Fixed bug where the driver might report the motor as being idle even though it is in state -6 (e.g. due to adjustments due to a tight deadband) after previously being in state 0

diagnostics.

Makefile

@@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.13.0
+sinqMotor_VERSION=0.14
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacAsynIPPort.h

README.md

@@ -26,13 +26,13 @@ The full turboPmacX.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","turboPmacX")
-epicsEnvSet("ASYN_PORT","p$(NAME)")
+epicsEnvSet("DRIVER_PORT","turboPmacX")
+epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
 
 # Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
 # We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
 # communicating with the controller directly.
-pmacAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
 
 # Create the controller object with the defined name and connect it to the socket via the port name.
 # The other parameters are as follows:
@@ -40,25 +40,25 @@ pmacAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 # 0.05: Busy poll period in seconds
 # 1: Idle poll period in seconds
 # 1: Socket communication timeout in seconds
-turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+turboPmacController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
 
 # Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
-turboPmacAxis("$(NAME)",1);
-turboPmacAxis("$(NAME)",2);
-turboPmacAxis("$(NAME)",5);
+turboPmacAxis("$(DRIVER_PORT)",1);
+turboPmacAxis("$(DRIVER_PORT)",2);
+turboPmacAxis("$(DRIVER_PORT)",5);
 
 # Set the number of subsequent timeouts 
-setMaxSubsequentTimeouts("$(NAME)", 20);
+setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 
 # Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
-setThresholdComTimeout("$(NAME)", 300, 10);
+setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
 epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
 ```
 
 ### Additional records

src/pmacAsynIPPort.c

@@ -496,7 +496,7 @@ static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
                     pPmacPvt->portName, thisRead);
     } else {
         asynPrint(pasynUser, ASYN_TRACE_ERROR,
-                  "%s read pmacReadReady failed status=%d,retval=%d",
+                  "%s read pmacReadReady failed status=%d, retval=%d\n",
                   pPmacPvt->portName, status, retval);
     }
     return retval;

src/turboPmacAxis.cpp

@@ -161,7 +161,15 @@ asynStatus turboPmacAxis::init() {
              axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
     status = pC_->writeRead(axisNo_, command, response, 6);
     if (status != asynSuccess) {
-        return status;
+        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.\nTerminating IOC.\n",
+            pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
+        exit(-1);
     }
     nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
@@ -408,12 +416,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case -6:
         // Axis is stopping
 
-        // If the axis was already idle during the last poll, it is not moving
-        if (previousStatusDone == 0) {
-            *moving = true;
-        } else {
-            *moving = false;
-        }
+        *moving = true;
         break;
     case -5:
         // Axis is deactivated

src/turboPmacController.cpp

@@ -226,7 +226,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
-                "writing to the MCU.%s\n",
+                "writing to the controller. Retrying ...%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                 msgPrintControl_.getSuffix());
         }
@@ -239,6 +239,10 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
+            if (maxSubsequentTimeoutsExceeded_) {
+                break;
+            }
+
             status = pasynOctetSyncIO->writeRead(
                 pasynOctetSyncIOipPort(), command, commandLength, response,
                 MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
@@ -273,17 +277,37 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (eomReason != 2) {
         status = asynError;
 
+        char reasonStringified[30] = {0};
+        switch (eomReason) {
+        case 0:
+            snprintf(reasonStringified, sizeof(reasonStringified), "Timeout");
+            break;
+        case 1:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "Request count reached");
+            break;
+        case 2:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "End of string detected");
+            break;
+        case 3:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "End indicator detected");
+            break;
+        }
+
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Terminated message due to reason %d (should be 2). Please "
-                 "call the support.",
-                 eomReason);
+                 "Terminated message due to reason %s (should be \"End of "
+                 "string detected\"). Please call the support.",
+                 reasonStringified);
 
         if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
+
             asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d\nMessage "
-                      "terminated due to reason %i.%s\n",
+                      "terminated due to reason %s.%s\n",
                       portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      eomReason, msgPrintControl_.getSuffix());
+                      reasonStringified, msgPrintControl_.getSuffix());
         }
     } else {
         msgPrintControl_.resetCount(terminateKey, pasynUser());