Improved the error message when the MCU response is printed and the IOC

shell constructor documentation.

src/pmacv3Axis.cpp

@@ -864,12 +864,8 @@ asynStatus pmacv3Axis::readEncoderType() {
 
     int reponse_length = strlen(response);
     if (reponse_length < 3) {
-        asynPrint(
+        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                                                __PRETTY_FUNCTION__, __LINE__);
-            "%s => line %d:\nUnexpected reponse '%s' from axis %d on "
-            "controller %s while reading the encoder type. Aborting....\n",
-            __PRETTY_FUNCTION__, __LINE__, response, axisNo_, pC_->portName);
-        return asynError;
     }
 
     // We are only interested in the last two digits and the last value in

src/pmacv3Controller.cpp

@@ -1,3 +1,5 @@
+// Needed to use strcpy_s from string.h
+#define __STDC_WANT_LIB_EXT1__ 1
 
 #include "pmacv3Controller.h"
 #include "asynMotorController.h"
@@ -11,6 +13,24 @@
 #include <string.h>
 #include <unistd.h>
 
+/**
+ * @brief Copy src into dst and replace all carriage returns with spaces
+ *
+ * @param dst                 Buffer for the modified string
+ * @param src                 Original string
+ */
+void adjustResponseForPrint(char *dst, const char *src) {
+    // Needed to use strcpy_s from string.h
+#ifdef __STDC_LIB_EXT1__
+    strcpy_s(dst, src);
+    for (size_t i = 0; i < strlen(dst); i++) {
+        if (dst[i] == '\r') {
+            dst[i] = '_';
+        }
+    }
+#endif
+}
+
 /**
  * @brief Construct a new pmacv3Controller::pmacv3Controller object
  *
@@ -192,8 +212,9 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     // Definition of local variables.
     asynStatus status = asynSuccess;
     asynStatus pl_status = asynSuccess;
-    char full_command[MAXBUF_] = {0};
+    char fullCommand[MAXBUF_] = {0};
-    char user_message[MAXBUF_] = {0};
+    char drvMessageText[MAXBUF_] = {0};
+    char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
     int numReceivedResponses = 0;
 
@@ -232,7 +253,7 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     this protocol encodes the message length at the beginning. See Turbo PMAC
     User Manual, page 418 in VR_PMAC_GETRESPONSE
 
-    The message has to be build manually into the buffer full_command, since it
+    The message has to be build manually into the buffer fullCommand, since it
     contains NULL terminators in its middle, therefore the string manipulation
     methods of C don't work.
     */
@@ -242,20 +263,20 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
         strlen(command) + 1; // +1 because of the appended /r
     const int offset = 8;
 
-    // Positions 2 to 6 must have the value 0. Since full_command is initialized
+    // Positions 2 to 6 must have the value 0. Since fullCommand is initialized
     // as an array of zeros, we don't need to set these bits manually.
-    full_command[0] = '\x40';
+    fullCommand[0] = '\x40';
-    full_command[1] = '\xBF';
+    fullCommand[1] = '\xBF';
-    full_command[7] = commandLength;
+    fullCommand[7] = commandLength;
 
-    snprintf((char *)full_command + offset, MAXBUF_ - offset, "%s\r", command);
+    snprintf((char *)fullCommand + offset, MAXBUF_ - offset, "%s\r", command);
     asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
               "%s => line %d:\nSending command %s", __PRETTY_FUNCTION__,
-              __LINE__, full_command);
+              __LINE__, fullCommand);
 
     // Perform the actual writeRead
     status = pasynOctetSyncIO->writeRead(
-        lowLevelPortUser_, full_command, commandLength + offset, response,
+        lowLevelPortUser_, fullCommand, commandLength + offset, response,
         MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
 
     /*
@@ -291,7 +312,7 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
         if (status == asynSuccess) {
             // If flushing the MCU succeded, try to send the command again
             status = pasynOctetSyncIO->writeRead(
-                lowLevelPortUser_, full_command, commandLength + offset,
+                lowLevelPortUser_, fullCommand, commandLength + offset,
                 response, MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn,
                 &eomReason);
 
@@ -306,15 +327,18 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
 
             // Second check: If this fails, give up and propagate the error.
             if (numExpectedResponses != numReceivedResponses) {
-                asynPrint(
+
-                    this->pasynUserSelf, ASYN_TRACE_ERROR,
+                adjustResponseForPrint(modResponse, response);
-                    "%s => line %d:\nUnexpected response %s for command %s\n",
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                    __PRETTY_FUNCTION__, __LINE__, response, command);
+                          "%s => line %d:\nUnexpected response %s (_ are "
-                snprintf(user_message, sizeof(user_message),
+                          "carriage returns) for command %s\n",
-                         "Received unexpected response %s for command %s. "
+                          __PRETTY_FUNCTION__, __LINE__, modResponse, command);
+                snprintf(drvMessageText, sizeof(drvMessageText),
+                         "Received unexpected response %s (_ are "
+                         "carriage returns) for command %s. "
                          "Please call the support",
-                         response, command);
+                         modResponse, command);
-                pl_status = setStringParam(motorMessageText_, user_message);
+                pl_status = setStringParam(motorMessageText_, drvMessageText);
                 if (pl_status != asynSuccess) {
                     return paramLibAccessFailed(pl_status, "motorMessageText_",
                                                 __PRETTY_FUNCTION__, __LINE__);
@@ -330,23 +354,24 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
     }
 
     // Create custom error messages for different failure modes
-    if (strlen(user_message) == 0) {
+    if (strlen(drvMessageText) == 0) {
         switch (status) {
         case asynSuccess:
             break; // Communicate nothing
         case asynTimeout:
-            snprintf(user_message, sizeof(user_message),
+            snprintf(drvMessageText, sizeof(drvMessageText),
                      "connection timeout for axis %d", axisNo);
             break;
         case asynDisconnected:
-            snprintf(user_message, sizeof(user_message),
+            snprintf(drvMessageText, sizeof(drvMessageText),
                      "axis is not connected");
             break;
         case asynDisabled:
-            snprintf(user_message, sizeof(user_message), "axis is disabled");
+            snprintf(drvMessageText, sizeof(drvMessageText),
+                     "axis is disabled");
             break;
         default:
-            snprintf(user_message, sizeof(user_message),
+            snprintf(drvMessageText, sizeof(drvMessageText),
                      "Communication failed (%s)", stringifyAsynStatus(status));
             break;
         }
@@ -367,7 +392,7 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
 
         if (motorStatusProblem == 0) {
             pl_status =
-                axis->setStringParam(this->motorMessageText_, user_message);
+                axis->setStringParam(this->motorMessageText_, drvMessageText);
             if (pl_status != asynSuccess) {
                 return paramLibAccessFailed(pl_status, "motorMessageText_",
                                             __PRETTY_FUNCTION__, __LINE__);
@@ -377,16 +402,18 @@ asynStatus pmacv3Controller::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
+
         asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
-                  "%s => line %d:\nDevice response: %s\n", __PRETTY_FUNCTION__,
+                  "%s => line %d:\nDevice response: %s (_ are "
-                  __LINE__, response);
+                  "carriage returns)\n",
+                  __PRETTY_FUNCTION__, __LINE__, modResponse);
         pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } else {
         if (status == asynSuccess) {
             asynPrint(
                 lowLevelPortUser_, ASYN_TRACE_ERROR,
                 "%s => line %d:\nCommunication failed for command %s (%s)\n",
-                __PRETTY_FUNCTION__, __LINE__, full_command,
+                __PRETTY_FUNCTION__, __LINE__, fullCommand,
                 stringifyAsynStatus(status));
             pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 1);
         }
@@ -420,6 +447,15 @@ asynStatus pmacv3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     }
 }
 
+asynStatus pmacv3Controller::errMsgCouldNotParseResponse(
+    const char *command, const char *response, int axisNo,
+    const char *functionName, int lineNumber) {
+    char modifiedResponse[MAXBUF_] = {0};
+    adjustResponseForPrint(modifiedResponse, response);
+    return sinqController::errMsgCouldNotParseResponse(
+        command, modifiedResponse, axisNo, functionName, lineNumber);
+}
+
 /*************************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */
@@ -533,9 +569,9 @@ types and then providing "factory" functions
 (configCreateControllerCallFunc). These factory functions are used to
 register the constructors during compilation.
 */
-static const iocshArg CreateControllerArg0 = {"Controller port name",
+static const iocshArg CreateControllerArg0 = {"Controller name (e.g. mcu1)",
                                               iocshArgString};
-static const iocshArg CreateControllerArg1 = {"Low level port name",
+static const iocshArg CreateControllerArg1 = {"Asyn IP port name (e.g. pmcu1)",
                                               iocshArgString};
 static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
 static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
@@ -558,7 +594,8 @@ static void configPmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
 Same procedure as for the CreateController function, but for the axis
 itself.
 */
-static const iocshArg CreateAxisArg0 = {"Controller port name", iocshArgString};
+static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
+                                        iocshArgString};
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                  &CreateAxisArg1};

src/pmacv3Controller.h

@@ -93,6 +93,29 @@ class pmacv3Controller : public sinqController {
      */
     pmacv3Axis *castToAxis(asynMotorAxis *asynAxis);
 
+    /**
+     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
+     * for pmacv3
+     *
+     * This is an overloaded version of
+     * sinqController::errMsgCouldNotParseResponse which calls
+     * adjustResponseForLogging on response before handing it over to
+     * sinqController::errMsgCouldNotParseResponse.
+     *
+     * @param command             Command which led to the unparseable message
+     * @param response            Response which wasn't parseable
+     * @param axisNo_             Axis where the problem occurred
+     * @param functionName        Name of the caller function. It is recommended
+    to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
+     * @param lineNumber          Source code line where this function is
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns asynError.
+     */
+    asynStatus errMsgCouldNotParseResponse(const char *command,
+                                           const char *response, int axisNo_,
+                                           const char *functionName,
+                                           int lineNumber);
+
   private:
     // Set the maximum buffer size. This is an empirical value which must be
     // large enough to avoid overflows for all commands to the device /