Fixed number of commands bug in turboPmacAxis::init

.gitignore

@@ -0,0 +1,8 @@
+O.*
+.cvsignore
+.vscode
+src/.vscode
+utils/analyzeTcpDump/__pycache__
+utils/analyzeTcpDump/demo.pcap.json
+utils/analyzeTcpDump/demovenv
+utils/analyzeTcpDump/venv

src/turboPmacAxis.cpp

@@ -143,7 +143,6 @@ asynStatus turboPmacAxis::init() {
     // Offset time for the movement watchdog caused by the air cushions in
     // milliseconds.
     int acoDelay = 0.0;
-    int axStatus = 0;
 
     // The parameter library takes some time to be initialized. Therefore we
     // wait until the status is not asynParamUndefined anymore.
@@ -177,11 +176,9 @@ asynStatus turboPmacAxis::init() {
     Ixx65.
     */
     snprintf(command, sizeof(command),
-             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 "
-             "I%2.2d65",
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_,
-             axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 8);
+             "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65",
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, 7);
     if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -193,9 +190,9 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
-                   &motorPos, &motorVmax, &motorVelocity, &motorAccel,
-                   &acoDelay, &counts_to_eu, &deadband_counts);
+    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
+                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
+                   &counts_to_eu, &deadband_counts);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -555,11 +552,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     errorStatus = handleError(error, userMessage, sizeof(userMessage));
 
-    // Update the parameter library
-    if (error != 0) {
-        setAxisParamChecked(this, motorStatusProblem, true);
-    }
-
     if (*moving == false) {
         setAxisParamChecked(this, motorMoveToHome, false);
     }

src/turboPmacAxis.h

@@ -13,6 +13,10 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
+     * @param initialize          By setting this parameter to false, the
+     * initialization functions of the axes are not executed. This is e.g.
+     * necessary when this constructor is called from a children class
+     * constructor which performs its own initialization.
      */
     turboPmacAxis(turboPmacController *pController, int axisNo,
                   bool initialize = true);
@@ -24,6 +28,18 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      */
     virtual ~turboPmacAxis();
 
+    /**
+     * @brief Readout of some values from the controller at IOC startup
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV according to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus init();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -70,18 +86,6 @@ class HIDDEN turboPmacAxis : public sinqAxis {
                               double min_velocity, double max_velocity,
                               double acceleration);
 
-    /**
-     * @brief Readout of some values from the controller at IOC startup
-     *
-     * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and acceleration
-     * from the MCU and store this information in the parameter library.
-     * - Set the enable PV according to the initial status of the axis.
-     *
-     * @return asynStatus
-     */
-    virtual asynStatus init();
-
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
      *