Factored out error handling in a dedicated function

This makes it possible to reuse the error handling of the base axis in
derived axis types (e.g. seleneGuide driver).

Makefile

@@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.8.0
+sinqMotor_VERSION=0.11.0
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/turboPmacAxis.h

README.md

@@ -1,5 +1,7 @@
 # turboPmac
 
+## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+
 ## 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.
@@ -21,11 +23,11 @@ turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
 - `turboPmacAxis`: Create a new axis object.
 
-The full mcu.cmd file looks like this:
+The full turboPmacX.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","mcu")
+epicsEnvSet("NAME","turboPmacX")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
 # 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
@@ -47,8 +49,8 @@ turboPmacAxis("$(NAME)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(NAME)", 20);
 
-# Configure the timeout frequency watchdog:
-setThresholdComTimeout("$(NAME)", 100, 1);
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+setThresholdComTimeout("$(NAME)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")

src/turboPmacAxis.h

@@ -81,6 +81,14 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus init();
 
+    /**
+     * @brief Implementation of the `doReset` function from sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus doReset();
+
     /**
      * @brief Enable / disable the axis.
      *
@@ -104,6 +112,16 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus rereadEncoder();
 
+    /**
+     * @brief Interpret the error code and populate the user message accordingly
+     *
+     * @param error
+     * @param userMessage
+     * @param sizeUserMessage
+     * @return asynStatus
+     */
+    asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
+
   protected:
     turboPmacController *pC_;
 
@@ -112,9 +130,6 @@ class turboPmacAxis : public sinqAxis {
 
     // The axis status is used when enabling / disabling the motor
     int axisStatus_;
-
-  private:
-    friend class turboPmacController;
 };
 
 #endif

src/turboPmacController.cpp

@@ -49,27 +49,12 @@ turboPmacController::turboPmacController(const char *portName,
     asynStatus status = asynSuccess;
 
     // Initialization of all member variables
-    lowLevelPortUser_ = nullptr;
     comTimeout_ = comTimeout;
 
     // Maximum allowed number of subsequent timeouts before the user is
     // informed.
     maxSubsequentTimeouts_ = 10;
 
-    // =========================================================================;
-
-    /*
-    We try to connect to the port via the port name provided by the constructor.
-    If this fails, the function is terminated via exit
-    */
-    pasynOctetSyncIO->connect(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
-    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
-        errlogPrintf("Controller \"%s\" => %s, line %d\nFATAL ERROR "
-                     "(cannot connect to MCU controller).\nTerminating IOC",
-                     portName, __PRETTY_FUNCTION__, __LINE__);
-        exit(-1);
-    }
-
     // =========================================================================
     // Create additional parameter library entries
 
@@ -103,15 +88,15 @@ 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(
-        lowLevelPortUser_, message_from_device, strlen(message_from_device));
+    status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
+                                           strlen(message_from_device));
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR "
                   "(setting input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 
@@ -123,7 +108,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 }
@@ -254,8 +239,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     trying to reconnect. If the problem persists, ask them to call the support
     */
 
-    status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
-                                     fullComandLength, comTimeout_, &nbytesOut);
+    status = pasynOctetSyncIO->write(ipPortUser_, fullCommand, fullComandLength,
+                                     comTimeout_, &nbytesOut);
 
     msgPrintControlKey writeKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -279,7 +264,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
+            status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
                                              fullComandLength, comTimeout_,
                                              &nbytesOut);
             if (status != asynTimeout) {
@@ -300,12 +285,12 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(writeKey);
+        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
     }
 
     // Read the response from the MCU buffer
-    status = pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
-                                    comTimeout_, &nbytesIn, &eomReason);
+    status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_, comTimeout_,
+                                    &nbytesIn, &eomReason);
 
     msgPrintControlKey readKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -330,9 +315,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status =
-                pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
-                                       comTimeout_, &nbytesIn, &eomReason);
+            status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_,
+                                            comTimeout_, &nbytesIn, &eomReason);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -351,7 +335,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(readKey);
+        msgPrintControl_.resetCount(readKey, pasynUserSelf);
     }
 
     if (timeoutStatus == asynError) {
@@ -377,7 +361,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                       eomReason, msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey);
+        msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
     }
 
     /*
@@ -412,7 +396,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey);
+        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -500,23 +484,14 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus turboPmacController::readInt32(asynUser *pasynUser,
-                                          epicsInt32 *value) {
-    // PMACs can be disabled
-    if (pasynUser->reason == motorCanDisable_) {
-        *value = 1;
-        return asynSuccess;
-    } else {
-        return sinqController::readInt32(pasynUser, value);
-    }
-}
-
-asynStatus turboPmacController::errMsgCouldNotParseResponse(
-    const char *command, const char *response, int axisNo,
-    const char *functionName, int lineNumber) {
+asynStatus turboPmacController::couldNotParseResponse(const char *command,
+                                                      const char *response,
+                                                      int axisNo,
+                                                      const char *functionName,
+                                                      int lineNumber) {
     char modifiedResponse[MAXBUF_] = {0};
     adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
-    return sinqController::errMsgCouldNotParseResponse(
+    return sinqController::couldNotParseResponse(
         command, modifiedResponse, axisNo, functionName, lineNumber);
 }
 

src/turboPmacController.h

@@ -51,17 +51,6 @@ class turboPmacController : public sinqController {
      */
     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
      *
@@ -73,9 +62,6 @@ class turboPmacController : public sinqController {
      */
     virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
-  protected:
-    asynUser *lowLevelPortUser_;
-
     /**
      * @brief Send a command to the hardware and receive a response
      *
@@ -96,13 +82,13 @@ class turboPmacController : public sinqController {
                          int numExpectedResponses);
 
     /**
-     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
+     * @brief Specialized version of sinqController::couldNotParseResponse
      * for turboPmac
      *
      * This is an overloaded version of
-     * sinqController::errMsgCouldNotParseResponse which calls
+     * sinqController::couldNotParseResponse which calls
      * adjustResponseForLogging on response before handing it over to
-     * sinqController::errMsgCouldNotParseResponse.
+     * sinqController::couldNotParseResponse.
      *
      * @param command             Command which led to the unparseable message
      * @param response            Response which wasn't parseable
@@ -113,17 +99,20 @@ class turboPmacController : public sinqController {
     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);
+    asynStatus couldNotParseResponse(const char *command, const char *response,
+                                     int axisNo_, const char *functionName,
+                                     int lineNumber);
+
+    // Accessors for additional PVs
+    int rereadEncoderPosition() { return rereadEncoderPosition_; }
+    int readConfig() { return readConfig_; }
 
-  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.
     static const uint32_t MAXBUF_ = 200;
 
+  protected:
     /*
     Timeout for the communication process in seconds
     */
@@ -136,8 +125,6 @@ class turboPmacController : public sinqController {
     int rereadEncoderPosition_;
     int readConfig_;
 #define LAST_turboPmac_PARAM readConfig_
-
-    friend class turboPmacAxis;
 };
 #define NUM_turboPmac_DRIVER_PARAMS                                            \
     (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)