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.

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\n",
+                  "%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
+        *moving = true;
-        if (previousStatusDone == 0) {
-            *moving = true;
-        } else {
-            *moving = false;
-        }
         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 "
+                 "Terminated message due to reason %s (should be \"End of "
-                 "call the support.",
+                 "string detected\"). Please call the support.",
-                 eomReason);
+                 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());