Fixed a compilation bug related to sinqMotor 0.8.0

the minimum version requirement for sinqMotor has been bumped to 0.8.0.

Makefile

@@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.7.0
+sinqMotor_VERSION=0.8.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/turboPmacAxis.h

README.md

@@ -17,25 +17,45 @@ The folder "utils" contains utility scripts for working with pmac motor controll
 
 ### Usage in IOC shell
 
-turboPmac exposes the following IOC shell functions (all in turboPmacController.cpp):
+turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
 - `turboPmacAxis`: Create a new axis object.
-These functions are parametrized as follows:
+
+The full mcu.cmd file looks like this:
+
 ```
-turboPmacController(
+# Define the name of the controller and the corresponding port
-    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+epicsEnvSet("NAME","mcu")
-    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
+epicsEnvSet("ASYN_PORT","p$(NAME)")
-    8, # Maximum number of axes
+
-    0.05, # Busy poll period in seconds
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
-    1, # Idle poll period in seconds
+drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
-    0.05 # Communication timeout in seconds
+
-    );
+# Create the controller object with the defined name and connect it to the socket via the port name.
-```
+# The other parameters are as follows:
-```
+# 8: Maximum number of axes
-turboPmacAxis(
+# 0.05: Busy poll period in seconds
-    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
+# 1: Idle poll period in seconds
-    1 # Index of the axis.
+# 1: Socket communication timeout in seconds
-    );
+turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
+turboPmacAxis("$(NAME)",1);
+turboPmacAxis("$(NAME)",2);
+turboPmacAxis("$(NAME)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(NAME)", 20);
+
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# 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)")
+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)")
 ```
 
 ### Versioning

src/turboPmacAxis.cpp

@@ -35,7 +35,8 @@ static void epicsInithookFunction(initHookState iState) {
     }
 }
 
-turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo)
+turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
+                             bool initialize)
     : sinqAxis(pC, axisNo), pC_(pC) {
 
     asynStatus status = asynSuccess;
@@ -63,13 +64,17 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo)
         exit(-1);
     }
 
-    // Register the hook function during construction of the first axis object
+    if (initialize) {
-    if (axes.empty()) {
+        // Register the hook function during construction of the first axis
-        initHookRegister(&epicsInithookFunction);
+        // object
-    }
+        if (axes.empty()) {
+            initHookRegister(&epicsInithookFunction);
+        }
 
-    // Collect all axes into this list which will be used in the hook function
+        // Collect all axes into this list which will be used in the hook
-    axes.push_back(this);
+        // function
+        axes.push_back(this);
+    }
 
     // Initialize all member variables
     waitForHandshake_ = false;
@@ -109,9 +114,6 @@ turboPmacAxis::~turboPmacAxis(void) {
     // clean up the pointer pC here.
 }
 
-/**
-Read the configuration at the first poll
- */
 asynStatus turboPmacAxis::init() {
 
     // Local variable declaration
@@ -363,39 +365,43 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Intepret the status
+    // Create the unique callsite identifier manually so it can be used later in
+    // the shouldBePrinted calls.
+    msgPrintControlKey keyStatus = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+    bool resetCountStatus = true;
+
+    // Interpret the status
     switch (axStatus) {
     case -6:
+        // Axis is stopping
         *moving = true;
-
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis is stopping\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case -5:
+        // Axis is deactivated
         *moving = false;
 
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
-                  "deactivated\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
         pl_status = setStringParam(pC_->motorMessageText_, "Deactivated");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-
         break;
     case -4:
+        // Emergency stop
         *moving = false;
 
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
-                  "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
+                                                  pC_->pasynUserSelf)) {
-                  "activated\n",
+            asynPrint(
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
+                "activated.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetCountStatus = false;
 
         pl_status = setStringParam(pC_->motorMessageText_, "Emergency stop");
         if (pl_status != asynSuccess) {
@@ -406,13 +412,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         break;
     case -3:
+        // Disabled
         *moving = false;
 
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis %d is disabled\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_);
-
         pl_status = setStringParam(pC_->motorMessageText_, "Disabled");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -422,43 +424,24 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         break;
     case 0:
+        // Idle
         *moving = false;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is idle\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 1:
+        // Move order acknowledged
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nMove order "
-                  "acknowledged\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 2:
+        // Move order confirmed possible
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nMove order is "
-                  "possible\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 3:
+        // Axis in Air Cushion Output status
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis in Air "
-                  "Cushion Output status\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 4:
+        // Axis in Air Cushion Input status
         *moving = true;
-
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis in Air "
-                  "Cushion Input status\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         break;
     case 5:
         *moving = true;
@@ -472,15 +455,22 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     default:
         *moving = false;
 
-        asynPrint(
+        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                                                  pC_->pasynUserSelf)) {
-            "Controller \"%s\", axis %d  => %s, line %d\nReached unreachable "
+
-            "state P%2.2d00 = %d\n",
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                      "Controller \"%s\", axis %d  => %s, line %d\nReached "
-            axStatus);
+                      "unreachable state P%2.2d00 = %d.%s\n",
-        pl_status = setStringParam(
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            pC_->motorMessageText_,
+                      axisNo_, axStatus, pC_->msgPrintControl_.getSuffix());
-            "Unreachable state has been reached. Please call the support.");
+        }
+        resetCountStatus = false;
+
+        snprintf(userMessage, sizeof(userMessage),
+                 "Unknown state P%2.2d00 = %d has been reached. Please call "
+                 "the support.",
+                 axisNo_, error);
+        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -488,6 +478,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
+    if (resetCountStatus) {
+        pC_->msgPrintControl_.resetCount(keyStatus);
+    }
+
     if (*moving) {
         // If the axis is moving, evaluate the movement direction
         if ((currentPosition - previousPosition) > 0) {
@@ -497,19 +491,28 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    // Error handling
+    // Create the unique callsite identifier manually so it can be used later in
+    // the shouldBePrinted calls.
+    msgPrintControlKey keyError = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+    bool resetError = true;
+
     switch (error) {
     case 0:
-        // No error
+        // No error -> Reset the message repetition watchdog
         break;
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        asynPrint(
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                                                  pC_->pasynUserSelf)) {
-            "Controller \"%s\", axis %d  => %s, line %d\nTarget position would "
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "exceed user limits.\n",
+                      "Controller \"%s\", axis %d  => %s, line %d\nTarget "
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                      "position would exceed user limits.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         pl_status = setStringParam(pC_->motorMessageText_,
                                    "Target position would exceed software "
@@ -524,11 +527,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     case 5:
         // Command not possible
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (pC_->msgPrintControl_.shouldBePrinted(keyStatus, true,
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
+                                                  pC_->pasynUserSelf)) {
-                  "still moving, but received another move command. EPICS "
+            asynPrint(
-                  "should prevent this, check if *moving is set correctly.\n",
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
+                "still moving, but received another move command. EPICS "
+                "should prevent this, check if *moving is set correctly.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         pl_status = setStringParam(pC_->motorMessageText_,
                                    "Axis received move command while it is "
@@ -542,12 +551,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         poll_status = asynError;
         break;
     case 8:
-        asynPrint(
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                                                  pC_->pasynUserSelf)) {
-            "Controller \"%s\", axis %d  => %s, line %d\nAir cushion feedback "
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "stopped during movement (P%2.2d01 = %d).\n",
+                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
-            error);
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Air cushion feedback stopped during movement (P%2.2d01 = "
@@ -562,11 +574,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
         break;
     case 9:
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-                  "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
+                                                  pC_->pasynUserSelf)) {
-                  "feedback before movement start (P%2.2d01 = %d).\n",
+            asynPrint(
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  axisNo_, error);
+                "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
+                "feedback before movement start (P%2.2d01 = %d).%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "No air cushion feedback before movement start (P%2.2d01 = "
@@ -586,10 +603,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         error case can only happen if either the axis has an incremental encoder
         which is not properly homed or if a bug occured.
         */
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+
-                  "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-                  "controller limits.\n",
+                                                  pC_->pasynUserSelf)) {
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
+                "controller limits.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(userMessage, sizeof(userMessage),
                  "Software limits or end switch hit (P%2.2d01 = %d). Try "
@@ -609,10 +633,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     case 11:
         // Following error
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+
-                  "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-                  "following error exceeded.\n",
+                                                  pC_->pasynUserSelf)) {
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
+                "following error exceeded.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
 
         snprintf(command, sizeof(command),
                  "Maximum allowed following error exceeded (P%2.2d01 = %d). "
@@ -630,6 +661,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
 
     case 12:
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nSecurity "
+                      "input is triggered (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
+
         snprintf(command, sizeof(command),
                  "Security input is triggered (P%2.2d01 = %d). Check the SPS "
                  "for errors (if available). Otherwise please call "
@@ -647,11 +688,17 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     case 13:
         // Driver hardware error triggered
-        asynPrint(
+
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-            "Controller \"%s\", axis %d  => %s, line %d\nDriver hardware error "
+                                                  pC_->pasynUserSelf)) {
-            "triggered.\n",
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                      "Controller \"%s\", axis %d  => %s, line %d\nDriver "
+                      "hardware error triggered.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
+
         snprintf(command, sizeof(command),
                  "Driver hardware error (P%2.2d01 = 13). "
                  "Please call the support.",
@@ -668,18 +715,22 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case 14:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nMove command exceeds "
-            "hardware limits (P%2.2d01 = %d).\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-            error);
 
-        snprintf(command, sizeof(command),
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
+                                                  pC_->pasynUserSelf)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nMove "
+                      "command exceeds hardware limits (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeof(userMessage),
                  "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
                  "call the support.",
                  axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText_, command);
+        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -689,15 +740,22 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         poll_status = asynError;
         break;
     default:
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
-                  "P%2.2d01 = %d.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  axisNo_, error);
 
-        pl_status = setStringParam(
+        if (pC_->msgPrintControl_.shouldBePrinted(keyError, true,
-            pC_->motorMessageText_,
+                                                  pC_->pasynUserSelf)) {
-            "Unknown error P%2.2d01 = %d. Please call the support.");
+            asynPrint(
+                pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
+                "P%2.2d01 = %d.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
+                error, pC_->msgPrintControl_.getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeof(userMessage),
+                 "Unknown error P%2.2d01 = %d. Please call the support.",
+                 axisNo_, error);
+        pl_status = setStringParam(pC_->motorMessageText_, userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -708,6 +766,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         break;
     }
 
+    if (resetError) {
+        pC_->msgPrintControl_.resetCount(keyError);
+    }
+
     // Update the parameter library
     if (error != 0) {
         pl_status = setIntegerParam(pC_->motorStatusProblem_, true);

src/turboPmacAxis.h

@@ -3,7 +3,7 @@
 #include "sinqAxis.h"
 
 // Forward declaration of the controller class to resolve the cyclic dependency
-// between C804Controller.h and C804Axis.h. See
+// between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
 class turboPmacController;
 
@@ -15,7 +15,8 @@ class turboPmacAxis : public sinqAxis {
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
      */
-    turboPmacAxis(turboPmacController *pController, int axisNo);
+    turboPmacAxis(turboPmacController *pController, int axisNo,
+                  bool initialize = true);
 
     /**
      * @brief Destroy the turboPmacAxis
@@ -74,7 +75,7 @@ class turboPmacAxis : public sinqAxis {
      * The following steps are performed:
      * - Read out the motor status, motor position, velocity and acceleration
      * from the MCU and store this information in the parameter library.
-     * - Set the enable PV accordint to the initial status of the axis.
+     * - Set the enable PV according to the initial status of the axis.
      *
      * @return asynStatus
      */

src/turboPmacController.cpp

@@ -29,23 +29,11 @@ void adjustResponseForPrint(char *dst, const char *src, size_t buf_length) {
     }
 }
 
-/**
- * @brief Construct a new turboPmacController::turboPmacController object
- *
- * @param portName              See documentation of sinqController
- * @param ipPortConfigName      See documentation of sinqController
- * @param numAxes               See documentation of sinqController
- * @param movingPollPeriod      See documentation of sinqController
- * @param idlePollPeriod        See documentation of sinqController
- * @param comTimeout  Time after which a communication timeout error
- * is declared in writeRead (in seconds)
- * @param extraParams           See documentation of sinqController
- */
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
                                          int numAxes, double movingPollPeriod,
                                          double idlePollPeriod,
-                                         double comTimeout)
+                                         double comTimeout, int numExtraParams)
     : sinqController(
           portName, ipPortConfigName, numAxes, movingPollPeriod, idlePollPeriod,
           /*
@@ -53,7 +41,7 @@ turboPmacController::turboPmacController(const char *portName,
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
           */
-          NUM_turboPmac_DRIVER_PARAMS)
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
 
 {
 
@@ -145,39 +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);
+    return dynamic_cast<turboPmacAxis *>(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;
 }
 
 asynStatus turboPmacController::writeRead(int axisNo, const char *command,
@@ -216,7 +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;
@@ -273,10 +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
@@ -294,12 +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,
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+            asynPrint(
-                  "writing to the MCU\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                "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));
@@ -321,23 +291,35 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+            asynPrint(
-                  "writing to the controller\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                  stringifyAsynStatus(status));
+                "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,
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
+            asynPrint(
-                  "reading from the MCU\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                "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,
@@ -360,11 +342,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
-                  "Controller \"%s\", axis %d => %s, line %d\nError %s while "
+            asynPrint(
-                  "reading from the controller\n",
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                  stringifyAsynStatus(status));
+                "reading from the controller.%s\n",
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+        }
+    } else {
+        msgPrintControl_.resetCount(readKey);
     }
 
     if (timeoutStatus == asynError) {
@@ -372,6 +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;
 
@@ -379,10 +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,
+        if (msgPrintControl_.shouldBePrinted(terminateKey, true,
-                  "Controller \"%s\", axis %d => %s, line %d\nMessage "
+                                             pasynUserSelf)) {
-                  "terminated due to reason %i\n",
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, eomReason);
+                      "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);
     }
 
     /*
@@ -394,20 +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 "
+        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                  "response '%s' (carriage returns are replaced with spaces) "
+                                             pasynUserSelf)) {
-                  "for command %s\n",
+            asynPrint(
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                  command);
+                "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
@@ -437,23 +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,
+        // Check if the axis already is in an error communication mode. If
-                  "Controller \"%s\", axis %d => %s, line %d\nCommunication "
+        // it is not, upstream the error. This is done to avoid "flooding"
-                  "failed for command %s (%s)\n",
+        // the user with different error messages if more than one error
-                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__, fullCommand,
+        // ocurred before an error-free communication
-                  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
         paramLibStatus =
             getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
         if (paramLibStatus != asynSuccess) {
@@ -494,11 +488,7 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
 
     // =====================================================================
 
-    turboPmacAxis *axis = getAxis(pasynUser);
+    turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
 
     // Handle custom PVs
     if (function == rereadEncoderPosition_) {
@@ -510,13 +500,14 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+asynStatus turboPmacController::readInt32(asynUser *pasynUser,
+                                          epicsInt32 *value) {
     // PMACs can be disabled
     if (pasynUser->reason == motorCanDisable_) {
         *value = 1;
         return asynSuccess;
     } else {
-        return asynMotorController::readInt32(pasynUser, value);
+        return sinqController::readInt32(pasynUser, value);
     }
 }
 
@@ -549,8 +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
+    The created object is registered in EPICS in its constructor and can
-    be "leaked" here.
+    safely be "leaked" here.
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -582,17 +573,17 @@ static const iocshArg CreateControllerArg5 = {"Communication timeout (s)",
 static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
-static const iocshFuncDef configturboPmacCreateController = {
+static const iocshFuncDef configTurboPmacCreateController = {
     "turboPmacController", 6, CreateControllerArgs};
 static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
     turboPmacCreateController(args[0].sval, args[1].sval, args[2].ival,
                               args[3].dval, args[4].dval, args[5].dval);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
+// This function is made known to EPICS in turboPmac.dbd and is called by
-// in order to register both functions in the IOC shell
+// EPICS in order to register both functions in the IOC shell
 static void turboPmacControllerRegister(void) {
-    iocshRegister(&configturboPmacCreateController,
+    iocshRegister(&configTurboPmacCreateController,
                   configTurboPmacCreateControllerCallFunc);
 }
 epicsExportRegistrar(turboPmacControllerRegister);

src/turboPmacController.h

@@ -13,10 +13,10 @@
 #include "turboPmacAxis.h"
 
 class turboPmacController : public sinqController {
-
   public:
     /**
-     * @brief Construct a new turboPmacController object
+     * @brief Construct a new turboPmacController object. This function is meant
+    to be called from a child class constructor.
      *
      * @param portName            See sinqController constructor
      * @param ipPortConfigName    See sinqController constructor
@@ -26,10 +26,12 @@ class turboPmacController : public sinqController {
      * @param comTimeout          When trying to communicate with the device,
     the underlying asynOctetSyncIO interface waits for a response until this
     time (in seconds) has passed, then it declares a timeout.
+     * @param numExtraParams      Number of extra parameters from a child class
      */
     turboPmacController(const char *portName, const char *ipPortConfigName,
                         int numAxes, double movingPollPeriod,
-                        double idlePollPeriod, double comTimeout);
+                        double idlePollPeriod, double comTimeout,
+                        int numExtraParams = 0);
 
     /**
      * @brief Get the axis object
@@ -38,7 +40,7 @@ class turboPmacController : public sinqController {
      * @return turboPmacAxis*        If no axis could be found, this is a
      * nullptr
      */
-    turboPmacAxis *getAxis(asynUser *pasynUser);
+    turboPmacAxis *getTurboPmacAxis(asynUser *pasynUser);
 
     /**
      * @brief Get the axis object
@@ -47,7 +49,18 @@ class turboPmacController : public sinqController {
      * @return turboPmacAxis*        If no axis could be found, this is a
      * nullptr
      */
-    turboPmacAxis *getAxis(int axisNo);
+    turboPmacAxis *getTurboPmacAxis(int axisNo);
+
+    /**
+     * @brief Overloaded function of sinqController
+     *
+     * The function is overloaded in order to read motorCanDisable_.
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
     /**
      * @brief Overloaded function of sinqController
@@ -58,7 +71,7 @@ class turboPmacController : public sinqController {
      * @param value               New value
      * @return asynStatus
      */
-    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
   protected:
     asynUser *lowLevelPortUser_;
@@ -82,15 +95,6 @@ class turboPmacController : public sinqController {
     asynStatus writeRead(int axisNo, const char *command, char *response,
                          int numExpectedResponses);
 
-    /**
-     * @brief Save cast of the given asynAxis pointer to a turboPmacAxis
-     * pointer. If the cast fails, this function returns a nullptr.
-     *
-     * @param asynAxis
-     * @return turboPmacAxis*
-     */
-    turboPmacAxis *castToAxis(asynMotorAxis *asynAxis);
-
     /**
      * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
      * for turboPmac
@@ -114,7 +118,7 @@ class turboPmacController : public sinqController {
                                            const char *functionName,
                                            int lineNumber);
 
-  private:
+  protected:
     // Set the maximum buffer size. This is an empirical value which must be
     // large enough to avoid overflows for all commands to the device /
     // responses from it.