Fixed sinqMotor version for tagging

Added a low-level interpose driver to allow usage of stream devices.

Makefile

@@ -14,13 +14,15 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.10.0
+sinqMotor_VERSION=0.13.0
 
 # These headers allow to depend on this library for derived drivers.
+HEADERS += src/pmacAsynIPPort.h
 HEADERS += src/turboPmacAxis.h
 HEADERS += src/turboPmacController.h
 
 # Source files to build
+SOURCES += src/pmacAsynIPPort.c
 SOURCES += src/turboPmacAxis.cpp
 SOURCES += src/turboPmacController.cpp
 
@@ -30,4 +32,4 @@ TEMPLATES += db/turboPmac.db
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -8,16 +8,15 @@ This is a driver for the Turbo PMAC motion controller with the SINQ communicatio
 
 ## User guide
 
-This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
 The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
 - writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
 - analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
 
 
-## Developer guide
 
-### Usage in IOC shell
+### IOC startup script
 
 turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
@@ -30,8 +29,10 @@ The full turboPmacX.cmd file looks like this:
 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
-drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
+# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
+# communicating with the controller directly.
+pmacAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 
 # Create the controller object with the defined name and connect it to the socket via the port name.
 # The other parameters are as follows:
@@ -60,6 +61,12 @@ dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLE
 dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
+### Additional records
+
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
+
+## Developer guide
+
 ### Versioning
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

db/turboPmac.db

@@ -16,4 +16,18 @@ record(longout, "$(INSTR)$(M):ReadConfig") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) READ_CONFIG")
     field(PINI, "NO")
-}
+}
+
+# PMAC controllers can be "flushed" by setting a certain bit. This empties all
+# communication buffers. Once the flush is done, the controller acknowledges
+# this by sending an echo character. This procedure can take up to 10 ms (see 
+# Turbo PMAC User Manual, p. 414) and should therefore not be done as part of
+# "normal" communications (like the original pmacAsynIPPort driver from DLS 
+# does). The SINQ driver for the Turbo PMAC controller therefore offers this PV
+# in order to manually trigger a controller flush by writing any value to this PV.
+record(longout, "$(INSTR)FlushHardware") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) FLUSH_HARDWARE")
+    field(PINI, "NO")
+    field(VAL, "1")
+}

src/pmacAsynIPPort.c

@@ -0,0 +1,975 @@
+/*
+NOTES
+
+This driver is an asyn interpose driver intended for use with pmacAsynMotor
+to allow communication over ethernet to a PMAC.
+
+*** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
+
+This driver supports sending ascii commands to the PMAC over asyn IP and
+obtaining the response. The driver uses the PMAC ethernet packets
+VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
+and get responses. The PMAC may send responses in several different formats.
+1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
+I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
+cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
+responses to ascii commands ARE NOT ACK terminated as follows:
+        <BELL(7)>ERRxxx<CR(13)>
+3) PMAC may also return the following:
+        <STX(2)>data<CR(13)>
+
+This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
+VR_CTRL_REPONSE packet) however because the resulting  response data is not
+terminated as above the driver does not know when all the response data has
+been received. The response data will therefore only be returned after the
+asynUser.timeout has expired.
+
+This driver does NOT support large buffer transfers (VR_PMAC_WRITEBUFFER,
+VR_FWDOWNLOAD) or set/get of DPRAM (VR_PMAC_SETMEM etc) or changing comms
+setup (VR_IPADDRESS, VR_PMAC_PORT)
+
+
+REVISION HISTORY
+
+10 Aug 07 - Pete Leicester - Diamond Light Source
+Modified to handle responses other than those ending in <ACK> (e.g. errors) -
+No longer used asyn EOS.
+
+9 Aug 07 - Pete Leicester - Diamond Light Source
+Initial version reliant on asyn EOS to return <ACK> terminated responses.
+
+2 Feb 09 - Matthew Pearson - Diamond Light Source
+Ported to work with Asyn 4-10. Still compiles with pre Asyn4-10 versions but
+does not work. Also added new config function, pmacAsynIPPortConfigureEos(),
+to be used when disabling low level EOS handling in the Asyn IP layer. This
+new function should be used with Asyn 4-10 and above (it is not compatible
+with Asyn 4-9).
+
+10 Apr 25 - Stefan Mathis - Paul Scherrer Institut
+Adjusted the driver to the requirements of SINQ:
+- Added a lot of comments, removed the predecessor of
+pmacAsynIPPortConfigureEos() since SINQ doesn't need it (see comment above)
+- Removed the call to `pmacFlush` from `flushItOctet`: We want to flush the
+communication buffer on the IOC side before each communication, but we do not
+want to flush the PMAC controller itself, since this stalls the controller for
+10 ms everytime (see Turbo PMAC User Manual, p. 414). Instead, a PV was added in
+the higher level `turboPmac` driver to manually call the `pmacFlush` function.
+*/
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <cantProceed.h>
+#include <epicsAssert.h>
+#include <epicsStdio.h>
+#include <epicsString.h>
+#include <iocsh.h>
+#include <osiSock.h>
+
+#include "asynDriver.h"
+#include "asynInt32.h"
+#include "asynInterposeEos.h"
+#include "asynOctet.h"
+#include "drvAsynIPPort.h"
+#include "epicsThread.h"
+#include "pmacAsynIPPort.h"
+#include <epicsExport.h>
+
+#define ETHERNET_DATA_SIZE 1492
+#define MAX_BUFFER_SIZE 2097152
+#define INPUT_SIZE                                                             \
+    (ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */
+#define STX '\2'
+#define CTRLB '\2'
+#define CTRLC '\3'
+#define ACK '\6'
+#define CTRLF '\6'
+#define BELL '\7'
+#define CTRLG '\7'
+#define CTRLP '\16'
+#define CTRLV '\22'
+#define CTRLX '\24'
+
+/* PMAC ethernet command structure */
+#pragma pack(1)
+typedef struct tagEthernetCmd {
+    unsigned char RequestType;
+    unsigned char Request;
+    unsigned short wValue;
+    unsigned short wIndex;
+    unsigned short wLength; /* length of bData */
+    unsigned char bData[ETHERNET_DATA_SIZE];
+} ethernetCmd;
+#pragma pack()
+
+#define ETHERNET_CMD_HEADER (sizeof(ethernetCmd) - ETHERNET_DATA_SIZE)
+
+/* PMAC ethernet commands - RequestType field */
+#define VR_UPLOAD 0xC0
+#define VR_DOWNLOAD 0x40
+
+/* PMAC ethernet commands - Request field */
+#define VR_PMAC_SENDLINE 0xB0
+#define VR_PMAC_GETLINE 0xB1
+#define VR_PMAC_FLUSH 0xB3
+#define VR_PMAC_GETMEM 0xB4
+#define VR_PMAC_SETMEN 0xB5
+#define VR_PMAC_SETBIT 0xBA
+#define VR_PMAC_SETBITS 0xBB
+#define VR_PMAC_PORT 0xBE
+#define VR_PMAC_GETRESPONSE 0xBF
+#define VR_PMAC_READREADY 0xC2
+#define VR_CTRL_RESPONSE 0xC4
+#define VR_PMAC_GETBUFFER 0xC5
+#define VR_PMAC_WRITEBUFFER 0xC6
+#define VR_PMAC_WRITEERROR 0xC7
+#define VR_FWDOWNLOAD 0xCB
+#define VR_IPADDRESS 0xE0
+
+/* PMAC control character commands (VR_CTRL_RESPONSE cmd) */
+static char ctrlCommands[] = {CTRLB, CTRLC, CTRLF, CTRLG, CTRLP, CTRLV};
+
+/**
+ * @brief PMAC_specific equivalent of the ioPvt struct from
+ * asyn/interfaces/asynOctetSyncIo.c
+ *
+ */
+typedef struct pmacPvt {
+    char *portName;
+    int addr;
+    asynInterface int32Interface;
+    asynInt32 *pint32; /* The methods we're overriding */
+    void *int32Pvt;
+    asynInterface octetInterface;
+    asynOctet *poctet; /* The methods we're overriding */
+    void *octetPvt;
+    asynUser *pasynUser; /* For connect/disconnect reporting */
+    ethernetCmd *poutCmd;
+    ethernetCmd *pinCmd;
+    char *inBuf;
+    unsigned int inBufHead;
+    unsigned int inBufTail;
+} pmacPvt;
+
+/*
+   Notes on asyn
+   use asynUser.timeout to specify I/O request timeouts in seconds
+   asynStatus may return asynSuccess(0),asynTimeout(1),asynOverflow(2) or
+   asynError(3) eomReason may return ASYN_EOM_CNT (1:Request count reached),
+   ASYN_EOM_EOS (2:End of String detected), ASYN_EOM_END (4:End indicator
+   detected) asynError indicates that asynUser.errorMessage has been populated
+   by epicsSnprintf().
+*/
+
+/* Connect/disconnect handling */
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception);
+
+// =============================================================================
+
+/* Declare asynInt32 here, and assign functions later on
+(compatible with both Asyn 4-10 and pre 4-10 versions).*/
+static asynInt32 int32;
+
+/* Declare asynInt32 methods (they are defined down below) */
+static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
+                             epicsInt32 value);
+static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
+                            epicsInt32 *value);
+static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
+                                 epicsInt32 *low, epicsInt32 *high);
+static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackInt32 callback,
+                                             void *userPvt,
+                                             void **registrarPvt);
+static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt);
+
+// =============================================================================
+
+/* Declare asynOctet here, and assign functions later on
+(compatible with both Asyn 4-10 and pre 4-10 versions).*/
+static asynOctet octet;
+
+/* Declare asynOctet methods (they are defined down below) */
+static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
+                               const char *data, size_t numchars,
+                               size_t *nbytesTransfered);
+static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
+                              size_t maxchars, size_t *nbytesTransfered,
+                              int *eomReason);
+static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser);
+static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackOctet callback,
+                                             void *userPvt,
+                                             void **registrarPvt);
+static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt);
+static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                   const char *eos, int eoslen);
+static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
+                                   int eossize, int *eoslen);
+static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    const char *eos, int eoslen);
+static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    char *eos, int eossize, int *eoslen);
+
+// =============================================================================
+
+// Declare PMAC-specific functions (they are defined down below)
+
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason);
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered);
+
+// =============================================================================
+
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+                                           const char *hostInfo) {
+    asynStatus status = asynSuccess;
+    asynInterface *int32LowerLevelInterface = NULL;
+    asynInterface *octetLowerLevelInterface = NULL;
+    asynUser *pasynUser = NULL;
+    size_t len = 0;
+
+    /*
+    The asyn adress is always set to 0. This is taken verbatim from the DLS
+    source code
+    (https://github.com/DiamondLightSource/pmac/blob/afe81f8bb9179c3a20eff351f30bc6cfd1539ad9/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L192)
+    */
+    int addr = 0;
+
+    /*
+    This is the generic "parent" function of this function which is also
+    exported in the IOC shell and used for drivers which don't use a specialized
+    interpose layer.
+    */
+    if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
+        printf(
+            "pmacAsynIPPortConfigure: error from drvAsynIPPortConfigure. Port: "
+            "%s\n",
+            portName);
+    }
+
+    /*
+    Assign specialized versions of the methods from
+    asyn/interfaces/asynInt32SyncIo.c
+    */
+    int32.write = writeInt32;
+    int32.read = readInt32;
+    int32.getBounds = getBoundsInt32;
+    int32.registerInterruptUser = registerInterruptUserInt32;
+    int32.cancelInterruptUser = cancelInterruptUserInt32;
+
+    /*
+    Assign specialized versions of the methods from
+    asyn/interfaces/asynOctetSyncIO.c
+    */
+    octet.write = writeItOctet;
+    octet.read = readItOctet;
+    octet.flush = flushItOctet;
+    octet.setInputEos = setInputEosOctet;
+    octet.setOutputEos = setOutputEosOctet;
+    octet.getInputEos = getInputEosOctet;
+    octet.getOutputEos = getOutputEosOctet;
+    octet.registerInterruptUser = registerInterruptUserOctet;
+    octet.cancelInterruptUser = cancelInterruptUserOctet;
+
+    len = sizeof(pmacPvt) + strlen(portName) + 1;
+    pmacPvt *pPmacPvt = callocMustSucceed(
+        1, len,
+        "calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortConfigure.");
+
+    pPmacPvt->portName = (char *)(pPmacPvt + 1);
+
+    strcpy(pPmacPvt->portName, portName);
+    pPmacPvt->addr = addr;
+
+    pPmacPvt->int32Interface.interfaceType = asynInt32Type;
+    pPmacPvt->int32Interface.pinterface = &int32;
+    pPmacPvt->int32Interface.drvPvt = pPmacPvt;
+
+    status = pasynInt32Base->initialize(pPmacPvt->portName,
+                                        &pPmacPvt->int32Interface);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: Can't register int32.\n");
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+
+    pPmacPvt->octetInterface.interfaceType = asynOctetType;
+    pPmacPvt->octetInterface.pinterface = &octet;
+    pPmacPvt->octetInterface.drvPvt = pPmacPvt;
+
+    // We don't need to initialize the octet interface, since the interface type
+    // asynOctetType has already been initialized in drvAsynIPPortConfigure(..).
+
+    pasynUser = pasynManager->createAsynUser(0, 0);
+    pPmacPvt->pasynUser = pasynUser;
+    pPmacPvt->pasynUser->userPvt = pPmacPvt;
+
+    // In case connecting to the given IP port fails, clean up the memory
+    status = pasynManager->connectDevice(pasynUser, portName, addr);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s connectDevice failed\n", portName);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+
+    status =
+        pasynManager->exceptionCallbackAdd(pasynUser, pmacInExceptionHandler);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s exceptionCallbackAdd failed\n",
+               portName);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+
+    status = pasynManager->interposeInterface(
+        portName, addr, &pPmacPvt->int32Interface, &(int32LowerLevelInterface));
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
+               portName);
+        pasynManager->exceptionCallbackRemove(pasynUser);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+    pPmacPvt->pint32 = (asynInt32 *)int32LowerLevelInterface->pinterface;
+    pPmacPvt->int32Pvt = int32LowerLevelInterface->drvPvt;
+
+    status = pasynManager->interposeInterface(
+        portName, addr, &pPmacPvt->octetInterface, &(octetLowerLevelInterface));
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
+               portName);
+        pasynManager->exceptionCallbackRemove(pasynUser);
+        pasynManager->freeAsynUser(pasynUser);
+        free(pPmacPvt);
+        return -1;
+    }
+    pPmacPvt->poctet = (asynOctet *)octetLowerLevelInterface->pinterface;
+    pPmacPvt->octetPvt = octetLowerLevelInterface->drvPvt;
+
+    pPmacPvt->poutCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc poutCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+    pPmacPvt->pinCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc pinCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    pPmacPvt->inBuf = callocMustSucceed(
+        1, MAX_BUFFER_SIZE,
+        "calloc inBuf error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    pPmacPvt->inBufHead = 0;
+    pPmacPvt->inBufTail = 0;
+
+    // Interpose EOS handling layer, above the PMAC IP layer.
+    asynInterposeEosConfig(portName, addr, 1, 1);
+
+    return status;
+}
+
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception) {
+    pmacPvt *pPmacPvt = (pmacPvt *)pasynUser->userPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacInExceptionHandler\n");
+
+    if (exception == asynExceptionConnect) {
+        pPmacPvt->inBufHead = 0;
+        pPmacPvt->inBufTail = 0;
+    }
+}
+
+/*
+    Read reponse data from PMAC into buffer pmacPvt.inBuf. If there is no data
+   in the asyn buffer then issue pmac GETBUFFER command to get any outstanding
+   data still on the PMAC.
+*/
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason) {
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    *nbytesTransfered = 0;
+    if (maxchars > INPUT_SIZE)
+        maxchars = INPUT_SIZE;
+
+    asynPrint(
+        pasynUser, ASYN_TRACE_FLOW,
+        "pmacAsynIPPort::readResponse. Performing pPmacPvt->poctet->read().\n");
+
+    status =
+        pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, pPmacPvt->inBuf,
+                               maxchars, &thisRead, eomReason);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "%s readResponse1 maxchars=%zd, thisRead=%zd, eomReason=%d, "
+              "status=%u\n",
+              pPmacPvt->portName, maxchars, thisRead, *eomReason, status);
+    if (status == asynTimeout && thisRead == 0 && pasynUser->timeout > 0) {
+        /* failed to read as many characters as required into the input buffer,
+           check for more response data on the PMAC */
+        if (pmacReadReady(pPmacPvt, pasynUser)) {
+
+            status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                       nbytesTransfered);
+            asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->pinCmd,
+                        ETHERNET_CMD_HEADER, "%s write GETBUFFER\n",
+                        pPmacPvt->portName);
+
+            /* We have nothing to return at the moment so read again */
+            status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser,
+                                            pPmacPvt->inBuf, maxchars,
+                                            &thisRead, eomReason);
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "%s readResponse2 maxchars=%zd, thisRead=%zd, "
+                      "eomReason=%d, status=%u\n",
+                      pPmacPvt->portName, maxchars, thisRead, *eomReason,
+                      status);
+        }
+    }
+
+    if (thisRead > 0) {
+        if (status == asynTimeout)
+            status = asynSuccess;
+        *nbytesTransfered = thisRead;
+        pPmacPvt->inBufTail = 0;
+        pPmacPvt->inBufHead = thisRead;
+    }
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::readResponse. END\n");
+
+    return status;
+}
+
+/*
+   Send ReadReady command to PMAC to discover if there is any data to read from
+   it. Returns: 0 - no data available 1 - data available
+*/
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+    ethernetCmd cmd;
+    char data[2] = {0};
+    asynStatus status;
+    size_t thisRead = 0;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_UPLOAD;
+    cmd.Request = VR_PMAC_READREADY;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = htons(2);
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacReadReady fail\n",
+                    pPmacPvt->portName);
+    }
+
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 2,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        if (thisRead == 2 && data[0] != 0) {
+            retval = 1;
+        }
+        asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, thisRead,
+                    "%s read pmacReadReady OK thisRead=%zd\n",
+                    pPmacPvt->portName, thisRead);
+    } else {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "%s read pmacReadReady failed status=%d,retval=%d",
+                  pPmacPvt->portName, status, retval);
+    }
+    return retval;
+}
+
+/**
+ * @brief Flush the PMAC communication buffer
+ *
+Send a Flush command to PMAC and wait for confirmation ctrlX to be returned
+according to the Turbo PMAC user manual, p. 414 Returns: 0 - failed 1 - success
+
+ * @param pPmacPvt
+ * @param pasynUser
+ * @return int
+ */
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+
+    ethernetCmd cmd;
+    char data[2];
+    asynStatus status = asynSuccess;
+    size_t thisRead;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_DOWNLOAD;
+    cmd.Request = VR_PMAC_FLUSH;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = 0;
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacFlush fail\n",
+                    pPmacPvt->portName);
+    }
+
+    /* read flush acknowledgement character */
+    /* NB we don't check what the character is (manual sais ctrlX, we get 0x40
+     * i.e.VR_DOWNLOAD) */
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 1,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
+                  pPmacPvt->portName);
+        retval = 1;
+    } else {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "%s read pmacFlush failed - thisRead=%zd, eomReason=%d, "
+                  "status=%d\n",
+                  pPmacPvt->portName, thisRead, eomReason, status);
+    }
+
+    pPmacPvt->inBufTail = 0;
+    pPmacPvt->inBufHead = 0;
+
+    return retval;
+}
+
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered) {
+    asynStatus status = 0;
+    ethernetCmd *inCmd = NULL;
+
+    inCmd = pPmacPvt->pinCmd;
+    inCmd->RequestType = VR_UPLOAD;
+    inCmd->Request = VR_PMAC_GETBUFFER;
+    inCmd->wValue = 0;
+    inCmd->wIndex = 0;
+    inCmd->wLength = htons(maxchars);
+    status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                     (char *)pPmacPvt->pinCmd,
+                                     ETHERNET_CMD_HEADER, nbytesTransfered);
+
+    return status;
+}
+
+/*
+Implementation of asynInt32 methods
+Most of these implementations just redirect to the corresponding implementation
+in asyn/interfaces/asynInt32Base.c
+*/
+// =============================================================================
+
+static asynStatus writeInt32(void *drvPvt, asynUser *pasynUser,
+                             epicsInt32 value) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    if (pasynUser->reason == FLUSH_HARDWARE) {
+        /*
+        According to the Turbo PMAC user manual, p. 414:
+        0 - failed 1 - success
+        */
+        if (pmacFlush(pPmacPvt, pasynUser) == 1) {
+            return asynSuccess;
+        } else {
+            return asynError;
+        }
+    } else {
+        return pPmacPvt->pint32->write(pPmacPvt->int32Pvt, pasynUser, value);
+    }
+}
+
+static asynStatus readInt32(void *drvPvt, asynUser *pasynUser,
+                            epicsInt32 *value) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->read(pPmacPvt->int32Pvt, pasynUser, value);
+}
+
+static asynStatus getBoundsInt32(void *drvPvt, asynUser *pasynUser,
+                                 epicsInt32 *low, epicsInt32 *high) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getBoundsInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->getBounds(pPmacPvt->int32Pvt, pasynUser, low,
+                                       high);
+}
+
+static asynStatus registerInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackInt32 callback,
+                                             void *userPvt,
+                                             void **registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::registerInterruptUserInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->registerInterruptUser(
+        pPmacPvt->int32Pvt, pasynUser, callback, userPvt, registrarPvt);
+}
+
+static asynStatus cancelInterruptUserInt32(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::cancelInterruptUserInt32\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->pint32->cancelInterruptUser(pPmacPvt->int32Pvt, pasynUser,
+                                                 registrarPvt);
+}
+
+/*
+Implementation of asynOctet methods
+Most of these implementations just redirect to the corresponding implementation
+in asyn/interfaces/asynOctetBase.c
+*/
+// =============================================================================
+
+/* This function sends either a ascii string command to the PMAC using
+   VR_PMAC_GETRESPONSE or a single control character (ctrl B/C/F/G/P/V) using
+   VR_CTRL_RESPONSE
+*/
+static asynStatus writeItOctet(void *drvPvt, asynUser *pasynUser,
+                               const char *data, size_t numchars,
+                               size_t *nbytesTransfered) {
+    asynStatus status;
+    ethernetCmd *outCmd;
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    size_t nbytesActual = 0;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeItOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    /* NB currently we assume control characters arrive as individual
+       characters/calls to this routine. Idealy we should probably scan the data
+       buffer for control commands and do PMAC_GETRESPONSE and CTRL_RESPONSE
+       commands as necessary,  */
+    outCmd = pPmacPvt->poutCmd;
+    if (numchars == 1 && strchr(ctrlCommands, data[0])) {
+        outCmd->RequestType = VR_UPLOAD;
+        outCmd->Request = VR_CTRL_RESPONSE;
+        outCmd->wValue = data[0];
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(0);
+        status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                         (char *)pPmacPvt->poutCmd,
+                                         ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered =
+            (nbytesActual == ETHERNET_CMD_HEADER) ? numchars : 0;
+    } else {
+        if (numchars > ETHERNET_DATA_SIZE) {
+            /* NB large data should probably be sent using PMAC_WRITEBUFFER
+             * which isnt implemented yet - for the moment just truncate */
+            numchars = ETHERNET_DATA_SIZE;
+            asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                      "writeItOctet - ERROR TRUNCATED\n");
+        }
+
+        /*
+        The message protocol of the turboPmac used at PSI looks as follows (all
+        characters immediately following each other without a newline):
+        0x40 (ASCII value of @) -> Request for download
+        0xBF (ASCII value of ¿) -> Select mode "get_response"
+        0x00 (ASCII value of 0)
+        0x00 (ASCII value of 0)
+        0x00 (ASCII value of 0)
+        0x00 (ASCII value of 0)
+        0x00 (ASCII value of 0)
+        [message length in network byte order] -> Use the htons function for
+        this value [Actual message] It is not necessary to append a terminator,
+        since this protocol encodes the message length at the beginning. See
+        Turbo PMAC User Manual, page 418 in VR_PMAC_GETRESPONSE x0D (ASCII value
+        of carriage return) -> The controller needs a carriage return at the end
+        of a "send" command (a command were we transmit data via
+        =). For "request" commands (e.g. read status or position), this is not
+        necessary, but it doesn't hurt either, therefore we always add a
+        carriage return.
+
+        The message has to be build manually into the buffer fullCommand, since
+        it contains NULL terminators in its middle, therefore the string
+        manipulation methods of C don't work.
+        */
+        outCmd->RequestType = VR_DOWNLOAD;
+        outCmd->Request = VR_PMAC_GETRESPONSE;
+        outCmd->wValue = 0;
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(numchars);
+        memcpy(outCmd->bData, data, numchars);
+        status = pPmacPvt->poctet->write(
+            pPmacPvt->octetPvt, pasynUser, (char *)pPmacPvt->poutCmd,
+            numchars + ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered = (nbytesActual > ETHERNET_CMD_HEADER)
+                                ? (nbytesActual - ETHERNET_CMD_HEADER)
+                                : 0;
+    }
+
+    asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->poutCmd,
+                numchars + ETHERNET_CMD_HEADER, "%s writeItOctet\n",
+                pPmacPvt->portName);
+
+    return status;
+}
+
+/*
+This function reads data using read() into a local buffer and then look for
+message terminating characters and returns a complete response (or times
+out), adding on ACK if neccessary. The PMAC command response may be any of
+the following:- data<CR>data<CR>....data<CR><ACK> <BELL>data<CR> e.g. an
+error <BELL>ERRxxx<CR> <STX>data<CR> (NB asyn EOS only allows one message
+terminator to be specified. We add on ACK for the EOS layer above.)
+*/
+static asynStatus readItOctet(void *drvPvt, asynUser *pasynUser, char *data,
+                              size_t maxchars, size_t *nbytesTransfered,
+                              int *eomReason) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    size_t nRead = 0;
+    int bell = 0;
+    int initialRead = 1;
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::readItOctet. START\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    if (maxchars > 0) {
+        for (;;) {
+            if ((pPmacPvt->inBufTail != pPmacPvt->inBufHead)) {
+                *data = pPmacPvt->inBuf[pPmacPvt->inBufTail++];
+                if (*data == BELL || *data == STX)
+                    bell = 1;
+                if (*data == '\r' && bell) {
+                    /* <BELL>xxxxxx<CR> or <STX>xxxxx<CR> received - its
+                     * probably an error response (<BELL>ERRxxx<CR>) - assume
+                     * there is no more response data to come */
+                    nRead++; /* make sure the <CR> is passed to the client app
+                              */
+                    /*Add on ACK, because that's what we expect to be EOS in EOS
+                     * interpose layer.*/
+                    if ((nRead + 1) > maxchars) {
+                        /*If maxchars is reached overwrite <CR> with ACK, so
+                         * that no more reads will be done from EOS layer.*/
+                        *data = ACK;
+                    } else {
+                        data++;
+                        nRead++;
+                        *data = ACK;
+                    }
+                    break;
+                }
+                if (*data == ACK || *data == '\n') {
+                    /* <ACK> or <LF> received - assume there is no more response
+                     * data to come */
+                    /* If <LF>, replace with an ACK.*/
+                    if (*data == '\n') {
+                        *data = ACK;
+                    }
+                    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                              "Message was terminated with ACK in "
+                              "pmacAsynIPPort::readItOctet.\n");
+                    /*Pass ACK up to Asyn EOS handling layer.*/
+                    data++;
+                    nRead++;
+                    break;
+                }
+                data++;
+                nRead++;
+                if (nRead >= maxchars)
+                    break;
+                continue;
+            }
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "pmacAsynIPPort::readItOctet. Calling readResponse().\n");
+            if (!initialRead) {
+                if (pmacReadReady(pPmacPvt, pasynUser)) {
+                    status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                               nbytesTransfered);
+                }
+            }
+            status = readResponse(pPmacPvt, pasynUser, maxchars - nRead,
+                                  &thisRead, eomReason);
+            initialRead = 0;
+            if (status != asynSuccess || thisRead == 0)
+                break;
+        }
+    }
+    *nbytesTransfered = nRead;
+
+    asynPrintIO(
+        pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
+        "%s pmacAsynIPPort readItOctet nbytesTransfered=%zd, eomReason=%d, "
+        "status=%d\n",
+        pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readItOctet. END\n");
+
+    return status;
+}
+
+static asynStatus flushItOctet(void *drvPvt, asynUser *pasynUser) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynStatus status;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushItOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    /*
+    See changelog at the file header: We do not want to flush the controller
+    during "normal" operation, since this stalls the controller.
+
+    pmacFlush(pPmacPvt, pasynUser);
+    */
+
+    status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
+    return status;
+}
+
+static asynStatus registerInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                             interruptCallbackOctet callback,
+                                             void *userPvt,
+                                             void **registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::registerInterruptUserOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->registerInterruptUser(
+        pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
+}
+
+static asynStatus cancelInterruptUserOctet(void *drvPvt, asynUser *pasynUser,
+                                           void *registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::cancelInterruptUserOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
+                                                 registrarPvt);
+}
+
+static asynStatus setInputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                   const char *eos, int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eoslen);
+}
+
+static asynStatus getInputEosOctet(void *drvPvt, asynUser *pasynUser, char *eos,
+                                   int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eossize, eoslen);
+}
+
+static asynStatus setOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    const char *eos, int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::setOutputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eoslen);
+}
+
+static asynStatus getOutputEosOctet(void *drvPvt, asynUser *pasynUser,
+                                    char *eos, int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::getOutputEosOctet\n");
+
+    // Check that the given pointer is not NULL
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eossize, eoslen);
+}
+
+// =============================================================================
+
+/* register pmacAsynIPPortConfigure*/
+static const iocshArg pmacAsynIPPortConfigureArg0 = {"portName",
+                                                     iocshArgString};
+static const iocshArg pmacAsynIPPortConfigureArg1 = {"hostInfo",
+                                                     iocshArgString};
+static const iocshArg *pmacAsynIPPortConfigureArgs[] = {
+    &pmacAsynIPPortConfigureArg0, &pmacAsynIPPortConfigureArg1};
+static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
+    "pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigureArgs, ""};
+static void pmacAsynIPPortConfigureCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPPortConfigure(args[0].sval, args[1].sval);
+}
+
+static void pmacAsynIPPortRegister(void) {
+    static int firstTime = 1;
+    if (firstTime) {
+        firstTime = 0;
+        iocshRegister(&pmacAsynIPPortConfigFuncDef,
+                      pmacAsynIPPortConfigureCallFunc);
+    }
+}
+epicsExportRegistrar(pmacAsynIPPortRegister);

src/pmacAsynIPPort.h

@@ -0,0 +1,35 @@
+#ifndef asynInterposePmac_H
+#define asynInterposePmac_H
+
+#include <epicsExport.h>
+#include <shareLib.h>
+
+/*
+Value is chosen arbitrarily, it just needs to be unique
+*/
+#define FLUSH_HARDWARE 1
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * @brief Initialize a special asyn IP Port for PMAC controllers.
+ *
+ * Function that first initialises an asyn IP port and then the PMAC Asyn IP
+ * interpose layer. It is a wrapper for drvAsynIPPort::drvAsynIPPortConfigure()
+ * and pmacAsynIPPort::pmacAsynIPPortConfigureEos().
+ *
+ * @param portName The Asyn Port name string.
+ * @param hostInfo The hostname or IP address followed by IP port (eg.
+ * 172.23.243.156:1025)
+ * @return status
+ */
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+                                           const char *hostInfo);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* asynInterposePmac_H */

src/turboPmac.dbd

@@ -2,4 +2,5 @@
 # SINQ specific DB definitions
 #---------------------------------------------
 registrar(turboPmacControllerRegister) 
-registrar(turboPmacAxisRegister) 
+registrar(turboPmacAxisRegister) 
+registrar(pmacAsynIPPortRegister)

src/turboPmacAxis.cpp

@@ -2,6 +2,7 @@
 #include "asynOctetSyncIO.h"
 #include "epicsExport.h"
 #include "iocsh.h"
+#include "pmacAsynIPPort.h"
 #include "turboPmacController.h"
 #include <cmath>
 #include <errlog.h>
@@ -55,7 +56,7 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     is a configuration error.
     */
     if (axisNo >= pC->numAxes()) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d: FATAL ERROR: "
                   "Axis index %d must be smaller than the total number of axes "
                   "%d",
@@ -85,7 +86,7 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
     if (status != asynSuccess) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "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__,
@@ -96,13 +97,8 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     // turboPmac motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {
-        asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-            "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);
+        pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
+                                  __PRETTY_FUNCTION__, __LINE__);
     }
 
     // Default values for the watchdog timeout mechanism
@@ -119,7 +115,8 @@ asynStatus turboPmacAxis::init() {
 
     // Local variable declaration
     asynStatus status = asynSuccess;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
     double motorRecResolution = 0.0;
     double motorPos = 0.0;
@@ -139,7 +136,7 @@ asynStatus turboPmacAxis::init() {
                                      &motorRecResolution);
         if (status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nInitializing the parameter library failed.\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -211,7 +208,7 @@ asynStatus turboPmacAxis::init() {
         // If we can't communicate with the parameter library, it doesn't make
         // sense to try and upstream this to the user -> Just log the error
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\ncallParamCallbacks "
             "failed with %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -226,7 +223,7 @@ 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;
@@ -234,8 +231,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_],
-        userMessage[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
+    char userMessage[pC_->MAXBUF_] = {0};
     int nvals = 0;
 
     int direction = 0;
@@ -264,8 +262,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
-                pC_->asynUserSelf())) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                pC_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nAsked for a "
                       "handshake at %ld s and didn't get a positive reply yet "
                       "(current time is %ld s).\n",
@@ -433,9 +431,9 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = false;
 
         if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                      pC_->asynUserSelf())) {
+                                                      pC_->pasynUser())) {
             asynPrint(
-                pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
                 "activated.%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -487,7 +485,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = true;
 
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+            pC_->pasynUser(), ASYN_TRACE_FLOW,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is moving\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
@@ -496,20 +494,20 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = false;
 
         if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
-                                                      pC_->asynUserSelf())) {
+                                                      pC_->pasynUser())) {
 
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
-                      "Controller \"%s\", axis %d  => %s, line %d\nReached "
-                      "unreachable state P%2.2d00 = %d.%s\n",
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nUnknown "
+                      "state P%2.2d00 = %d.%s\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       axisNo_, axStatus, pC_->getMsgPrintControl().getSuffix());
         }
         resetCountStatus = false;
 
-        snprintf(userMessage, sizeof(userMessage),
-                 "Unknown state P%2.2d00 = %d has been reached. Please call "
-                 "the support.",
-                 axisNo_, error);
+        snprintf(
+            userMessage, sizeof(userMessage),
+            "Reached unknown state P%2.2d00 = %d. Please call the support.",
+            axisNo_, error);
         pl_status = setStringParam(pC_->motorMessageText(), userMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -519,7 +517,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     }
 
     if (resetCountStatus) {
-        pC_->getMsgPrintControl().resetCount(keyStatus, pC_->asynUserSelf());
+        pC_->getMsgPrintControl().resetCount(keyStatus, pC_->pasynUser());
     }
 
     if (*moving) {
@@ -531,284 +529,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
     }
 
-    // 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;
-
-        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());
-    }
+    errorStatus = handleError(error, userMessage, sizeof(userMessage));
 
     // Update the parameter library
     if (error != 0) {
@@ -868,7 +589,292 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     if (pl_status != asynSuccess) {
         return pl_status;
     }
-    return poll_status;
+    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_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(
+                pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(
+                pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(
+                pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(
+                pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), 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_->pasynUser())) {
+            asynPrint(
+                pC_->pasynUser(), 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;
+    }
+
+    if (resetError) {
+        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
+    }
+    return status;
 }
 
 asynStatus turboPmacAxis::doMove(double position, int relative,
@@ -881,7 +887,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
     double motorCoordinatesPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
@@ -907,7 +914,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     if (enabled == 0) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is disabled.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         return asynSuccess;
@@ -917,7 +924,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     motorCoordinatesPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
               "position %lf.\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
@@ -939,7 +946,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                  motorVelocity);
         writeOffset = strlen(command);
 
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
                   "Controller \"%s\", axis %d  => %s, line %d\nSetting speed "
                   "to %lf.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -963,7 +970,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     if (rw_status != asynSuccess) {
 
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -999,7 +1006,8 @@ asynStatus turboPmacAxis::stop(double acceleration) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1008,7 +1016,7 @@ asynStatus turboPmacAxis::stop(double acceleration) {
 
     if (rw_status != asynSuccess) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
             "failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -1032,7 +1040,8 @@ asynStatus turboPmacAxis::doReset() {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1041,7 +1050,7 @@ asynStatus turboPmacAxis::doReset() {
     rw_status = pC_->writeRead(axisNo_, command, response, 0);
 
     if (rw_status != asynSuccess) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d  => %s, line %d\nResetting the "
                   "error failed\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -1069,7 +1078,8 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -1127,7 +1137,8 @@ asynStatus turboPmacAxis::readEncoderType() {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
     int encoder_id = 0;
 
@@ -1211,7 +1222,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
 
     // Abort if the axis is incremental
     if (strcmp(encoderType, IncrementalEncoder) == 0) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
                   "Controller \"%s\", axis %d  => %s, line %d\nEncoder is "
                   "not reread because it is incremental.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -1228,7 +1239,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
     }
 
     if (enabled == 1) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_WARNING,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_WARNING,
                   "Controller \"%s\", axis %d  => %s, line %d\nAxis must be "
                   "disabled before rereading the encoder.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -1244,7 +1255,7 @@ asynStatus turboPmacAxis::rereadEncoder() {
     } else {
         snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+            pC_->pasynUser(), ASYN_TRACE_FLOW,
             "Controller \"%s\", axis %d  => %s, line %d\nRereading absolute "
             "encoder via command %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, command);
@@ -1271,7 +1282,8 @@ asynStatus turboPmacAxis::rereadEncoder() {
 asynStatus turboPmacAxis::enable(bool on) {
 
     int timeout_enable_disable = 2;
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
 
     // Status of read-write-operations of ASCII commands to the controller
@@ -1281,7 +1293,10 @@ 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;
+    }
 
     // =========================================================================
 
@@ -1291,7 +1306,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     // actually be disabled in this state!
     if (axisStatus_ == 1 || axisStatus_ == 2 || axisStatus_ == 3 ||
         axisStatus_ == 4 || axisStatus_ == 5) {
-        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
                   "idle and can therefore not be enabled / disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -1312,7 +1327,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     // was sent => Do nothing
     if ((axisStatus_ != -3) == on) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_WARNING,
+            pC_->pasynUser(), ASYN_TRACE_WARNING,
             "Controller \"%s\", axis %d  => %s, line %d\nAxis is already %s.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             on ? "enabled" : "disabled");
@@ -1329,7 +1344,7 @@ asynStatus turboPmacAxis::enable(bool on) {
 
     // Enable / disable the axis if it is not moving
     snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\n%s axis\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
               on ? "Enable" : "Disable");
@@ -1376,7 +1391,7 @@ asynStatus turboPmacAxis::enable(bool on) {
 
     // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
-    asynPrint(pC_->asynUserSelf(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nFailed to %s axis "
               "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
@@ -1474,8 +1489,11 @@ static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
 static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
 static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
                                                  &CreateAxisArg1};
-static const iocshFuncDef configTurboPmacCreateAxis = {"turboPmacAxis", 2,
-                                                       CreateAxisArgs};
+static const iocshFuncDef configTurboPmacCreateAxis = {
+    "turboPmacAxis", 2, CreateAxisArgs,
+    "Create an instance of a turboPmac axis. The first argument is the "
+    "controller this axis should be attached to, the second argument is the "
+    "axis number."};
 static void configTurboPmacCreateAxisCallFunc(const iocshArgBuf *args) {
     turboPmacCreateAxis(args[0].sval, args[1].ival);
 }

src/turboPmacAxis.h

@@ -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

@@ -1,6 +1,8 @@
 #include "turboPmacController.h"
+#include "asynInt32SyncIO.h"
 #include "asynMotorController.h"
 #include "asynOctetSyncIO.h"
+#include "pmacAsynIPPort.h"
 #include "turboPmacAxis.h"
 #include <epicsExport.h>
 #include <errlog.h>
@@ -61,7 +63,7 @@ turboPmacController::turboPmacController(const char *portName,
     status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
                          &rereadEncoderPosition_);
     if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
                   "parameter failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
@@ -71,7 +73,17 @@ turboPmacController::turboPmacController(const char *portName,
 
     status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
     if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("FLUSH_HARDWARE", asynParamInt32, &flushHardware_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
                   "parameter failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
@@ -88,27 +100,44 @@ 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(ipPortUser_, message_from_device,
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort_,
+                                           message_from_device,
                                            strlen(message_from_device));
     if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), 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(ipPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
         exit(-1);
     }
 
     status = callParamCallbacks();
     if (status != asynSuccess) {
-        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR "
                   "(executing ParamLib callbacks failed "
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(ipPortUser_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        exit(-1);
+    }
+
+    // =========================================================================;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, the function is terminated via exit.
+    */
+    pasynInt32SyncIO->connect(ipPortConfigName, 0, &pasynInt32SyncIOipPort_,
+                              NULL);
+    if (status != asynSuccess || pasynInt32SyncIOipPort_ == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
+                     "connect to MCU controller).\n"
+                     "Terminating IOC",
+                     portName, __PRETTY_FUNCTION__, __LINE__);
         exit(-1);
     }
 }
@@ -140,7 +169,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     asynStatus status = asynSuccess;
     asynStatus paramLibStatus = asynSuccess;
     asynStatus timeoutStatus = asynSuccess;
-    char fullCommand[MAXBUF_] = {0};
+    // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -173,83 +202,29 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         // We already did the error logging directly in getAxis
         return asynError;
     }
-
-    /*
-    The message protocol of the turboPmac used at PSI looks as follows (all
-    characters immediately following each other without a newline):
-    0x40 (ASCII value of @) -> Request for download
-    0xBF (ASCII value of ¿) -> Select mode "get_response"
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    0x00 (ASCII value of 0)
-    [message length in network byte order] -> Use the htons function for this
-    value [Actual message] It is not necessary to append a terminator, since
-    this protocol encodes the message length at the beginning. See Turbo PMAC
-    User Manual, page 418 in VR_PMAC_GETRESPONSE
-    x0D (ASCII value of carriage return) -> The controller needs a carriage
-    return at the end of a "send" command (a command were we transmit data via
-    =). For "request" commands (e.g. read status or position), this is not
-    necessary, but it doesn't hurt either, therefore we always add a carriage
-    return.
-
-    The message has to be build manually into the buffer fullCommand, since it
-    contains NULL terminators in its middle, therefore the string manipulation
-    methods of C don't work.
-    */
-
     const size_t commandLength = strlen(command);
-    const int offset = 9;
-
-    // Positions 2 to 6 must have the value 0. Since fullCommand is initialized
-    // as an array of zeros, we don't need to set these bits manually.
-    fullCommand[0] = '\x40';
-    fullCommand[1] = '\xBF';
-
-    // The size of size_t is platform dependant (pointers-sized), while htons
-    // needs an unsigned int. The byte order is then converted from host to
-    // network order. The offset "+1" is for the carriage return.
-    u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
-
-    // Split up into the upper and the lower byte
-    fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the right
-    fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
-
-    // Write the actual command behind the protocol
-    for (size_t i = 0; i < commandLength; i++) {
-        fullCommand[i + offset] = command[i];
-    }
-    fullCommand[offset + commandLength] = '\x0D';
-
-    // +1 for the carriage return.
-    const size_t fullComandLength = offset + commandLength + 1;
 
     /*
-    We use separated write and read commands here, not the combined writeRead
-    method, because the latter is actually a flushWriteRead (see
-    https://epics.anl.gov/modules/soft/asyn/R4-14/asynDriver.pdf, p. 31) ->
-    Calls the flush command, then the write command, then the read command.
-    The flush itself reads repeatedly from the MCU until no messages are there
-    anymore. (The Diamond Light Source driver first send a PMAC flush command
-    and then does the same as the asyn flush). We don't want this behaviour.
-    (https://www.slac.stanford.edu/grp/lcls/controls/global/doc/epics-modules/R3-14-12/asyn/asyn-R4-18-lcls2/asyn/interfaces/asynOctetBase.c)
+    The writeRead command performs the following steps:
+    1) Flush the socket buffer on the IOC side (not the controller!)
+    2) Write a command to the controller
+    3) Read the response
 
     If a timeout occurs during writing or reading, inform the user that we're
     trying to reconnect. If the problem persists, ask them to call the support
     */
+    status = pasynOctetSyncIO->writeRead(
+        pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
+        comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
 
-    status = pasynOctetSyncIO->write(ipPortUser_, fullCommand, fullComandLength,
-                                     comTimeout_, &nbytesOut);
-
-    msgPrintControlKey writeKey =
+    msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     if (status == asynTimeout) {
 
-        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
                 "writing to the MCU.%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
@@ -264,11 +239,11 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status = pasynOctetSyncIO->write(ipPortUser_, fullCommand,
-                                             fullComandLength, comTimeout_,
-                                             &nbytesOut);
+            status = pasynOctetSyncIO->writeRead(
+                pasynOctetSyncIOipPort(), command, commandLength, response,
+                MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
             if (status != asynTimeout) {
-                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nReconnected after write timeout\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -276,66 +251,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(writeKey, true, pasynUserSelf)) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nError %s while "
                 "writing to the controller.%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
-    }
-
-    // Read the response from the MCU buffer
-    status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_, comTimeout_,
-                                    &nbytesIn, &eomReason);
-
-    msgPrintControlKey readKey =
-        msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-
-    if (status == asynTimeout) {
-
-        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
-            asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                "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,
-                                                sizeof(drvMessageText));
-
-        int timeoutCounter = 0;
-        while (1) {
-            checkMaxSubsequentTimeouts(timeoutCounter, axis);
-            timeoutCounter += 1;
-
-            status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_,
-                                            comTimeout_, &nbytesIn, &eomReason);
-            if (status != asynTimeout) {
-                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "Controller \"%s\", axis %d  => %s, line "
-                          "%d\nReconnected after read timeout\n",
-                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-                break;
-            }
-        }
-    } else if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(readKey, true, pasynUserSelf)) {
-            asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d => %s, line %d\nError %s while "
-                "reading from the controller.%s\n",
-                portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
-        }
-    } else {
-        msgPrintControl_.resetCount(readKey, pasynUserSelf);
+        msgPrintControl_.resetCount(comKey, pasynUser());
     }
 
     if (timeoutStatus == asynError) {
@@ -349,19 +274,19 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         status = asynError;
 
         snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Terminated message due to reason %d (should be 2).",
+                 "Terminated message due to reason %d (should be 2). Please "
+                 "call the support.",
                  eomReason);
 
-        if (msgPrintControl_.shouldBePrinted(terminateKey, true,
-                                             pasynUserSelf)) {
-            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
+            asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                       "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, pasynUserSelf);
+        msgPrintControl_.resetCount(terminateKey, pasynUser());
     }
 
     /*
@@ -379,9 +304,9 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
         if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                                             pasynUserSelf)) {
+                                             pasynUser())) {
             asynPrint(
-                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
                 "response '%s' (carriage returns are replaced with spaces) "
                 "for command %s.%s\n",
@@ -396,7 +321,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
+        msgPrintControl_.resetCount(numResponsesKey, pasynUser());
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -466,6 +391,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     return status;
 }
 
+asynStatus turboPmacController::doFlushHardware() {
+    /*
+    Temporarily overwrite the "reason" field with the FLUSH_HARDWARE
+    constant defined in pmacAsynIPPort.c. This reason is then used within
+    the write method of pasynInt32SyncIO to select the flush function.
+    */
+    int temp = pasynInt32SyncIOipPort_->reason;
+    pasynInt32SyncIOipPort_->reason = FLUSH_HARDWARE;
+    asynStatus status = (asynStatus)pasynInt32SyncIO->write(
+        pasynInt32SyncIOipPort_, 1, comTimeout_);
+
+    // Reset the status afterwards
+    pasynInt32SyncIOipPort_->reason = temp;
+    return status;
+}
+
 asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
                                            epicsInt32 value) {
     int function = pasynUser->reason;
@@ -479,25 +420,18 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
         return axis->rereadEncoder();
     } else if (function == readConfig_) {
         return axis->init();
+    } else if (function == flushHardware_) {
+        return doFlushHardware();
     } else {
         return sinqController::writeInt32(pasynUser, value);
     }
 }
 
-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::couldNotParseResponse(
-    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::couldNotParseResponse(

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
      *
@@ -110,20 +99,34 @@ class turboPmacController : public sinqController {
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
-    asynStatus couldNotParseResponse(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);
+
+    /**
+     * @brief Perform a hardware flush (clearing of communication buffers)
+     *
+     * The PMAC controllers hardware buffers can be flushed (see Turbo PMAC user
+     * manual, p. 414). This "freezes" the PMAC for around 10 ms and should
+     * therefore only be done if it is necessary (i.e. not as part of the
+     * regular communication procedure).
+     *
+     * @return asynStatus
+     */
+    asynStatus doFlushHardware();
 
     // Accessors for additional PVs
     int rereadEncoderPosition() { return rereadEncoderPosition_; }
     int readConfig() { return readConfig_; }
+    int flushHardware() { return flushHardware_; }
 
     // 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;
 
+    asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
+
   protected:
     /*
     Timeout for the communication process in seconds
@@ -132,11 +135,15 @@ class turboPmacController : public sinqController {
 
     char lastResponse[MAXBUF_];
 
+    // User for writing int32 values to the port driver.
+    asynUser *pasynInt32SyncIOipPort_;
+
     // Indices of additional PVs
 #define FIRST_turboPmac_PARAM rereadEncoderPosition_
     int rereadEncoderPosition_;
     int readConfig_;
-#define LAST_turboPmac_PARAM readConfig_
+    int flushHardware_;
+#define LAST_turboPmac_PARAM flushHardware_
 };
 #define NUM_turboPmac_DRIVER_PARAMS                                            \
     (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)