Added method to parse and print out controller return strings.

dsmApp/src/MD90Driver.cpp

@@ -140,6 +140,37 @@ void MD90Axis::report(FILE *fp, int level)
   asynMotorAxis::report(fp, level);
 }
 
+/** Print out message if the motor controller returns a non-zero error code
+  * \param[in] functionName  The function originating the call
+  * \param[in] reply         Reply message returned from motor controller
+  */
+asynStatus MD90Axis::parseReply(const char *functionName, const char *reply)
+{
+  int replyStatus;
+  char replyString[256];
+  int replyValue;
+  asynStatus comStatus;
+
+  comStatus = asynSuccess;
+
+  if (reply[0] == '\0') {
+    comStatus = asynError;
+	replyStatus = -1;
+  } else if ( strcmp(reply, "Unrecognized command.") == 0 ) {
+    replyStatus = 6;
+  } else {
+    sscanf(reply, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
+  }
+
+  if (replyStatus != 0) {
+    asynPrint(pasynUser_, ASYN_TRACE_ERROR,
+      "%s:  %s\n",
+      functionName, reply);
+  }
+
+  return comStatus;
+}
+
 /** Acceleration currently unsupported with MD-90 controller
   * \param[in] acceleration  The accelerations to ramp up to max velocity
   * \param[in] velocity      Motor velocity in steps / sec
@@ -165,7 +196,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
 asynStatus MD90Axis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
   asynStatus status;
-  // static const char *functionName = "MD90Axis::move";
+  static const char *functionName = "MD90Axis::move";
 
   status = sendAccelAndVelocity(acceleration, maxVelocity);
   
@@ -177,6 +208,9 @@ asynStatus MD90Axis::move(double position, int relative, double minVelocity, dou
     sprintf(pC_->outString_, "CLM %d", NINT(position));
   }
   status = pC_->writeReadController();
+  if (!status) {
+    status = parseReply(functionName, pC_->inString_);
+  }
   return status;
 }
 

dsmApp/src/MD90Driver.h

@@ -34,6 +34,7 @@ private:
   MD90Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
                                    *   Abbreviated because it is used very frequently */
   asynStatus sendAccelAndVelocity(double accel, double velocity);
+  asynStatus parseReply(const char *functionName, const char *reply);
   
 friend class MD90Controller;
 };