Updated sinqMotor

Reviewed-on: #1

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "sinqmotor"]
-	path = sinqmotor
-	url = https://gitea.psi.ch/lin-epics-modules/sinqmotor
 [submodule "sinqMotor"]
 	path = sinqMotor
 	url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

Makefile

@@ -10,7 +10,7 @@ ARCH_FILTER=RHEL%
 REQUIRED+=motorBase
 
 # Specify the version of motorBase we want to build against
-motorBase_VERSION=7.2.2
+motorBase_VERSION=7.3.2
 
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacAsynIPPort.h

README.md

@@ -94,3 +94,39 @@ repository is checked out AND the change is commited (`git status` shows no
 non-committed changes). Please see the section "Usage as static dependency" in
 https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md for
 more details.
+
+## FAQ
+### Axis hardware error at startup
+
+If at IOC startup you are met with the following errors:
+```
+2026/02/02 16:56:49.470 Controller "turboPmac1", axis 3  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.485 Controller "turboPmac1", axis 7  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+2026/02/02 16:56:49.492 Controller "turboPmac1", axis 8  => asynStatus turboPmacAxis::handleError(int, char*, int), line 735
+Driver hardware error triggered.
+```
+You may need to reset to do a axis reset. This can be done with 
+`utils/writeRead.py`. The following example does so for axis 3.
+
+Confirm the hardware error:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301 # 03 specifies axis 3, 01 is the command to read out the error.
+# If it returns 13 it's a hardware error.
+# For the full list of errors see TurboPMAC_manual.pdf or src/turboPmacAxis.cpp, function "handleError".
+```
+Reset the axis:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301=0
+```
+Check if the error has appeared again:
+```
+utils/writeRead.py 172.28.87.24:1025 P0301
+```
+If the console output is not 0, the error has been deleted, but appeared
+immediately again. In this case, the error cannot be reset remotely.
+If it is an error such as 10 (limit switches hit), the motor needs to be
+moved away from the limits, this resets the error automatically.
+Other errors like 13 represent an actual issue on the hardware which
+needs to be resolved by the electronics motion engineers.

src/turboPmacAxis.cpp

@@ -91,9 +91,9 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
     }
 
     // Even though this happens already in sinqAxis, a default value for
-    // motorMessageText is set here again, because apparently the sinqAxis
+    // motorErrorMessage is set here again, because apparently the sinqAxis
     // constructor is not run before the string is accessed?
-    status = setStringParam(pC_->motorMessageText(), "");
+    status = setStringParam(pC_->motorErrorMessage(), "");
     if (status != asynSuccess) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
@@ -140,6 +140,9 @@ asynStatus turboPmacAxis::init() {
     // Deadband in counts. Can be a fraction of a count, hence double.
     double deadband_counts = 0.0;
 
+    // Read from the controller if the motor has been homed before
+    int hasBeenHomed = 0;
+
     // Offset time for the movement watchdog caused by the air cushions in
     // milliseconds.
     int acoDelay = 0.0;
@@ -176,25 +179,48 @@ asynStatus turboPmacAxis::init() {
     Ixx65.
     */
     snprintf(command, sizeof(command),
-             "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,
-            "Controller \"%s\", axis %d => %s, line %d\nCould not communicate "
-            "with controller during IOC initialization. Check if you used "
-            "\"pmacAsynIPPortConfigure\" instead of the standard "
-            "\"drvAsynIPPortConfigure\" function in the .cmd file in order to "
-            "create the port driver.\n",
-            pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
-        pTurboPmacA_->needInit = true;
-    }
-    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
-                   &counts_to_eu, &deadband_counts);
+             "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65 "
+             "M%2.2d45",
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_,
+             axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, 8);
 
-    // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
+    msgPrintControlKey keyDisconnected = msgPrintControlKey(
+        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 1);
+
+    if (status != asynSuccess) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(keyDisconnected, true,
+                                                      pC_->pasynUser())) {
+            asynPrint(
+                pC_->pasynUser(), ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d\nCould not "
+                "communicate with controller during IOC initialization (error "
+                "%s). Did you use \"drvAsynIPPortConfigure\" instead of "
+                "\"pmacAsynIPPortConfigure\" in the .cmd file to create the "
+                "port driver?\n",
+                pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__,
+                pC_->stringifyAsynStatus(status));
+        }
+        pTurboPmacA_->needInit = true;
+        return status;
+    }
+
+    // No error has been detected -> Reset the error count
+    if (status == asynSuccess) {
+        pC_->getMsgPrintControl().resetCount(keyDisconnected, pC_->pasynUser());
+    }
+
+    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf %d", &motorPos,
+                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
+                   &counts_to_eu, &deadband_counts, &hasBeenHomed);
+
+    if (nvals != 8) {
+        return pC_->couldNotParseResponse(command, response, axisNo_,
+                                          __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    // The acoDelay is given in milliseconds -> Convert to seconds, rounded
+    // up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
 
     // The PMAC electronic specifies the acceleration in m/s^2. Since we
@@ -202,11 +228,6 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 8) {
-        return pC_->couldNotParseResponse(command, response, axisNo_,
-                                          __PRETTY_FUNCTION__, __LINE__);
-    }
-
     // Store these values in the parameter library
     status = setMotorPosition(motorPos);
     if (status != asynSuccess) {
@@ -227,18 +248,18 @@ asynStatus turboPmacAxis::init() {
     }
 
     /*
-    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)
+    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
+    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.
@@ -249,14 +270,15 @@ asynStatus turboPmacAxis::init() {
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
-        // 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_->pasynUser(), ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\ncallParamCallbacks "
-            "failed with %s.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            pC_->stringifyAsynStatus(status));
+        // 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_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line "
+                  "%d\ncallParamCallbacks "
+                  "failed with %s.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
         return status;
     }
 
@@ -265,6 +287,9 @@ asynStatus turboPmacAxis::init() {
         pTurboPmacA_->needInit = false;
     }
 
+    // Use the homing status reported by the controller
+    setAxisParamChecked(this, motorStatusHomed, hasBeenHomed);
+
     return status;
 }
 
@@ -322,7 +347,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
 
         if (timedOut) {
-            setAxisParamChecked(this, motorMessageText,
+            setAxisParamChecked(this, motorErrorMessage,
                                 "Timed out while waiting for a handshake");
             pTurboPmacA_->waitForHandshake = false;
         }
@@ -341,13 +366,13 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         }
 
         if (error != 0) {
-            // If an error occurred while waiting for the handshake, abort the
-            // waiting procedure and continue with the poll in order to handle
-            // the error.
+            // If an error occurred while waiting for the handshake, abort
+            // the waiting procedure and continue with the poll in order to
+            // handle the error.
             pTurboPmacA_->waitForHandshake = false;
         } else if (handshakePerformed == 1) {
-            // Handshake has been performed successfully -> Continue with the
-            // poll
+            // Handshake has been performed successfully -> Continue with
+            // the poll
             pTurboPmacA_->waitForHandshake = false;
         } else {
             // Still waiting for the handshake - try again in the next busy
@@ -387,15 +412,16 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     /*
     The axis limits are set as: ({[]})
-    where [] are the positive and negative limits set in EPICS/NICOS, {} are the
-    software limits set on the MCU and () are the hardware limit switches. In
-    other words, the EPICS/NICOS limits should be stricter than the software
-    limits on the MCU which in turn should be stricter than the hardware limit
-    switches. For example, if the hardware limit switches are at [-10, 10], the
-    software limits could be at [-9, 9] and the EPICS / NICOS limits could be at
+    where [] are the positive and negative limits set in EPICS/NICOS, {} are
+    the software limits set on the MCU and () are the hardware limit
+    switches. In other words, the EPICS/NICOS limits should be stricter than
+    the software limits on the MCU which in turn should be stricter than the
+    hardware limit switches. For example, if the hardware limit switches are
+    at [-10, 10], the software limits could be at [-9, 9] and the EPICS /
+    NICOS limits could be at
     [-8, 8]. Therefore, we cannot use the software limits read from the MCU
-    directly, but need to shrink them a bit. In this case, we're shrinking them
-    by limitsOffset on both sides.
+    directly, but need to shrink them a bit. In this case, we're shrinking
+    them by limitsOffset on both sides.
     */
     getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
     highLimit = highLimit - limitsOffset;
@@ -411,8 +437,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                             (axStatus != -3 && axStatus != -5));
     }
 
-    // Create the unique callsite identifier manually so it can be used later in
-    // the shouldBePrinted calls.
+    // Create the unique callsite identifier manually so it can be used
+    // later in the shouldBePrinted calls.
     msgPrintControlKey keyStatus = msgPrintControlKey(
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
     bool resetCountStatus = true;
@@ -433,15 +459,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
         if (pC_->getMsgPrintControl().shouldBePrinted(keyStatus, true,
                                                       pC_->pasynUser())) {
-            asynPrint(
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nEmergency stop "
-                "activated.%s\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                pC_->getMsgPrintControl().getSuffix());
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line "
+                      "%d\nEmergency stop "
+                      "activated.%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pC_->getMsgPrintControl().getSuffix());
         }
         resetCountStatus = false;
-        setAxisParamChecked(this, motorMessageText, "Emergency stop");
+        setAxisParamChecked(this, motorErrorMessage, "Emergency stop");
         break;
     case -3:
         // Disabled
@@ -508,8 +534,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
         *moving = false;
         break;
     case 15:
-        // Move is interrupted, but the motor is not ready to receive another
-        // move command. Therefore it is treated as still moving.
+        // Move is interrupted, but the motor is not ready to receive
+        // another move command. Therefore it is treated as still moving.
         *moving = true;
         break;
     case 16:
@@ -534,7 +560,7 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
             userMessage, sizeof(userMessage),
             "Reached unknown state P%2.2d00 = %d. Please call the support.",
             axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
     }
 
     if (resetCountStatus) {
@@ -564,8 +590,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     getAxisParamChecked(this, limFromHardware, &limFromHardware);
 
     if (limFromHardware != 0) {
-        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
-        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+        status = setLimits(highLimit, lowLimit);
+        if (status != asynSuccess) {
+            return status;
+        }
     }
 
     status = setMotorPosition(currentPosition);
@@ -596,7 +624,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Target position would exceed software limits");
         break;
     case 5:
@@ -604,15 +632,15 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 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());
+            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());
         }
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Axis received move command while it is still "
                             "moving. Please call the support.");
         break;
@@ -623,27 +651,28 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nLost feedback "
-                "from auxiliary device during movement (P%2.2d01 = %d).%s\n",
+                "from auxiliary device during movement (P%2.2d01 = "
+                "%d).%s\n",
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
                 error, pC_->getMsgPrintControl().getSuffix());
         }
-        snprintf(
-            userMessage, sizeUserMessage,
-            "Lost feedback from auxiliary device during movement (P%2.2d01 = "
-            "%d). Please call the support.",
-            axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        snprintf(userMessage, sizeUserMessage,
+                 "Lost feedback from auxiliary device during movement "
+                 "(P%2.2d01 = "
+                 "%d). Please call the support.",
+                 axisNo_, error);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 9:
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
                 pC_->pasynUser())) {
-            asynPrint(
-                pC_->pasynUser(), ASYN_TRACE_ERROR,
-                "Controller \"%s\", axis %d  => %s, line %d\nNo feedback from "
-                "auxiliary device before movement (P%2.2d01 = %d).%s\n",
-                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
-                error, pC_->getMsgPrintControl().getSuffix());
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d  => %s, line %d\nNo feedback "
+                      "from "
+                      "auxiliary device before movement (P%2.2d01 = %d).%s\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      axisNo_, error, pC_->getMsgPrintControl().getSuffix());
         }
 
         snprintf(
@@ -651,14 +680,14 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
             "No feedback from auxiliary device before movement (P%2.2d01 = "
             "%d). Please call the support.",
             axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         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.
+        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(
@@ -677,7 +706,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "the SPS for errors (if available). "
                  "Otherwise please call the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 11:
         // Following error
@@ -685,19 +714,19 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, 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());
+            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());
         }
         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);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
 
     case 12:
@@ -715,7 +744,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "for errors (if available). Otherwise please call "
                  "the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
 
     case 13:
@@ -730,11 +759,11 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       pC_->getMsgPrintControl().getSuffix());
         }
-        snprintf(
-            userMessage, sizeUserMessage,
-            "Driver hardware error (P%2.2d01 = 13). Please call the support.",
-            axisNo_);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        snprintf(userMessage, sizeUserMessage,
+                 "Driver hardware error (P%2.2d01 = 13). Please call the "
+                 "support.",
+                 axisNo_);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     case 14:
         // EPICS should already prevent this issue in the first place,
@@ -752,7 +781,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                  "Move command exceeds hardware limits (P%2.2d01 = %d). Please "
                  "call the support.",
                  axisNo_, error);
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     default:
 
@@ -766,7 +795,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo_,
                 error, pC_->getMsgPrintControl().getSuffix());
         }
-        setAxisParamChecked(this, motorMessageText, userMessage);
+        setAxisParamChecked(this, motorErrorMessage, userMessage);
         break;
     }
     return status;
@@ -798,10 +827,10 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     if (enabled == 0) {
-        asynPrint(
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis is disabled.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
+                  "disabled.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         return asynSuccess;
     }
 
@@ -819,8 +848,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
 
     // Prepend the new motor speed, if the user is allowed to set the speed.
-    // Mind the " " (space) before the closing "", as the command created here
-    // is prepended to the one down below.
+    // Mind the " " (space) before the closing "", as the command created
+    // here is prepended to the one down below.
     if (motorCanSetSpeed != 0) {
         snprintf(command, sizeof(command), "Q%2.2d04=%lf ", axisNo_,
                  motorVelocity);
@@ -833,8 +862,8 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
                   motorVelocity);
     }
 
-    // Perform handshake, Set target position (and speed, if allowed) and start
-    // the move command
+    // Perform handshake, Set target position (and speed, if allowed) and
+    // start the move command
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
@@ -849,18 +878,18 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     status = pC_->writeRead(axisNo_, command, response, 0);
     if (status != asynSuccess) {
 
-        asynPrint(
-            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__,
-            motorTargetPosition);
+        asynPrint(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__,
+                  motorTargetPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }
 
-    // In the next poll, we will check if the handshake has been performed in a
-    // reasonable time
+    // In the next poll, we will check if the handshake has been performed
+    // in a reasonable time
     pTurboPmacA_->waitForHandshake = true;
     pTurboPmacA_->timeAtHandshake = time(NULL);
 
@@ -889,25 +918,25 @@ asynStatus turboPmacAxis::stop(double acceleration) {
     status = pC_->writeRead(axisNo_, command, response, 0);
 
     if (status != asynSuccess) {
-        asynPrint(
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
-            "failed.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nStopping "
+                  "the movement "
+                  "failed.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
-    // if we're currently inside it.
+    // Reset the driver to idle state and move out of the handshake wait
+    // loop, if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
     /*
-    Stopping the motor results in a movement and further move commands have to
-    wait until the stopping movement is done. Therefore, we need to wait until
-    the poller "sees" the changed state (otherwise, we risk issuing move
-    commands while the motor is stopping). To ensure that at least one poll is
-    done, this thread (which also runs move commands) is paused for twice the
-    idle poll period.
+    Stopping the motor results in a movement and further move commands have
+    to wait until the stopping movement is done. Therefore, we need to wait
+    until the poller "sees" the changed state (otherwise, we risk issuing
+    move commands while the motor is stopping). To ensure that at least one
+    poll is done, this thread (which also runs move commands) is paused for
+    twice the idle poll period.
     */
     unsigned int idlePollMicros =
         (unsigned int)ceil(pC_->idlePollPeriod() * 1e6);
@@ -938,8 +967,8 @@ asynStatus turboPmacAxis::doReset() {
         setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    // Reset the driver to idle state and move out of the handshake wait loop,
-    // if we're currently inside it.
+    // Reset the driver to idle state and move out of the handshake wait
+    // loop, if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
     // Disable the axis
@@ -1037,13 +1066,14 @@ asynStatus turboPmacAxis::readEncoderType() {
 }
 
 /*
-This is not a command that can always be run when enabling a motor as it also
-causes relative encoders to reread a position necessitating recalibration. We
-only want it to run on absolute encoders. We also want it to be clear to
-instrument scientists, that power has to be cut to the motor, in order to reread
-the encoder as not all motors have breaks and they may start to move when
-disabled. For that reason, we don't automatically disable the motors to run the
-command and instead require that the scientists first disable the motor.
+This is not a command that can always be run when enabling a motor as it
+also causes relative encoders to reread a position necessitating
+recalibration. We only want it to run on absolute encoders. We also want it
+to be clear to instrument scientists, that power has to be cut to the motor,
+in order to reread the encoder as not all motors have breaks and they may
+start to move when disabled. For that reason, we don't automatically disable
+the motors to run the command and instead require that the scientists first
+disable the motor.
 */
 asynStatus turboPmacAxis::rereadEncoder() {
     char command[pC_->MAXBUF_] = {0};
@@ -1082,16 +1112,17 @@ asynStatus turboPmacAxis::rereadEncoder() {
                   "disabled before rereading the encoder.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
         setAxisParamChecked(
-            this, motorMessageText,
+            this, motorErrorMessage,
             "Axis must be disabled before rereading the encoder.");
         return asynError;
     } else {
         snprintf(command, sizeof(command), "M%2.2d=15", axisNo_);
-        asynPrint(
-            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);
+        asynPrint(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);
         pC_->writeRead(axisNo_, command, response, 0);
     }
 
@@ -1100,8 +1131,8 @@ asynStatus turboPmacAxis::rereadEncoder() {
     // it is actually finished, so we instead wait for 0.5 seconds.
     usleep(500000);
 
-    // Turn off parameter as finished rereading, this will only be immediately
-    // noticed in the read back variable though
+    // Turn off parameter as finished rereading, this will only be
+    // immediately noticed in the read back variable though
     setAxisParamChecked(this, rereadEncoderPosition, false);
     return asynSuccess;
 }
@@ -1121,29 +1152,30 @@ asynStatus turboPmacAxis::enable(bool on) {
     /*
     Continue regardless of the status returned by the poll; we just want to
     find out whether the motor is currently moving or not. If the poll
-    function fails before it can determine that, it is assumed that the motor
-    is not moving.
+    function fails before it can determine that, it is assumed that the
+    motor is not moving.
     */
     bool moving = false;
     doPoll(&moving);
 
     // If the axis is currently moving, it cannot be disabled. Ignore the
-    // command and inform the user. We check the last known status of the axis
-    // instead of "moving", since status -6 is also moving, but the motor can
-    // actually be disabled in this state!
+    // command and inform the user. We check the last known status of the
+    // axis instead of "moving", since status -6 is also moving, but the
+    // motor can actually be disabled in this state!
     int axStatus = pTurboPmacA_->axisStatus;
     if (axStatus == 1 || axStatus == 2 || axStatus == 3 || axStatus == 4 ||
         axStatus == 5 || axStatus == 6 || axStatus == 7 || axStatus == 8 ||
         axStatus == 9 || axStatus == 10 || axStatus == 11 || axStatus == 12 ||
         axStatus == 13 || axStatus == 15 || axStatus == 16) {
 
-        asynPrint(
-            pC_->pasynUser(), ASYN_TRACE_ERROR,
-            "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
-            "idle (status %d) and can therefore not be enabled / disabled.\n",
-            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axStatus);
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d  => %s, line %d\nAxis is not "
+                  "idle (status %d) and can therefore not be enabled / "
+                  "disabled.\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  axStatus);
 
-        setAxisParamChecked(this, motorMessageText,
+        setAxisParamChecked(this, motorErrorMessage,
                             "Axis cannot be disabled while it is moving.");
         pTurboPmacA_->enableDisable = false;
         return asynError;
@@ -1152,11 +1184,11 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Axis is already enabled / disabled and a new enable / disable command
     // was sent => Do nothing
     if ((axStatus != -3) == on) {
-        asynPrint(
-            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");
+        asynPrint(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");
         return asynSuccess;
     }
 
@@ -1213,7 +1245,9 @@ asynStatus turboPmacAxis::enable(bool on) {
 
             // Enabling / disabling procedure is completed (successfully)
             pTurboPmacA_->enableDisable = false;
-            return asynSuccess;
+
+            // Reinitialize the motor
+            return init();
         }
     }
 
@@ -1228,7 +1262,7 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Output message to user
     snprintf(command, sizeof(command), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    setAxisParamChecked(this, motorMessageText, command);
+    setAxisParamChecked(this, motorErrorMessage, command);
 
     // Enabling / disabling procedure failed
     pTurboPmacA_->enableDisable = false;
@@ -1305,8 +1339,8 @@ asynStatus turboPmacCreateAxis(const char *portName, int axis) {
     https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
     https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
 
-    The created object is registered in EPICS in its constructor and can safely
-    be "leaked" here.
+    The created object is registered in EPICS in its constructor and can
+    safely be "leaked" here.
     */
 #pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -1329,14 +1363,15 @@ static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
 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 "
+    "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);
 }
 
-// This function is made known to EPICS in turboPmac.dbd and is called by EPICS
-// in order to register both functions in the IOC shell
+// This function is made known to EPICS in turboPmac.dbd and is called by
+// EPICS in order to register both functions in the IOC shell
 static void turboPmacAxisRegister(void) {
     iocshRegister(&configTurboPmacCreateAxis,
                   configTurboPmacCreateAxisCallFunc);

src/turboPmacController.cpp

@@ -206,7 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
-    asynStatus timeoutStatus = asynSuccess;
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -284,8 +283,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 getMsgPrintControl().getSuffix());
         }
 
-        timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
-                                                sizeof(drvMessageText));
+        checkComTimeoutWatchdog(axisNo, drvMessageText, sizeof(drvMessageText));
 
         int timeoutCounter = 0;
         while (1) {
@@ -333,14 +331,10 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         axis->setNeedInit(true);
     }
 
-    if (timeoutStatus == asynError) {
-        status = asynError;
-    }
-
     // The message should only ever terminate due to reason 2
     msgPrintControlKey terminateKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (eomReason != 2) {
+    if (status == asynSuccess && eomReason != 2) {
         status = asynError;
 
         char reasonStringified[30] = {0};
@@ -391,7 +385,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     }
     msgPrintControlKey numResponsesKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-    if (numExpectedResponses != numReceivedResponses) {
+    if (status == asynSuccess && numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
         if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
@@ -451,7 +445,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            setAxisParamChecked(axis, motorErrorMessage, drvMessageText);
             setAxisParamChecked(axis, motorStatusProblem, true);
             setAxisParamChecked(axis, motorStatusCommsError, true);
         }

utils/writeRead.py

@@ -9,45 +9,55 @@ Stefan Mathis, December 2024
 import struct
 import socket
 import curses
+import time
+
 
 def packPmacCommand(command):
-    # 0x40 = VR_DOWNLOAD 
+    # 0x40 = VR_DOWNLOAD
     # 0xBF = VR_PMAC_GETRESPONSE
-    buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
-    buf = buf + bytes(command,'utf-8')
+    buf = struct.pack('BBHHH', 0x40, 0xBF, 0, 0, socket.htons(len(command)))
+    buf = buf + command.encode('utf-8')
     return buf
 
-def readPmacReply(input):
+
+def readPmacReply(sock):
     msg = bytearray()
     expectAck = True
+    sock.settimeout(2.0)
     while True:
-        b = input.recv(1)
-        bint = int.from_bytes(b,byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
+        try:
+            b = sock.recv(1)
+        except socket.timeout:
+            print('Timed out')
+            return None
+        bint = int.from_bytes(b, byteorder='little')
+        if bint == 2 or bint == 7:  # STX or BELL
             expectAck = False
             continue
-        if expectAck and bint == 6: # ACK
+        if expectAck and bint == 6:  # ACK
             return bytes(msg)
         else:
-            if bint == 13 and not expectAck: # CR
+            if bint == 13 and not expectAck:  # CR
                 return bytes(msg)
             else:
                 msg.append(bint)
 
+
 if __name__ == "__main__":
     from sys import argv
 
     try:
 
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        s.connect((addr[0], int(addr[1])))
 
         if len(argv) == 3:
             buf = packPmacCommand(argv[2])
             s.send(buf)
             reply = readPmacReply(s)
-            print(reply.decode('utf-8') + '\n')
+            if reply:
+                print(reply.decode('utf-8') + '\n')
 
         else:
 
@@ -81,13 +91,13 @@ if __name__ == "__main__":
                         if ptr > 0:
                             ptr -= 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_DOWN:
                         if ptr < len(history) - 1:
                             ptr += 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
                         if history[ptr] == 'quit':
@@ -113,7 +123,7 @@ if __name__ == "__main__":
                         stdscr.refresh()
 
                     else:
-                        if ptr < len(history) - 1: # Modifying previous input
+                        if ptr < len(history) - 1:  # Modifying previous input
                             if len(history[-1]) == 0:
                                 history[-1] = history[ptr]
                                 ptr = len(history) - 1
@@ -126,18 +136,20 @@ if __name__ == "__main__":
                             if len(history[ptr]) == 0:
                                 continue
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-4] + \
+                                history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x-1)
                             stdscr.refresh()
 
                         else:
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-3] + \
+                                chr(c) + history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x+1)
                             stdscr.refresh()
@@ -169,4 +181,3 @@ if __name__ == "__main__":
         the reponse, before being prompted to again enter a command. Type
         'quit' to close prompt.
         """)
-