Addes error message for failing to enable / disable within timeout

README.md

@@ -54,11 +54,11 @@ setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
-epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
 epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
 dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
+dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
 ```
 
 ### Additional records

src/turboPmacAxis.cpp

@@ -397,13 +397,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
     case -5:
         // Axis is deactivated
         *moving = false;
-
-        pl_status = setStringParam(pC_->motorMessageText(), "Deactivated");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
         break;
     case -4:
         // Emergency stop
@@ -426,19 +419,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-
         break;
     case -3:
         // Disabled
         *moving = false;
-
-        pl_status = setStringParam(pC_->motorMessageText(), "Disabled");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
         break;
     case 0:
         // Idle
@@ -599,8 +583,7 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         resetError = false;
 
         status = setStringParam(pC_->motorMessageText(),
-                                "Target position would exceed software "
+                                "Target position would exceed software limits");
-                                "limits. Please call the support.");
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -783,10 +766,10 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         }
         resetError = false;
 
-        snprintf(userMessage, sizeUserMessage,
+        snprintf(
-                 "Driver hardware error (P%2.2d01 = 13). "
+            userMessage, sizeUserMessage,
-                 "Please call the support.",
+            "Driver hardware error (P%2.2d01 = 13). Please call the support.",
-                 axisNo_);
+            axisNo_);
         status = setStringParam(pC_->motorMessageText(), userMessage);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorMessageText_",
@@ -1084,22 +1067,7 @@ asynStatus turboPmacAxis::doHome(double min_velocity, double max_velocity,
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-
-        pl_status = setStringParam(pC_->motorMessageText(), "Homing");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
         return callParamCallbacks();
-    } else {
-        pl_status = setStringParam(pC_->motorMessageText(),
-                                   "Can't home a motor with absolute encoder");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
     }
 
     return asynSuccess;
@@ -1271,14 +1239,17 @@ asynStatus turboPmacAxis::enable(bool on) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    bool moving = false;
-    rw_status = doPoll(&moving);
-    if (rw_status != asynSuccess) {
-        return rw_status;
-    }
-
     // =========================================================================
 
+    /*
+    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.
+    */
+    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
@@ -1327,16 +1298,7 @@ asynStatus turboPmacAxis::enable(bool on) {
               "Controller \"%s\", axis %d  => %s, line %d\n%s axis\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
               on ? "Enable" : "Disable");
-    if (on == 0) {
+
-        pl_status = setStringParam(pC_->motorMessageText(), "Disabling ...");
-    } else {
-        pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
-    }
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
     rw_status = pC_->writeRead(axisNo_, command, response, 0);
     if (rw_status != asynSuccess) {
         return rw_status;
@@ -1379,7 +1341,7 @@ 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);
-    pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
+    pl_status = setStringParam(pC_->motorMessageText(), command);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          axisNo_, __PRETTY_FUNCTION__,

src/turboPmacController.h

@@ -120,17 +120,10 @@ class turboPmacController : public sinqController {
     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
-    Timeout for the communication process in seconds
-    */
     double comTimeout_;
 
     char lastResponse[MAXBUF_];