writeRead
method, because the latter is actually a flushWriteRead (see
@@ -282,12 +257,19 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
fullComandLength, comTimeout_, &nbytesOut);
msgPrintControlKey writeKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (status == asynTimeout) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
"writing to the MCU\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
"writing to the MCU.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
msgPrintControl_.getSuffix());
}
timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
sizeof(drvMessageText));
@@ -309,23 +291,35 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
}
}
} else if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
"writing to the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
"writing to the controller.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status), msgPrintControl_.getSuffix());
}
} else {
msgPrintControl_.resetCount(writeKey);
}
// Read the response from the MCU buffer
status = pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
comTimeout_, &nbytesIn, &eomReason);
msgPrintControlKey readKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (status == asynTimeout) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
"reading from the MCU\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nTimeout while "
"reading from the MCU.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
msgPrintControl_.getSuffix());
}
// Add this event to the back of the timeout event counter
timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -348,11 +342,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
}
}
} else if (status != asynSuccess) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
"reading from the controller\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status));
if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nError %s while "
"reading from the controller.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
stringifyAsynStatus(status), msgPrintControl_.getSuffix());
}
} else {
msgPrintControl_.resetCount(readKey);
}
if (timeoutStatus == asynError) {
@@ -360,6 +359,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
}
// The message should only ever terminate due to reason 2
msgPrintControlKey terminateKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (eomReason != 2) {
status = asynError;
@@ -367,10 +368,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
"Terminated message due to reason %d (should be 2).",
eomReason);
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line %d\nMessage "
"terminated due to reason %i\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, eomReason);
if (msgPrintControl_.shouldBePrinted(terminateKey, true,
pasynUserSelf)) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nMessage "
"terminated due to reason %i.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
eomReason, msgPrintControl_.getSuffix());
}
} else {
msgPrintControl_.resetCount(terminateKey);
}
/*
@@ -382,20 +389,30 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
numReceivedResponses++;
}
}
msgPrintControlKey numResponsesKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
if (numExpectedResponses != numReceivedResponses) {
adjustResponseForPrint(modResponse, response, MAXBUF_);
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUnexpected "
"response '%s' (carriage returns are replaced with spaces) "
"for command %s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
command);
if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
pasynUserSelf)) {
asynPrint(
this->pasynUserSelf, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nUnexpected "
"response '%s' (carriage returns are replaced with spaces) "
"for command %s.%s\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
command, msgPrintControl_.getSuffix());
}
snprintf(drvMessageText, sizeof(drvMessageText),
"Received unexpected response '%s' (carriage returns "
"are replaced with spaces) for command %s. "
"Please call the support",
modResponse, command);
status = asynError;
} else {
msgPrintControl_.resetCount(numResponsesKey);
}
// Create custom error messages for different failure modes, if no error
@@ -425,23 +442,12 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
// Log the overall status (communication successfull or not)
if (status == asynSuccess) {
asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
"Controller \"%s\", axis %d => %s, line %d\nDevice "
"response: %s (carriage returns are replaced with spaces)\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse);
paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
} else {
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
"Controller \"%s\", axis %d => %s, line %d\nCommunication "
"failed for command %s (%s)\n",
portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand,
stringifyAsynStatus(status));
// Check if the axis already is in an error communication mode. If it is
// not, upstream the error. This is done to avoid "flooding" the user
// with different error messages if more than one error ocurred before
// an error-free communication
// Check if the axis already is in an error communication mode. If
// it is not, upstream the error. This is done to avoid "flooding"
// the user with different error messages if more than one error
// ocurred before an error-free communication
paramLibStatus =
getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
if (paramLibStatus != asynSuccess) {
@@ -482,11 +488,7 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
// =====================================================================
turboPmacAxis *axis = getAxis(pasynUser);
if (axis == nullptr) {
// We already did the error logging directly in getAxis
return asynError;
}
turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
// Handle custom PVs
if (function == rereadEncoderPosition_) {
@@ -538,8 +540,8 @@ asynStatus turboPmacCreateController(const char *portName,
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"
@@ -578,8 +580,8 @@ static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
args[3].dval, args[4].dval, args[5].dval);
}
// 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 turboPmacControllerRegister(void) {
iocshRegister(&configTurboPmacCreateController,
configTurboPmacCreateControllerCallFunc);