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=0.9.0
+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:
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
-setThresholdComTimeout("$(NAME)", 100, 1);
+setThresholdComTimeout("$(NAME)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")

src/turboPmacAxis.cpp

@@ -96,13 +96,8 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     // turboPmac motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
-        asynPrint(
+        pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                                  __PRETTY_FUNCTION__, __LINE__);
-            "Controller \"%s\", axis %d  => %s, line %d\nFATAL ERROR "
-            "(setting a parameter value failed with %s)\n. Terminating IOC",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            pC_->stringifyAsynStatus(status));
-        exit(-1);
     }
 
     // Default values for the watchdog timeout mechanism
@@ -122,7 +117,7 @@ asynStatus turboPmacAxis::init() {
     char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
     int nvals = 0;
     double motorRecResolution = 0.0;
-    double motorPosition = 0.0;
+    double motorPos = 0.0;
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
@@ -166,7 +161,7 @@ asynStatus turboPmacAxis::init() {
     if (status != asynSuccess) {
         return status;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPosition,
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
                    &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
@@ -178,18 +173,14 @@ asynStatus turboPmacAxis::init() {
     motorAccel = motorAccel * 1000;
 
     if (nvals != 6) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from motor to parameter library coordinates
-    motorPosition = motorPosition / motorRecResolution;
-
     // Store these values in the parameter library
-    status = pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
+    status = setMotorPosition(motorPos);
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo_,
+        return status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Initial motor status is idle
@@ -230,7 +221,7 @@ asynStatus turboPmacAxis::init() {
 asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     // Return value for the poll
-    asynStatus poll_status = asynSuccess;
+    asynStatus errorStatus = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus rw_status = asynSuccess;
@@ -297,8 +288,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         nvals = sscanf(response, "%d %d", &handshakePerformed, &error);
         if (nvals != 2) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(command, response, axisNo_,
-                command, response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         if (error != 0) {
@@ -333,7 +324,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    // Motor resolution from parameter library
     pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                     &motorRecResolution);
     if (pl_status != asynSuccess) {
@@ -343,14 +333,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     // Read the previous motor position
-    pl_status =
+    pl_status = motorPosition(&previousPosition);
-        pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Read the previous motor position
     pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusDone(),
                                      &previousStatusDone);
     if (pl_status != asynSuccess) {
@@ -358,10 +345,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from EPICS to motor coordinates (see comment in
-    // turboPmacAxis::atFirstPoll)
-    previousPosition = previousPosition * motorRecResolution;
-
     // Query the axis status
     snprintf(command, sizeof(command),
              "P%2.2d00 Q%2.2d10 P%2.2d01 Q%2.2d13 Q%2.2d14", axisNo_, axisNo_,
@@ -374,8 +357,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     nvals = sscanf(response, "%d %lf %d %lf %lf", &axStatus, &currentPosition,
                    &error, &highLimit, &lowLimit);
     if (nvals != 5) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     /*
@@ -543,284 +526,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    // Create the unique callsite identifier manually so it can be used later in
+    errorStatus = handleError(error, userMessage, sizeof(userMessage));
-    // the shouldBePrinted calls.
-    msgPrintControlKey keyError = msgPrintControlKey(
-        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-    bool resetError = true;
-
-    switch (error) {
-    case 0:
-        // 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
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nTarget "
-                      "position would exceed user limits.%s\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      pC_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        pl_status = setStringParam(pC_->motorMessageText(),
-                                   "Target position would exceed software "
-                                   "limits. Please call the support.");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-    case 5:
-        // Command not possible
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(
-                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                "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_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        pl_status = setStringParam(pC_->motorMessageText(),
-                                   "Axis received move command while it is "
-                                   "still moving. Please call the support.");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-    case 8:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
-                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        snprintf(userMessage, sizeof(userMessage),
-                 "Air cushion feedback stopped during movement (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__,
-                                             __LINE__);
-        }
-        break;
-    case 9:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(
-                pC_->asynUserSelf(), ASYN_TRACE_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_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        snprintf(userMessage, sizeof(userMessage),
-                 "No air cushion feedback before movement start (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__,
-                                             __LINE__);
-        }
-        break;
-    case 10:
-        /*
-        Software limits of the controller have been hit. Since the EPICS limits
-        are derived from the software limits and are a little bit smaller, this
-        error case can only happen if either the axis has an incremental encoder
-        which is not properly homed or if a bug occured.
-        */
-
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(
-                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
-                "controller limits.%s\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        snprintf(userMessage, sizeof(userMessage),
-                 "Software limits or end switch hit (P%2.2d01 = %d). Try "
-                 "homing the motor, moving in the opposite direction or check "
-                 "the SPS for errors (if available). "
-                 "Otherwise 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__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-    case 11:
-        // Following error
-
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(
-                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
-                "following error exceeded.%s\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        snprintf(command, sizeof(command),
-                 "Maximum allowed following error exceeded (P%2.2d01 = %d). "
-                 "Check if movement range is blocked. "
-                 "Otherwise please call the support.",
-                 axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText(), command);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-
-    case 12:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), 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_->getMsgPrintControl().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 "
-                 "the support.",
-                 axisNo_, error);
-        pl_status = setStringParam(pC_->motorMessageText(), command);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-
-    case 13:
-        // Driver hardware error triggered
-
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nDriver "
-                      "hardware error triggered.%s\n",
-                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      pC_->getMsgPrintControl().getSuffix());
-        }
-        resetError = false;
-
-        snprintf(command, sizeof(command),
-                 "Driver hardware error (P%2.2d01 = 13). "
-                 "Please call the support.",
-                 axisNo_);
-        pl_status = setStringParam(pC_->motorMessageText(), command);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-    case 14:
-        // EPICS should already prevent this issue in the first place,
-        // since it contains the user limits
-
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), 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_->getMsgPrintControl().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(), userMessage);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-    default:
-
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->asynUserSelf())) {
-            asynPrint(
-                pC_->asynUserSelf(), 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_->getMsgPrintControl().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__,
-                                             __LINE__);
-        }
-
-        poll_status = asynError;
-        break;
-    }
-
-    if (resetError) {
-        pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
-    }
 
     // Update the parameter library
     if (error != 0) {
@@ -876,17 +582,296 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Transform from motor to EPICS coordinates (see comment in
+    pl_status = setMotorPosition(currentPosition);
-    // turboPmacAxis::init())
-    currentPosition = currentPosition / motorRecResolution;
-
-    pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
+        return pl_status;
-                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+    return errorStatus;
+}
+
+asynStatus turboPmacAxis::handleError(int error, char *userMessage,
+                                      int sizeUserMessage) {
+    asynStatus status = asynSuccess;
+
+    // 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 -> Reset the message repetition watchdog
+        break;
+    case 1:
+        // EPICS should already prevent this issue in the first place,
+        // since it contains the user limits
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nTarget "
+                      "position would exceed user limits.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        status = setStringParam(pC_->motorMessageText(),
+                                "Target position would exceed software "
+                                "limits. Please call the support.");
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+    case 5:
+        // Command not possible
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                "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_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        status = setStringParam(pC_->motorMessageText(),
+                                "Axis received move command while it is "
+                                "still moving. Please call the support.");
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+    case 8:
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
+                      "feedback stopped during movement (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Air cushion feedback stopped during movement (P%2.2d01 = "
+                 "%d). Please call the support.",
+                 axisNo_, error);
+
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+        break;
+    case 9:
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(
+                pC_->asynUserSelf(), ASYN_TRACE_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_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "No air cushion feedback before movement start (P%2.2d01 = "
+                 "%d). Please call the support.",
+                 axisNo_, error);
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+        break;
+    case 10:
+        /*
+        Software limits of the controller have been hit. Since the EPICS limits
+        are derived from the software limits and are a little bit smaller, this
+        error case can only happen if either the axis has an incremental encoder
+        which is not properly homed or if a bug occured.
+        */
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
+                "controller limits.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Software limits or end switch hit (P%2.2d01 = %d). Try "
+                 "homing the motor, moving in the opposite direction or check "
+                 "the SPS for errors (if available). "
+                 "Otherwise please call the support.",
+                 axisNo_, error);
+
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+    case 11:
+        // Following error
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(
+                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
+                "following error exceeded.%s\n",
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                pC_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Maximum allowed following error exceeded (P%2.2d01 = %d). "
+                 "Check if movement range is blocked. "
+                 "Otherwise please call the support.",
+                 axisNo_, error);
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+
+    case 12:
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), 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_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Security input is triggered (P%2.2d01 = %d). Check the SPS "
+                 "for errors (if available). Otherwise please call "
+                 "the support.",
+                 axisNo_, error);
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+
+    case 13:
+        // Driver hardware error triggered
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nDriver "
+                      "hardware error triggered.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Driver hardware error (P%2.2d01 = 13). "
+                 "Please call the support.",
+                 axisNo_);
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+    case 14:
+        // EPICS should already prevent this issue in the first place,
+        // since it contains the user limits
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(pC_->asynUserSelf(), 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_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
+                 "call the support.",
+                 axisNo_, error);
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
+    default:
+
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
+                                                      pC_->asynUserSelf())) {
+            asynPrint(
+                pC_->asynUserSelf(), 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_->getMsgPrintControl().getSuffix());
+        }
+        resetError = false;
+
+        snprintf(userMessage, sizeUserMessage,
+                 "Unknown error P%2.2d01 = %d. Please call the support.",
+                 axisNo_, error);
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText_",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
+
+        status = asynError;
+        break;
     }
 
-    return poll_status;
+    if (resetError) {
+        pC_->getMsgPrintControl().resetCount(keyError, pC_->asynUserSelf());
+    }
+    return status;
 }
 
 asynStatus turboPmacAxis::doMove(double position, int relative,
@@ -1042,7 +1027,7 @@ asynStatus turboPmacAxis::stop(double acceleration) {
     return rw_status;
 }
 
-asynStatus turboPmacAxis::reset() {
+asynStatus turboPmacAxis::doReset() {
 
     // Status of read-write-operations of ASCII commands to the controller
     asynStatus rw_status = asynSuccess;
@@ -1160,16 +1145,16 @@ asynStatus turboPmacAxis::readEncoderType() {
 
     int reponse_length = strlen(response);
     if (reponse_length < 3) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     // We are only interested in the last two digits and the last value in
     // the string before the terminator is \r
     nvals = sscanf(response + (reponse_length - 3), "%2X", &encoder_id);
     if (nvals != 1) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                                __PRETTY_FUNCTION__, __LINE__);
+                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
     snprintf(command, sizeof(command), "P46");
@@ -1299,7 +1284,10 @@ asynStatus turboPmacAxis::enable(bool on) {
     asynStatus pl_status = asynSuccess;
 
     bool moving = false;
-    doPoll(&moving);
+    rw_status = doPoll(&moving);
+    if (rw_status != asynSuccess) {
+        return rw_status;
+    }
 
     // =========================================================================
 
@@ -1380,8 +1368,8 @@ asynStatus turboPmacAxis::enable(bool on) {
         }
         nvals = sscanf(response, "%d", &axisStatus_);
         if (nvals != 1) {
-            return pC_->errMsgCouldNotParseResponse(
+            return pC_->couldNotParseResponse(command, response, axisNo_,
-                command, response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                                              __PRETTY_FUNCTION__, __LINE__);
         }
 
         if ((axisStatus_ != -3) == on) {

src/turboPmacAxis.h

@@ -82,12 +82,12 @@ class turboPmacAxis : public sinqAxis {
     asynStatus init();
 
     /**
-     * @brief Reset the axis error
+     * @brief Implementation of the `doReset` function from sinqAxis.
      *
      * @param on
      * @return asynStatus
      */
-    asynStatus reset();
+    asynStatus doReset();
 
     /**
      * @brief Enable / disable the axis.
@@ -112,6 +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_;
 

src/turboPmacController.cpp

@@ -484,23 +484,14 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus turboPmacController::readInt32(asynUser *pasynUser,
+asynStatus turboPmacController::couldNotParseResponse(const char *command,
-                                          epicsInt32 *value) {
+                                                      const char *response,
-    // PMACs can be disabled
+                                                      int axisNo,
-    if (pasynUser->reason == motorCanDisable_) {
+                                                      const char *functionName,
-        *value = 1;
+                                                      int lineNumber) {
-        return asynSuccess;
-    } else {
-        return sinqController::readInt32(pasynUser, value);
-    }
-}
-
-asynStatus turboPmacController::errMsgCouldNotParseResponse(
-    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
      *
@@ -93,13 +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
@@ -110,10 +99,9 @@ class turboPmacController : public sinqController {
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
-    asynStatus errMsgCouldNotParseResponse(const char *command,
+    asynStatus couldNotParseResponse(const char *command, const char *response,
-                                           const char *response, int axisNo_,
+                                     int axisNo_, const char *functionName,
-                                           const char *functionName,
+                                     int lineNumber);
-                                           int lineNumber);
 
     // Accessors for additional PVs
     int rereadEncoderPosition() { return rereadEncoderPosition_; }