Updated sinqMotor

When the initialization fails, the motor will now try again during each
poll.

README.md

@@ -4,7 +4,7 @@
 
 ## Overview
 
-This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
+This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://gitea.psi.ch/lin-epics-modules/sinqMotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
 
 ## User guide
 
@@ -14,8 +14,6 @@ The folder "utils" contains utility scripts for working with pmac motor controll
 - writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
 - analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
 
-
-
 ### IOC startup script
 
 turboPmac exports the following IOC shell functions:

db/turboPmac.db

@@ -31,3 +31,14 @@ record(longout, "$(INSTR)FlushHardware") {
     field(PINI, "NO")
     field(VAL, "1")
 }
+
+# If this PV is set to 1 (default), the position limits are read out from the 
+# controller. Otherwise, the limits given in the substitution file (DHLM and
+# DLLM) are used. 
+# This record is coupled to the parameter library via limFromHardware -> LIM_FROM_HARDWARE.
+record(longout, "$(INSTR)$(M):LimFromHardware") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIM_FROM_HARDWARE")
+    field(PINI, "YES")
+    field(VAL, "$(LIMFROMHARDWARE=1)")
+}

src/turboPmacAxis.h

@@ -1,11 +1,10 @@
 #ifndef turboPmacAXIS_H
 #define turboPmacAXIS_H
-#include "sinqAxis.h"
+#include "sinqController.h"
+#include "turboPmacController.h"
+#include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class turboPmacController;
+struct turboPmacAxisImpl;
 
 class turboPmacAxis : public sinqAxis {
   public:
@@ -21,6 +20,7 @@ class turboPmacAxis : public sinqAxis {
     /**
      * @brief Destroy the turboPmacAxis
      *
+     * This destructor is necessary in order to use the PIMPL idiom.
      */
     virtual ~turboPmacAxis();
 
@@ -123,14 +123,29 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
 
-  protected:
+    /**
+     * @brief Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
+
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
+
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual turboPmacController *pController() override { return pC_; };
+
+  private:
     turboPmacController *pC_;
-
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
-
-    // The axis status is used when enabling / disabling the motor
-    int axisStatus_;
+    std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;
 };
 
 #endif

src/turboPmacController.cpp

@@ -31,6 +31,24 @@ void adjustResponseForPrint(char *dst, const char *src, size_t buf_length) {
     }
 }
 
+struct turboPmacControllerImpl {
+
+    // Timeout for the communication process in seconds
+    double comTimeout;
+
+    char lastResponse[sinqController::MAXBUF_];
+
+    // User for writing int32 values to the port driver.
+    asynUser *pasynInt32SyncIOipPort;
+
+    // Indices of additional PVs
+    int rereadEncoderPosition;
+    int readConfig;
+    int flushHardware;
+    int limFromHardware;
+};
+#define NUM_turboPmac_DRIVER_PARAMS 3
+
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
                                          int numAxes, double movingPollPeriod,
@@ -47,21 +65,25 @@ turboPmacController::turboPmacController(const char *portName,
 
 {
 
+    // The paramLib indices are populated with the calls to createParam
+    pTurboPmacC_ =
+        std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
+            .comTimeout = comTimeout,
+            .lastResponse = {0},
+        });
+
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
-    // Initialization of all member variables
-    comTimeout_ = comTimeout;
-
     // Maximum allowed number of subsequent timeouts before the user is
     // informed.
-    maxSubsequentTimeouts_ = 10;
+    setMaxSubsequentTimeouts(10);
 
     // =========================================================================
     // Create additional parameter library entries
 
     status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
-                         &rereadEncoderPosition_);
+                         &pTurboPmacC_->rereadEncoderPosition);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -71,7 +93,8 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
+    status =
+        createParam("READ_CONFIG", asynParamInt32, &pTurboPmacC_->readConfig);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -81,7 +104,19 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("FLUSH_HARDWARE", asynParamInt32, &flushHardware_);
+    status = createParam("FLUSH_HARDWARE", asynParamInt32,
+                         &pTurboPmacC_->flushHardware);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("LIM_FROM_HARDWARE", asynParamInt32,
+                         &pTurboPmacC_->limFromHardware);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -100,7 +135,7 @@ turboPmacController::turboPmacController(const char *portName,
     const char *message_from_device =
         "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
                 // is terminated by this value
-    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort_,
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
                                            message_from_device,
                                            strlen(message_from_device));
     if (status != asynSuccess) {
@@ -109,7 +144,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "(setting input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -121,7 +156,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -131,17 +166,21 @@ turboPmacController::turboPmacController(const char *portName,
     We try to connect to the port via the port name provided by the constructor.
     If this fails, the function is terminated via exit.
     */
-    pasynInt32SyncIO->connect(ipPortConfigName, 0, &pasynInt32SyncIOipPort_,
-                              NULL);
-    if (status != asynSuccess || pasynInt32SyncIOipPort_ == nullptr) {
+    pasynInt32SyncIO->connect(ipPortConfigName, 0,
+                              &pTurboPmacC_->pasynInt32SyncIOipPort, NULL);
+    if (status != asynSuccess ||
+        pTurboPmacC_->pasynInt32SyncIOipPort == nullptr) {
         errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
                      "connect to MCU controller).\n"
                      "Terminating IOC",
                      portName, __PRETTY_FUNCTION__, __LINE__);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 }
 
+turboPmacController::~turboPmacController() {}
+
 /*
 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
@@ -167,7 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
-    asynStatus paramLibStatus = asynSuccess;
     asynStatus timeoutStatus = asynSuccess;
     // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
@@ -215,20 +253,20 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     */
     status = pasynOctetSyncIO->writeRead(
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
-        comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
+        pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     if (status == asynTimeout) {
 
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
                 "writing to the controller. Retrying ...%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                msgPrintControl_.getSuffix());
+                getMsgPrintControl().getSuffix());
         }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -239,13 +277,14 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            if (maxSubsequentTimeoutsExceeded_) {
+            if (maxSubsequentTimeoutsExceeded()) {
                 break;
             }
 
             status = pasynOctetSyncIO->writeRead(
                 pasynOctetSyncIOipPort(), command, commandLength, response,
-                MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
+                MAXBUF_, pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn,
+                &eomReason);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -255,16 +294,28 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
                 this->pasynUser(), 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());
+                stringifyAsynStatus(status), getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(comKey, pasynUser());
+        getMsgPrintControl().resetCount(comKey, pasynUser());
+    }
+
+    if (status != asynSuccess) {
+        /*
+        Since the communication failed, there is the possibility that the
+        controller is not connected at all to the network. In that case, we
+        cannot be sure that the information read out in the init method of the
+        axis is still up-to-date the next time we get a connection. Therefore,
+        an info flag is set which the axis object can use at the start of its
+        poll method to try to initialize itself.
+        */
+        axis->setNeedInit(true);
     }
 
     if (timeoutStatus == asynError) {
@@ -301,16 +352,17 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  "string detected\"). Please call the support.",
                  reasonStringified);
 
-        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
+                                                 pasynUser())) {
 
             asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d\nMessage "
                       "terminated due to reason %s.%s\n",
                       portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      reasonStringified, msgPrintControl_.getSuffix());
+                      reasonStringified, getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey, pasynUser());
+        getMsgPrintControl().resetCount(terminateKey, pasynUser());
     }
 
     /*
@@ -327,15 +379,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
-        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                                             pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
+                                                 pasynUser())) {
             asynPrint(
                 this->pasynUser(), 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());
+                command, getMsgPrintControl().getSuffix());
         }
 
         snprintf(drvMessageText, sizeof(drvMessageText),
@@ -345,7 +397,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey, pasynUser());
+        getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -375,41 +427,18 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        setAxisParamChecked(axis, motorStatusCommsError, false);
     } else {
         // 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) {
-            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
-        }
+        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            paramLibStatus =
-                axis->setStringParam(motorMessageText_, drvMessageText);
-            if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus, "motorMessageText_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus,
-                                            "motorStatusProblem", axisNo,
-                                            __PRETTY_FUNCTION__, __LINE__);
-            }
-
-            paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus,
-                                            "motorStatusCommsError_", axisNo,
-                                            __PRETTY_FUNCTION__, __LINE__);
-            }
+            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            setAxisParamChecked(axis, motorStatusProblem, true);
+            setAxisParamChecked(axis, motorStatusCommsError, true);
         }
     }
     return status;
@@ -421,13 +450,13 @@ asynStatus turboPmacController::doFlushHardware() {
     constant defined in pmacAsynIPPort.c. This reason is then used within
     the write method of pasynInt32SyncIO to select the flush function.
     */
-    int temp = pasynInt32SyncIOipPort_->reason;
-    pasynInt32SyncIOipPort_->reason = FLUSH_HARDWARE;
+    int temp = pTurboPmacC_->pasynInt32SyncIOipPort->reason;
+    pTurboPmacC_->pasynInt32SyncIOipPort->reason = FLUSH_HARDWARE;
     asynStatus status = (asynStatus)pasynInt32SyncIO->write(
-        pasynInt32SyncIOipPort_, 1, comTimeout_);
+        pTurboPmacC_->pasynInt32SyncIOipPort, 1, pTurboPmacC_->comTimeout);
 
     // Reset the status afterwards
-    pasynInt32SyncIOipPort_->reason = temp;
+    pTurboPmacC_->pasynInt32SyncIOipPort->reason = temp;
     return status;
 }
 
@@ -440,11 +469,11 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
 
     // Handle custom PVs
-    if (function == rereadEncoderPosition_) {
+    if (function == rereadEncoderPosition()) {
         return axis->rereadEncoder();
-    } else if (function == readConfig_) {
+    } else if (function == readConfig()) {
         return axis->init();
-    } else if (function == flushHardware_) {
+    } else if (function == flushHardware()) {
         return doFlushHardware();
     } else {
         return sinqController::writeInt32(pasynUser, value);
@@ -462,6 +491,19 @@ asynStatus turboPmacController::couldNotParseResponse(const char *command,
         command, modifiedResponse, axisNo, functionName, lineNumber);
 }
 
+int turboPmacController::rereadEncoderPosition() {
+    return pTurboPmacC_->rereadEncoderPosition;
+}
+int turboPmacController::readConfig() { return pTurboPmacC_->readConfig; }
+int turboPmacController::flushHardware() { return pTurboPmacC_->flushHardware; }
+int turboPmacController::limFromHardware() {
+    return pTurboPmacC_->limFromHardware;
+}
+
+asynUser *turboPmacController::pasynInt32SyncIOipPort() {
+    return pTurboPmacC_->pasynInt32SyncIOipPort;
+}
+
 /*************************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/turboPmacController.h

@@ -10,7 +10,14 @@
 #define turboPmacController_H
 #include "sinqAxis.h"
 #include "sinqController.h"
-#include "turboPmacAxis.h"
+#include <memory>
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class turboPmacAxis;
+
+struct turboPmacControllerImpl;
 
 class turboPmacController : public sinqController {
   public:
@@ -33,6 +40,13 @@ class turboPmacController : public sinqController {
                         double idlePollPeriod, double comTimeout,
                         int numExtraParams = 0);
 
+    /**
+     * @brief Destroy the controller. Its implementation is empty, however the
+     * destructor needs to be provided for handling turboPmacControllerImpl.
+     *
+     */
+    virtual ~turboPmacController();
+
     /**
      * @brief Get the axis object
      *
@@ -116,29 +130,17 @@ class turboPmacController : public sinqController {
     asynStatus doFlushHardware();
 
     // Accessors for additional PVs
-    int rereadEncoderPosition() { return rereadEncoderPosition_; }
-    int readConfig() { return readConfig_; }
-    int flushHardware() { return flushHardware_; }
+    int rereadEncoderPosition();
+    int readConfig();
+    int flushHardware();
+    int limFromHardware();
 
-    asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
+    asynUser *pasynInt32SyncIOipPort();
+
+  private:
+    std::unique_ptr<turboPmacControllerImpl> pTurboPmacC_;
 
   protected:
-    // Timeout for the communication process in seconds
-    double comTimeout_;
-
-    char lastResponse[MAXBUF_];
-
-    // User for writing int32 values to the port driver.
-    asynUser *pasynInt32SyncIOipPort_;
-
-    // Indices of additional PVs
-#define FIRST_turboPmac_PARAM rereadEncoderPosition_
-    int rereadEncoderPosition_;
-    int readConfig_;
-    int flushHardware_;
-#define LAST_turboPmac_PARAM flushHardware_
 };
-#define NUM_turboPmac_DRIVER_PARAMS                                            \
-    (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
 
 #endif /* turboPmacController_H */