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Break out pollErrTxtMsgTxt()
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Refactor the "calculation" of error text and message text variable:
break it out into an own method.
No intended code changes, they will be done in the next commit.

Changes to be committed:
    modified:   ethercatmcIndexerAxis.cpp
    modified:   ethercatmcIndexerAxis.h
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@tboegi
tboegi committed Mar 18, 2024
1 parent d8aeea6 commit 82489a7
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Showing 2 changed files with 133 additions and 115 deletions.
244 changes: 129 additions & 115 deletions ethercatmcApp/src/ethercatmcIndexerAxis.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -821,11 +821,9 @@ asynStatus ethercatmcIndexerAxis::doThePoll(bool cached, bool *moving) {
unsigned idxAuxBits = 0;
int homed = 0;
int motorRecDirection = -1;
char nameAuxBits[36];

/* Don't leave *moving un-initialized, if we return early */
*moving = false;
nameAuxBits[0] = '\0';
pC_->getIntegerParam(axisNo_, pC_->motorRecDirection_, &motorRecDirection);
if (!drvlocal.clean.iTypCode) {
/* No axis, (may be dummy-axis 0), return */
Expand Down Expand Up @@ -1298,119 +1296,8 @@ asynStatus ethercatmcIndexerAxis::doThePoll(bool cached, bool *moving) {
drvlocal.dirty.idxStatusCode != idxStatusCode ||
idxAuxBits != drvlocal.clean.old_idxAuxBitsWritten ||
idxAuxBits != drvlocal.dirty.old_idxAuxBits) {
const char *msgTxtFromDriver = NULL;
char sErrorMessage[40];
char charEorW = 'E';
int showPowerOff = 0;
memset(&sErrorMessage[0], 0, sizeof(sErrorMessage));
if (!powerIsOn) {
int motorPowerAutoOnOff;
pC_->getIntegerParam(axisNo_, pC_->motorPowerAutoOnOff_,
&motorPowerAutoOnOff);
if (!motorPowerAutoOnOff) {
showPowerOff = 1;
}
}
if (showPowerOff) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s", charEorW,
"PowerOff");
} else if (hasError) {
const char *errIdString = errStringFromErrId(errorID);
if (errIdString[0]) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s %X",
charEorW, errIdString, errorID);
} else {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1,
"%c: TwinCAT Err %X", charEorW, errorID);
}
} else if (!homed) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s", charEorW,
"Axis not homed");
}
setStringParam(pC_->defAsynPara.ethercatmcErrTxt_, &sErrorMessage[0]);
/* TODO:
axis can not be moved at all: poweroff, localmode, interlock, axis in
reset state axis can be partly moved: Limit switch, interlock Fwd/Bwd axis
is not homed ??? axis can be moved */
/* continue with msgtxt */
if (!nowMoving) {
/* A moving axis should show moving, homing ...*/
if (sErrorMessage[0]) {
msgTxtFromDriver =
&sErrorMessage[0]; /* There is an important text already */
} else if (localMode) {
msgTxtFromDriver = "localMode";
} else if (statusReasonAux & (drvlocal.clean.auxBitsInterlockFwdMask |
drvlocal.clean.auxBitsInterlockBwdMask)) {
if (((statusReasonAux & (drvlocal.clean.auxBitsInterlockFwdMask |
drvlocal.clean.auxBitsInterlockBwdMask)) ==
drvlocal.clean.auxBitsInterlockFwdMask)) {
msgTxtFromDriver = "InterlockFwd";
} else if (((statusReasonAux &
(drvlocal.clean.auxBitsInterlockFwdMask |
drvlocal.clean.auxBitsInterlockBwdMask)) ==
drvlocal.clean.auxBitsInterlockBwdMask)) {
msgTxtFromDriver = "InterlockBwd";
} else {
msgTxtFromDriver = "InterlockFwdBwd";
}
} else if (errorID) {
charEorW = 'W';
const char *errIdString = errStringFromErrId(errorID);
if (errIdString[0]) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s %X",
charEorW, errIdString, errorID);
} else {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1,
"%c: TwinCAT Err %X", charEorW, errorID);
}
}
if (sErrorMessage[0]) {
msgTxtFromDriver =
&sErrorMessage[0]; /* There is an important text already */
} else if (msgTxtFromDriver) {
; // nothing. keep the message */
} else {
int function = 0;
switch (statusReasonAux & 0xFF) {
case 1:
function = pC_->defAsynPara.ethercatmcNamAux0_;
break;
case 2:
function = pC_->defAsynPara.ethercatmcNamAux1_;
break;
case 4:
function = pC_->defAsynPara.ethercatmcNamAux2_;
break;
case 8:
function = pC_->defAsynPara.ethercatmcNamAux3_;
break;
case 16:
function = pC_->defAsynPara.ethercatmcNamAux4_;
break;
case 32:
function = pC_->defAsynPara.ethercatmcNamAux5_;
break;
case 64:
function = pC_->defAsynPara.ethercatmcNamAux6_;
break;
case 128:
function = pC_->defAsynPara.ethercatmcNamAux7_;
break;
default:
break;
}
if (function) {
asynStatus status = pC_->getStringParam(
axisNo_, function, (int)sizeof(nameAuxBits), &nameAuxBits[0]);
if (status == asynSuccess) {
msgTxtFromDriver = &nameAuxBits[0];
}
}
}
}
drvlocal.dirty.motorPowerAutoOnOff = 0;
updateMsgTxtFromDriver(msgTxtFromDriver);
pollErrTxtMsgTxt(hasError, errorID, idxStatusCode, idxAuxBits, localMode,
statusReasonAux);
}
if (drvlocal.clean.hasPolledAllEnums) {
drvlocal.clean.old_idxAuxBitsWritten = idxAuxBits;
Expand All @@ -1428,6 +1315,133 @@ asynStatus ethercatmcIndexerAxis::doThePoll(bool cached, bool *moving) {
return status;
}

void ethercatmcIndexerAxis::pollErrTxtMsgTxt(int hasError, int errorID,
idxStatusCodeType idxStatusCode,
unsigned idxAuxBits, int localMode,
unsigned statusReasonAux) {
const char *msgTxtFromDriver = NULL;
char sErrorMessage[40];
char charEorW = 'E';
int showPowerOff = 0;
int powerIsOn = 0;
int homed = 0;
int nowMoving = 1;
pC_->getIntegerParam(axisNo_, pC_->motorStatusPowerOn_, &powerIsOn);
pC_->getIntegerParam(axisNo_, pC_->motorStatusHomed_, &homed);
pC_->getIntegerParam(axisNo_, pC_->motorStatusMoving_, &nowMoving);
memset(&sErrorMessage[0], 0, sizeof(sErrorMessage));
if (!powerIsOn) {
int motorPowerAutoOnOff;
pC_->getIntegerParam(axisNo_, pC_->motorPowerAutoOnOff_,
&motorPowerAutoOnOff);
if (!motorPowerAutoOnOff) {
showPowerOff = 1;
}
}
if (showPowerOff) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s", charEorW,
"PowerOff");
} else if (hasError) {
const char *errIdString = errStringFromErrId(errorID);
if (errIdString[0]) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s %X", charEorW,
errIdString, errorID);
} else {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: TwinCAT Err %X",
charEorW, errorID);
}
} else if (!homed) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s", charEorW,
"Axis not homed");
}
setStringParam(pC_->defAsynPara.ethercatmcErrTxt_, &sErrorMessage[0]);
/* TODO:
axis can not be moved at all: poweroff, localmode, interlock, axis in
reset state axis can be partly moved: Limit switch, interlock Fwd/Bwd axis
is not homed ??? axis can be moved */
/* continue with msgtxt */
if (!nowMoving) {
/* A moving axis should show moving, homing ...*/
if (sErrorMessage[0]) {
msgTxtFromDriver =
&sErrorMessage[0]; /* There is an important text already */
} else if (localMode) {
msgTxtFromDriver = "localMode";
} else if (statusReasonAux & (drvlocal.clean.auxBitsInterlockFwdMask |
drvlocal.clean.auxBitsInterlockBwdMask)) {
if (((statusReasonAux & (drvlocal.clean.auxBitsInterlockFwdMask |
drvlocal.clean.auxBitsInterlockBwdMask)) ==
drvlocal.clean.auxBitsInterlockFwdMask)) {
msgTxtFromDriver = "InterlockFwd";
} else if (((statusReasonAux &
(drvlocal.clean.auxBitsInterlockFwdMask |
drvlocal.clean.auxBitsInterlockBwdMask)) ==
drvlocal.clean.auxBitsInterlockBwdMask)) {
msgTxtFromDriver = "InterlockBwd";
} else {
msgTxtFromDriver = "InterlockFwdBwd";
}
} else if (errorID) {
charEorW = 'W';
const char *errIdString = errStringFromErrId(errorID);
if (errIdString[0]) {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: %s %X",
charEorW, errIdString, errorID);
} else {
snprintf(sErrorMessage, sizeof(sErrorMessage) - 1, "%c: TwinCAT Err %X",
charEorW, errorID);
}
}
if (sErrorMessage[0]) {
msgTxtFromDriver =
&sErrorMessage[0]; /* There is an important text already */
} else if (msgTxtFromDriver) {
; // nothing. keep the message */
} else {
int function = 0;
switch (statusReasonAux & 0xFF) {
case 1:
function = pC_->defAsynPara.ethercatmcNamAux0_;
break;
case 2:
function = pC_->defAsynPara.ethercatmcNamAux1_;
break;
case 4:
function = pC_->defAsynPara.ethercatmcNamAux2_;
break;
case 8:
function = pC_->defAsynPara.ethercatmcNamAux3_;
break;
case 16:
function = pC_->defAsynPara.ethercatmcNamAux4_;
break;
case 32:
function = pC_->defAsynPara.ethercatmcNamAux5_;
break;
case 64:
function = pC_->defAsynPara.ethercatmcNamAux6_;
break;
case 128:
function = pC_->defAsynPara.ethercatmcNamAux7_;
break;
default:
break;
}
if (function) {
char nameAuxBits[36];
nameAuxBits[0] = '\0';
asynStatus status = pC_->getStringParam(
axisNo_, function, (int)sizeof(nameAuxBits), &nameAuxBits[0]);
if (status == asynSuccess) {
msgTxtFromDriver = &nameAuxBits[0];
}
}
}
}
drvlocal.dirty.motorPowerAutoOnOff = 0;
updateMsgTxtFromDriver(msgTxtFromDriver);
}

asynStatus ethercatmcIndexerAxis::resetAxis(void) {
return writeCmdRegisster(idxStatusCodeRESET);
}
Expand Down
4 changes: 4 additions & 0 deletions ethercatmcApp/src/ethercatmcIndexerAxis.h
View file
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
#ifndef ETHERCATMCINDEXERAXIS_H
#define ETHERCATMCINDEXERAXIS_H
#include <asynMotorAxis.h>
#include <ethercatmcController.h>
#include <stdint.h>

/* Parameter interface */
Expand Down Expand Up @@ -87,6 +88,9 @@ class epicsShareClass ethercatmcIndexerAxis : public asynMotorAxis {
double paramfValue);
asynStatus poll(bool *moving);
asynStatus doThePoll(bool cached, bool *moving);
void pollErrTxtMsgTxt(int hasError, int errorID,
idxStatusCodeType idxStatusCode, unsigned idxAuxBits,
int localMode, unsigned statusReasonAux);
asynStatus resetAxis(void);
bool pollPowerIsOn(void);
asynStatus setClosedLoop(bool closedLoop);
Expand Down

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