Added documenation for enableDisable flag

See comment in writeRead for explanation.

.gitea/workflows/action.yaml

@@ -1,24 +0,0 @@
-name: Test And Build
-on: [push]
-
-jobs:
-  Lint:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-      - name: cppcheck
-        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-      - name: formatting
-        run: clang-format --style=file --Werror --dry-run src/*.cpp
-  Build:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-        with:
-          submodules: 'true'
-      - run: |
-          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
-          make install

.gitlab-ci.yml

@@ -0,0 +1,58 @@
+default:
+  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
+    
+stages:
+  - lint
+  - build
+  - test
+
+cppcheck:
+  stage: lint
+  script:
+    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - sinq
+
+formatting:
+  stage: lint
+  script:
+    - clang-format --style=file --Werror --dry-run src/*.cpp
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - sinq
+
+# clangtidy:
+#   stage: lint
+#   script:
+#     - curl https://docker.psi.ch:5000/v2/_catalog
+# #     - dnf update -y
+# #     - dnf install -y clang-tools-extra
+# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
+# #   tags:
+# #     - sinq
+
+build_module:
+  stage: build
+  script:
+    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
+    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
+    - pushd sinqmotor
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
+    - make install
+    - popd
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
+    - make install
+    - cp -rT "/ioc/modules/turboPmac/$(ls -U /ioc/modules/turboPmac/ | head -1)" "./turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+  artifacts:
+    name: "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+    paths:
+      - "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
+    expire_in: 1 week
+  when: always
+  tags:
+    - sinq

Makefile

@@ -34,4 +34,4 @@ TEMPLATES += db/turboPmac.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -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

src/pmacAsynIPPort.c

@@ -230,7 +230,8 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
 
 // =============================================================================
 
-int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+                                           const char *hostInfo) {
     asynStatus status = asynSuccess;
     asynInterface *int32LowerLevelInterface = NULL;
     asynInterface *octetLowerLevelInterface = NULL;

src/pmacAsynIPPort.h

@@ -2,7 +2,6 @@
 #define asynInterposePmac_H
 
 #include <epicsExport.h>
-#include <macros.h>
 #include <shareLib.h>
 
 /*
@@ -26,7 +25,8 @@ extern "C" {
  * 172.23.243.156:1025)
  * @return status
  */
-int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
+                                           const char *hostInfo);
 
 #ifdef __cplusplus
 }

src/turboPmacAxis.cpp

@@ -70,13 +70,12 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         axes.push_back(this);
     }
 
-    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>((turboPmacAxisImpl){
+    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
-        .waitForHandshake = false,
+        (turboPmacAxisImpl){.waitForHandshake = false,
-        .enableDisable = false,
+                            .enableDisable = false,
-        .timeAtHandshake = 0,
+                            .timeAtHandshake = 0,
-        .axisStatus = 0,
+                            .axisStatus = 0,
-        .needInit = false,
+                            .needInit = false});
-    });
 
     // Provide initial values for some parameter library entries
     status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
@@ -133,16 +132,8 @@ asynStatus turboPmacAxis::init() {
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
-
+    int acoDelay = 0.0; // Offset time for the movement watchdog caused by
-    // Conversion factor between engineering units (EU) and encoder counts
+                        // the air cushions in milliseconds.
-    double counts_to_eu = 0.0;
-
-    // Deadband in counts. Can be a fraction of a count, hence double.
-    double deadband_counts = 0.0;
-
-    // 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
@@ -172,16 +163,12 @@ asynStatus turboPmacAxis::init() {
 
     /*
     Read out the axis status, the current position, current and maximum speed,
-    acceleration, the air cushion delay, the scaling factor between counts and
+    acceleration and the air cushion delay.
-    engineering units ([Qxx00] = engineering units / counts) and the deadband
-    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 "
+             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_,
-             "I%2.2d65",
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_,
+    status = pC_->writeRead(axisNo_, command, response, 6);
-             axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 8);
     if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -193,9 +180,8 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
-                   &motorPos, &motorVmax, &motorVelocity, &motorAccel,
+                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
-                   &acoDelay, &counts_to_eu, &deadband_counts);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -205,7 +191,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 8) {
+    if (nvals != 6) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -229,26 +215,6 @@ asynStatus turboPmacAxis::init() {
         return status;
     }
 
-    /*
-    Check if the new target position is within the range current position +/-
-    deadband. If that is the case, no movement command should be sent. This
-    functionality is implemented within the motor record itself, we just need to
-    populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
-
-    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
-    160). This value then needs to be converted into counts (by dividing it by
-    16). After words, the deadband in counts then need to be converted into
-    engineering units. For this, the scaling factor Qxx10 needs to be applied
-    (see SINQ_2G_MCU_SW_manual_rev7, p. 17):
-    [Qxx10] = engineering units (eu) / counts
-    deadband_eu = Qxx10 * Ixx65 / 16
-
-    The values of Qxx10 and Ixx65 are read out during initialization and are
-    assumed to not change during operation.
-    */
-    setAxisParamChecked(this, motorPositionDeadband,
-                        counts_to_eu * deadband_counts / 16.0);
-
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
@@ -587,6 +553,11 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                                       int sizeUserMessage) {
     asynStatus status = asynError;
 
+    // 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__);
+
     switch (error) {
     case 0:
         status = asynSuccess;
@@ -595,9 +566,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nTarget "
                       "position would exceed user limits.%s\n",
@@ -609,9 +579,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     case 5:
         // Command not possible
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
@@ -625,9 +594,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                             "moving. Please call the support.");
         break;
     case 8:
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                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",
@@ -641,9 +609,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 9:
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
@@ -666,9 +633,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         which is not properly homed or if a bug occured.
         */
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
@@ -687,9 +653,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 11:
         // Following error
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
@@ -706,9 +671,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
 
     case 12:
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                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",
@@ -726,9 +690,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 13:
         // Driver hardware error triggered
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nDriver "
                       "hardware error triggered.%s\n",
@@ -744,9 +707,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 14:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                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",
@@ -761,9 +723,8 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     default:
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                                                      pC_->pasynUser())) {
-                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
@@ -774,6 +735,10 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     }
+
+    if (status == asynSuccess) {
+        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
+    }
     return status;
 }
 
@@ -786,7 +751,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
-    double motorTargetPosition = 0.0;
+    double motorCoordinatesPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
     int enabled = 0;
@@ -807,14 +772,13 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     }
 
     // Convert from EPICS to user / motor units
-    motorTargetPosition = position * motorRecResolution;
+    motorCoordinatesPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
     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__,
+              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
-              motorTargetPosition);
 
     // Check if the speed is allowed to be changed
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
@@ -839,11 +803,11 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
-                 motorTargetPosition, axisNo_);
+                 motorCoordinatesPosition, axisNo_);
     } else {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1", axisNo_, axisNo_,
-                 motorTargetPosition, axisNo_);
+                 motorCoordinatesPosition, axisNo_);
     }
 
     // We don't expect an answer
@@ -855,7 +819,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            motorTargetPosition);
+            motorCoordinatesPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }

src/turboPmacAxis.h

@@ -4,9 +4,9 @@
 #include "turboPmacController.h"
 #include <memory>
 
-struct HIDDEN turboPmacAxisImpl;
+struct turboPmacAxisImpl;
 
-class HIDDEN turboPmacAxis : public sinqAxis {
+class turboPmacAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new turboPmacAxis

src/turboPmacController.cpp

@@ -41,13 +41,13 @@ struct turboPmacControllerImpl {
     // User for writing int32 values to the port driver.
     asynUser *pasynInt32SyncIOipPort;
 
-    // Indices of additional ParamLib entries
+    // Indices of additional PVs
     int rereadEncoderPosition;
     int readConfig;
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 5
+#define NUM_turboPmac_DRIVER_PARAMS 3
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
@@ -254,21 +254,9 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
         pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
-    /*
+    // if (strchr(command, '=')) {
-    If sth. is written to the controller, it needs some time to process the
+    //     usleep(20000);
-    command. However, the controller returns the acknowledgment via
+    // }
-    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
-    ready to receive the next command. In practice, this can result in commands
-    getting discarded on the driver side or in bringing the driver in undefined
-    states (e.g. stuck in status 1).
-
-    To prevent this, we wait for 20 ms after a write command to give the
-    controller enough time to process everything. A write command can be
-    identified by looking for the equal sign.
-    */
-    if (strchr(command, '=')) {
-        usleep(20000);
-    }
 
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);

src/turboPmacController.h

@@ -15,11 +15,11 @@
 // Forward declaration of the controller class to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class HIDDEN turboPmacAxis;
+class turboPmacAxis;
 
-struct HIDDEN turboPmacControllerImpl;
+struct turboPmacControllerImpl;
 
-class HIDDEN turboPmacController : public sinqController {
+class turboPmacController : public sinqController {
   public:
     /**
      * @brief Construct a new turboPmacController object. This function is meant
@@ -93,8 +93,7 @@ class HIDDEN turboPmacController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses)
+                         int numExpectedResponses);
-        __attribute__((visibility("hidden")));
 
     /**
      * @brief Specialized version of sinqController::couldNotParseResponse