Re: PMAC asyn autoconnect issue

[Bruno Martins <brunoseivam@gmail.com>]

Oops. Here's the corrected one.

On this URL [1] a version 3-12 is mentioned. I'm not sure if the github repo is kept up to date with the tarballs in [1].

[1] https://www.gmca.aps.anl.gov/TPMAC2/

Bruno

On Thu, Feb 15, 2018 at 3:55 PM, Mark Rivers <rivers@cars.uchicago.edu> wrote:

Minor point: It looks like your patch is in the wrong direction, your additions have – rather than +.

 

From: Bruno Martins [mailto:brunoseivam@gmail.com]
Sent: Thursday, February 15, 2018 1:58 PM
To: Mark Rivers <rivers@cars.uchicago.edu>
Cc: Torsten Bögershausen <torsten.bogershausen@esss.se>; omitto@frib.msu.edu; tech-talk@aps.anl.gov

Subject: Re: PMAC asyn autoconnect issue

 

I like #2. I think this patch ought to do it.

It seems that the upstream tpmac project is not on Github, who should I submit this to?

Bruno

 

On Thu, Feb 15, 2018 at 12:37 PM, Mark Rivers <rivers@cars.uchicago.edu> wrote:

Ø  So while just removing the "if (!commsError)" check seems to be enough for the connection to be re-established, it seems that telling the asyn to

Ø  close the connection would be the way to go, as you mention. It would be nice if Mark's suggestion of using "disconnectOnReadTimeout" option worked for PMAC, though.

 

I think the reason it is not working is that a read timeout is probably expected during “normal” operation of the driver in some circumstances.  That messes up the logic for "disconnectOnReadTimeout" because it will then disconnect when you don’t want it to.

 

There are a couple of possible solutions:

1)      In the code before the expected read timeout temporarily disable "disconnectOnReadTimeout", then re-enable it after the expected read timeout.  You do this with the asynOption interface to drvAsynIPPort.

 

2)      Implement the disconnectOnReadTimeout logic inside the PMAC driver itself.  You call pasynCommon->disconnect on unexpected read timeouts, but don’t call it on expected read timeouts.

 

Mark

 

 

From: Bruno Martins [mailto:brunoseivam@gmail.com]
Sent: Thursday, February 15, 2018 11:29 AM
To: Torsten Bögershausen <torsten.bogershausen@esss.se>
Cc: Mark Rivers <rivers@cars.uchicago.edu>; omitto@frib.msu.edu; tech-talk@aps.anl.gov
Subject: Re: PMAC asyn autoconnect issue

 

FWIW, what I noticed is that, after the controller is powered off, netstat (netstat -oc | grep 1025) reports that TCP retries are happening. If I power the controller back on while retries are still ongoing, after the current retry timer expires the connection is re-established.

So while just removing the "if (!commsError)" check seems to be enough for the connection to be re-established, it seems that telling the asyn to close the connection would be the way to go, as you mention. It would be nice if Mark's suggestion of using "disconnectOnReadTimeout" option worked for PMAC, though.

Bruno

 

On Thu, Feb 15, 2018 at 12:13 PM, Torsten Bögershausen <torsten.bogershausen@esss.se> wrote:

Hej Bruno and all,

I think you are hunting a very issue (if someone asks me)
I can have a look the next days, I remember that I was digging
into the connection handling (especially the disconnection handling)
for some time ago.

Unless someone has a simulator for the pmac, I will dig in my
old source codes and try to get the one working, which I
once had been running.

One problem which I see here:
 if (!commsError) {
    status = pasynOctetSyncIO->writeRead(lowLevelPortUser_ ,
                                         command, strlen(command),
                                         response, PMAC_MAXBUF_,
                                         PMAC_TIMEOUT_,
                                         &nwrite, &nread, &eomReason );

    if (status) {
asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: Error from pasynOctetSyncIO->writeRead. command: %s\n", functionName, command);


is that we don't tell asyn that we "feel" disconnected.
The good handling would be to close() the underlying socket.
The next step would be to tell asyn "we are disconnected"

This is done here asyn/drvAsynSerial/drvAsynIPPort.c like this:
    /* If recv() returns 0 on a SOCK_STREAM (TCP) socket, the connection has closed */
    if ((thisRead == 0) && (tty->socketType == SOCK_STREAM)) {
        epicsSnprintf(pasynUser->errorMessage,pasynUser->errorMessageSize,
                      "%s connection closed",
                      tty->IPDeviceName);
        closeConnection(pasynUser,tty,"Read from broken connection");
        reason |= ASYN_EOM_END;
    }

Then we -should- see the reconnect attempts from asyn, shouldn't we ?
(And handle them)




On 15/02/18 18:03, Bruno Martins wrote:

So, I think I found the culprit:

https://github.com/epicsdeb/pmacasyn/blob/master/pmacApp/pmacAsynMotorPortSrc/pmacController.cpp#L325

Inside lowLevelWriteRead, if a communications error was previously detected, writeRead is *not* called, which I think prevents asyn from executing its reconnection logic. If I comment out this check everything seems to work correctly.

However, since I am not too familiar with this driver, I don't know if removing this check will have unintended consequences elsewhere.


Bruno

On Thu, Feb 15, 2018 at 10:44 AM, Bruno Martins <brunoseivam@gmail.com <mailto:brunoseivam@gmail.com>> wrote:

    Hi Torsten,

    Just for the sake of completeness I rebuilt my whole environment from
    source (git):

    Base R3.15.5
    Motor R6-10
    Asyn R4-33

    pmacasyn from here (with all patches in debian/patches applied):

    https://github.com/epicsdeb/pmacasyn <https://github.com/epicsdeb/pmacasyn>

    Here's a minimal IOC that reproduces the issue

    $ cat st.cmd
    #!../../bin/linux-x86_64/tpmac
    < envPaths
    epicsEnvSet("STREAM_PROTOCOL_PATH","${PMACUTIL}/pmacUtilApp/protocol")
    epicsEnvSet("PREFIX","LABTEST:STPC01")
    dbLoadDatabase("${TOP}/dbd/tpmac.dbd",0,0)
    tpmac_registerRecordDeviceDriver(pdbbase)
    pmacAsynIPConfigure("P0","<ip redacted>:1025")
    #asynSetOption("P0",0,"disconnectOnReadTimeout","Y")
    pmacCreateController("motor","P0",0,2,100,1000)
    pmacCreateAxis("motor", 1)
    pmacCreateAxis("motor", 2)
    dbLoadTemplate("$(TOP)/db/labTest.substitutions")
    iocInit()

    $ cat labTest.substitutions
    file "$(TOP)/db/motor.db"
    {
    # ADDR ---> axis #
    # NOTE ---> 2 asyn ports: 1) lowel comms ("P0"), and 2) Motor Record ("motor")
    pattern
    { P,             M,                   MOTOR,   PORT,    ADDR, DESC,                 DTYP,        EGU,    MRES,PREC     }
    { "LABTEST:", "STPC01:M1",           "motor", "P0",    1,      "Axis 1",
             asynMotor,    "mm",    0.00079375,    2     }
    { "LABTEST:", "STPC01:M2",            "motor", "P0",    2,      "Axis 2",
             asynMotor,    "mm",    0.00079375,    2    }
    }

    $ cat db/motor.db
    record(motor,"$(P)$(M)")
    {
         field(DESC,"$(DESC)")
         field(DTYP,"$(DTYP)")
         field(OUT,"@asyn($(MOTOR),$(ADDR))")
         field(RTRY,"0")
       # Use of MRES is deliberate on the following line.
       # This sets the retry deadband to the smallest possible size.
       field(RDBD,$(MRES="1"))
       field(MRES,$(MRES="1"))
       field(EGU,$(EGU="None"))
       field(PREC,$(PREC="0"))
    }


    epics> dbl
    LABTEST:STPC01:M1
    LABTEST:STPC01:M2



    As soon as I turn off the controller, these messages appear:

    epics> 2018/02/15 10:12:19.085 P0 read pmacFlush failed - thisRead=0,
    eomReason=0, status=1
    2018/02/15 10:12:29.095 P0 read pmacReadReady failed
    status=1,retval=02018/02/15 10:12:29.095 pmacController::lowLevelWriteRead:
    Error from pasynOctetSyncIO->writeRead. command: ???
    2018/02/15 10:12:29.095 pmacController::getGlobalStatus: Error reading ???.
    2018/02/15 10:12:29.095 pmacController::poll: Error reading or setting params.
    2018/02/15 10:12:29.095 drvPmacAxisGetStatus: not all status values
    returned. Status: 0
    Command :#1 ? F P
    Response:2018/02/15 10:12:29.095 drvPmacAxisGetStatus: not all status
    values returned. Status: 0
    Command :#2 ? F P
    Response:2018/02/15 10:12:30.096 pmacController::getGlobalStatus: Error
    reading ???. nvals: -1, response:
    2018/02/15 10:12:30.096 pmacController::poll: Error reading or setting params.
    2018/02/15 10:12:30.096 drvPmacAxisGetStatus: not all status values
    returned. Status: 0
    Command :#1 ? F P
    Response:2018/02/15 10:12:30.096 drvPmacAxisGetStatus: not all status
    values returned. Status: 0
    Command :#2 ? F P
    Response:2018/02/15 10:12:31.096 pmacController::getGlobalStatus: Error
    reading ???. nvals: -1, response:
    2018/02/15 10:12:31.096 pmacController::poll: Error reading or setting params.
    2018/02/15 10:12:31.096 drvPmacAxisGetStatus: not all status values
    returned. Status: 0
    Command :#1 ? F P
    Response:2018/02/15 10:12:31.096 drvPmacAxisGetStatus: not all status
    values returned. Status: 0
    Command :#2 ? F P
    Response:




    After 20 min (see below), I powered the controller back on, but the
    messages continued.


    As Mark mentioned, it seems that Linux takes some time to shutdown the
    socket. My previous tests (using pasynManager->isConnected to probe for
    connection status) seemed to show that it takes ~15min on this particular
    system for isConnected to go from 1 to 0. It also seems that by turning the
    controller back on isConnected goes from 0 to 1. So my current suspicion is
    in agreement with Mark's comments: something might be off in the interpose
    code.


    I will continue investigating.


    Thanks!


    Bruno

    On Thu, Feb 15, 2018 at 2:15 AM, Torsten Bögershausen

    <torsten.bogershausen@esss.se <mailto:torsten.bogershausen@esss.se>> wrote:

        On 12/02/18 20:45, Bruno Martins wrote:

            Hi Mark,

            We're using tpmac-asyn 3.10.12, asyn R4-32.


        Hej Bruno,
        what is tpmac-asyn 3.10.12 ?

        The printouts you are pointing out ("command: #2 ? F P") seem to come from
        .../epicsdeb/pmacasyn/pmacApp/pmacAsynMotorPortSrc/pmacAxis.cpp

        Which seems to be a classic model 3 driver (?).

        I am unsure which SW you are running.

        Could you send us the whole st.cmd ?
        And may be a receipe how to get the modules you are using,
        tpmac-asyn, which motor. Are you using git clone ? Or wget ?



            Regarding pmacAsynIPConfigure, it immediately calls
            drvAsynIPPortConfigure:
            https://github.com/epicsdeb/pmacasyn/blob/master/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L184
            <https://github.com/epicsdeb/pmacasyn/blob/master/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L184>
            <https://github.com/epicsdeb/pmacasyn/blob/master/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L184
            <https://github.com/epicsdeb/pmacasyn/blob/master/pmacApp/pmacAsynIPPortSrc/pmacAsynIPPort.c#L184>>


            You're right that the return code is asynError (from queueLockPort
            [asynManager.c:1832]) but queueRequest returns asynDisconnected
            [asynManager.c:1505]. I added more debugging.


            I noticed two things:

            1. If the IOC starts with the controller powered off, the above
            messages are printed. asyn/tpmac correctly knows the device is
            disconnected, but there's no attempt at a reconnection, so powering
            it on doesn't do anything. Here's the report in this case:

            asynManager::queueLockPort queueRequest failed: port P0 not connected
            2018/02/12 14:05:56.201 pmacController::lowLevelWriteRead: Error
            from pasynOctetSyncIO->writeRead. command: #2 ? F P
            2018/02/12 14:05:56.201 drvPmacAxisGetStatus: not all status values
            returned. Status: 3

            epics> asynReport 5 P0
            P0 multiDevice:No canBlock:Yes autoConnect:Yes
                  enabled:Yes connected:No numberConnects 0
                  nDevices 0 nQueued 18 blocked:No
                  asynManagerLock:No synchronousLock:Yes
                  exceptionActive:No exceptionUsers 11 exceptionNotifys 0
                  traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
                  interposeInterfaceList
                      asynOctet pinterface 0x7fcf1ca2c900 drvPvt 0xf5c060
                  interfaceList
                      asynCommon pinterface 0x7fcf1ca29650 drvPvt 0xf579e0
                      asynOption pinterface 0x7fcf1ca29670 drvPvt 0xf579e0
                      asynOctet pinterface 0xf57b00 drvPvt 0xf579e0
                  Port 10.41.104.10:1025 <http://10.41.104.10:1025>
            <http://10.41.104.10:1025>: Disconnected
                                  fd: -1
                  Characters written: 0
                     Characters read: 0


            2. If the IOC starts with the controller powered on, everything
            works as expected:

            epics> asynReport 5 P0
            P0 multiDevice:No canBlock:Yes autoConnect:Yes
                  enabled:Yes connected:Yes numberConnects 1
                  nDevices 0 nQueued 0 blocked:No
                  asynManagerLock:No synchronousLock:No
                  exceptionActive:No exceptionUsers 11 exceptionNotifys 0
                  traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
                  interposeInterfaceList
                      asynOctet pinterface 0x7fafe57dc900 drvPvt 0x1aa6090
                  interfaceList
                      asynCommon pinterface 0x7fafe57d9650 drvPvt 0x1aa1a10
                      asynOption pinterface 0x7fafe57d9670 drvPvt 0x1aa1a10
                      asynOctet pinterface 0x1aa1b30 drvPvt 0x1aa1a10
                  Port 10.41.104.10:1025 <http://10.41.104.10:1025>
            <http://10.41.104.10:1025>: Connected
                                  fd: 7
                  Characters written: 9787
                     Characters read: 5345


            Then when we yank the power from the controller:

            asynManager::queueLockPort queueRequest timed out
            2018/02/12 14:33:03.069 pmacController::lowLevelWriteRead: Error
            from pasynOctetSyncIO->writeRead. command: #1 ? F P
            2018/02/12 14:33:03.069 drvPmacAxisGetStatus: not all status values
            returned. Status: 3

            epics> asynReport 5 P0
            P0 multiDevice:No canBlock:Yes autoConnect:Yes
                  enabled:Yes connected:Yes numberConnects 1
                  nDevices 0 nQueued 18 blocked:No
                  asynManagerLock:No synchronousLock:Yes
                  exceptionActive:No exceptionUsers 11 exceptionNotifys 0
                  traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
                  interposeInterfaceList
                      asynOctet pinterface 0x7fafe57dc900 drvPvt 0x1aa6090
                  interfaceList
                      asynCommon pinterface 0x7fafe57d9650 drvPvt 0x1aa1a10
                      asynOption pinterface 0x7fafe57d9670 drvPvt 0x1aa1a10
                      asynOctet pinterface 0x1aa1b30 drvPvt 0x1aa1a10
                  Port 10.41.104.10:1025 <http://10.41.104.10:1025>
            <http://10.41.104.10:1025>: Connected
                                  fd: 7
                  Characters written: 26671
                     Characters read: 11150


            So it still thinks it is connected, even after quite some time.



            I tried enabling the disconnectOnReadTimeout option, it yielded a
            weird behavior: with the motor controller powered ON, the IOC seems
            to start fine but then seems to disconnect from the controller by
            itself:

            asynManager::queueLockPort queueRequest failed: port P0 not connected
            2018/02/12 14:40:38.972 pmacController::lowLevelWriteRead: Error
            from pasynOctetSyncIO->writeRead. command: #1 ? F P
            2018/02/12 14:40:38.972 drvPmacAxisGetStatus: not all status values
            returned. Status: 3

            epics> asynReport 5 P0
            P0 multiDevice:No canBlock:Yes autoConnect:Yes
                  enabled:Yes connected:No numberConnects 1
                  nDevices 0 nQueued 21 blocked:No
                  asynManagerLock:No synchronousLock:Yes
                  exceptionActive:No exceptionUsers 11 exceptionNotifys 0
                  traceMask:0x1 traceIOMask:0x0 traceInfoMask:0x1
                  interposeInterfaceList
                      asynOctet pinterface 0x7f5c7df24900 drvPvt 0x8f21a0
                  interfaceList
                      asynCommon pinterface 0x7f5c7df21650 drvPvt 0x8edb20
                      asynOption pinterface 0x7f5c7df21670 drvPvt 0x8edb20
                      asynOctet pinterface 0x8edc40 drvPvt 0x8edb20
                  Port 10.41.104.10:1025 <http://10.41.104.10:1025>
            <http://10.41.104.10:1025>: Disconnected
                                  fd: -1
                  Characters written: 848
                     Characters read: 470



            Bruno

            On Mon, Feb 12, 2018 at 1:32 PM, Mark Rivers
            <rivers@cars.uchicago.edu <mailto:rivers@cars.uchicago.edu>

            <mailto:rivers@cars.uchicago.edu

            <mailto:rivers@cars.uchicago.edu>>> wrote:

                 Hi Bruno,____

                 __ __

                 I think your startup script contains this command, correct?____

                 __ __

                 pmacAsynIPConfigure(portName, hostInfo)____

                 __ __

                 This means that the pmac driver is not directly communicating
            with the
                 drvAsynIPPort driver supplied with asyn.  It is talking to the
            port created
                 with the above command, which implements the
            asynInterposeInterface between
                 the pmac motor driver and the underlying drvAsynIPPort
            driver.  I have not
                 studied that code carefully, but it is possible that it is
            doing something
                 to prevent the reconnect feature from working correctly.____

                 __ __

                 I have tested the asyn autoreconnect feature quite a bit
            recently, when I
                 was trying to reduce the number of error messages that are
            printed when a
                 device is powered off and then back on again.  For example,
            look at the
                 Modbus R2-10 release notes:____

                 __ __

            http://cars9.uchicago.edu/software/epics/modbusReleaseNotes.html
            <http://cars9.uchicago.edu/software/epics/modbusReleaseNotes.html>
                            <http://cars9.uchicago.edu/software/epics/modbusReleaseNotes.html
            <http://cars9.uchicago.edu/software/epics/modbusReleaseNotes.html>>____

                 __ __

                 Mark____

                 __ __

                 __ __

                 *From:*tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>
            <mailto:tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>>

                 [mailto:tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>
                 <mailto:tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>>] *On Behalf Of *Mark Rivers
                 *Sent:* Monday, February 12, 2018 12:10 PM
                 *To:* 'Bruno Martins' <brunoseivam@gmail.com
            <mailto:brunoseivam@gmail.com>
                 <mailto:brunoseivam@gmail.com
            <mailto:brunoseivam@gmail.com>>>; tech-talk@aps.anl.gov
            <mailto:tech-talk@aps.anl.gov>
                 <mailto:tech-talk@aps.anl.gov <mailto:tech-talk@aps.anl.gov>>
                 *Cc:* omitto@frib.msu.edu <mailto:omitto@frib.msu.edu>
            <mailto:omitto@frib.msu.edu <mailto:omitto@frib.msu.edu>>

                 *Subject:* RE: PMAC asyn autoconnect issue____

                 __ __

                 Hi Bruno,____

                 __ __

                 What version of asyn are you using?____

                 __ __

                 What version of tpmac are you using?____

                 __ __

                 __Ø__2018/02/12 12:00:14.826
            pmacController::lowLevelWriteRead: Error from
                 pasynOctetSyncIO->writeRead. command: #2 ? F P
                 2018/02/12 12:00:14.826 drvPmacAxisGetStatus: not all status
            values
                 returned. Status: 3
                 Command :#2 ? F P____

                 __ __

                 Note that Status: 3 is asynError, not asynDisconnected.____

                 __ __

                 Are you sure that asyn really thinks the port is disconnected
            at this
                 time?  You should run asynReport on that port to see whether
            asyn thinks it
                 is disconnected or not.____

                 __ __

                 One problem is that when you power-off an IP device on Linux
            it takes quite
                 a while before the OS decides the socket is disconnected.             Before that time
                 it returns an error like “Resource temporarily unavailable”.             During this
                 time asyn will not try to reconnect, because it thinks it is still
                 connected.____

                 __ __

                 This behavior is one reason that the drvAsynIPPort driver was
            enhanced in
                 R4-29 to support the disconnectOnReadTimeout option.  If this
            option is
                 enabled then the port will automatically disconnect whenever
            there is a
                 read timeout.____

                 __ __

                 Mark____

                 __ __

                 __ __

                 *From:*tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>
            <mailto:tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>>

                 [mailto:tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>
                 <mailto:tech-talk-bounces@aps.anl.gov
            <mailto:tech-talk-bounces@aps.anl.gov>>] *On Behalf Of *Bruno Martins
                 *Sent:* Monday, February 12, 2018 11:34 AM
                 *To:* tech-talk@aps.anl.gov <mailto:tech-talk@aps.anl.gov>
            <mailto:tech-talk@aps.anl.gov <mailto:tech-talk@aps.anl.gov>>
                 *Cc:* omitto@frib.msu.edu <mailto:omitto@frib.msu.edu>
            <mailto:omitto@frib.msu.edu <mailto:omitto@frib.msu.edu>>

                 *Subject:* PMAC asyn autoconnect issue____

                 __ __

                 Hi,____

                 I've been investigating an issue with the PMAC driver regarding
                 reconnection via Ethernet. When the controller is powered off
            the IOC
                 starts emitting messages like the following (as expected):

                 2018/02/12 12:00:14.826 pmacController::lowLevelWriteRead:
            Error from
                 pasynOctetSyncIO->writeRead. command: #2 ? F P
                 2018/02/12 12:00:14.826 drvPmacAxisGetStatus: not all status
            values
                 returned. Status: 3
                 Command :#2 ? F P____

                 __ __

                 __ __

                 However, when the controller is powered on again, the IOC does not
                 re-establish the connection (even though noAutoConnect is set
            to zero).____

                 This is the sequence of calls that lead to these messages:____

                 lowLevelWriteRead calls pasynOctetSyncIO->writeRead
                 pasynOctetSyncIO->writeRead calls pasynManager->queueLockPort____

                 pasynManager->queueLockPort calls pasynManager->queueRequest____

                 queueRequest sets checkPortConnect = TRUE____

                 __ __

                 Since the port is disconnected, queueRequest returns an error
            https://github.com/epics-modules/asyn/blob/87e784335736de782980b7600bd7d6e42179511a/asyn/asynDriver/asynManager.c#L1505
            <https://github.com/epics-modules/asyn/blob/87e784335736de782980b7600bd7d6e42179511a/asyn/asynDriver/asynManager.c#L1505>
                            <https://github.com/epics-modules/asyn/blob/87e784335736de782980b7600bd7d6e42179511a/asyn/asynDriver/asynManager.c#L1505
            <https://github.com/epics-modules/asyn/blob/87e784335736de782980b7600bd7d6e42179511a/asyn/asynDriver/asynManager.c#L1505>>____

                 If checkPortConnected was FALSE autoConnectDevice would be
            called later on
                 and a new connection would be attempted. But for this
            particular call chain
                 checkPortConnected is always set to TRUE.____

                 Now, since queueRequest fails a request is never queued and
                 pasynManager->portThread's autoConnectDevice is also not reached.

                 ____

                 So my question is how to properly configure/trigger an auto
            connect?____

                 __ __

                 __ __

                 PS.: I found this old thread that might be related:

            https://epics.anl.gov/tech-talk/2012/msg01216.php
            <https://epics.anl.gov/tech-talk/2012/msg01216.php>
                 <https://epics.anl.gov/tech-talk/2012/msg01216.php
            <https://epics.anl.gov/tech-talk/2012/msg01216.php>>

                 ____

                 __ __

                 Thanks!____



                 Bruno____

 

 

diff --git a/pmacApp/pmacAsynMotorPortSrc/pmacController.cpp b/pmacApp/pmacAsynMotorPortSrc/pmacController.cpp
index aba5b37..36cc123 100644
--- a/pmacApp/pmacAsynMotorPortSrc/pmacController.cpp
+++ b/pmacApp/pmacAsynMotorPortSrc/pmacController.cpp
@@ -322,19 +322,23 @@ asynStatus pmacController::lowLevelWriteRead(const char *command, char *response
   //Use the controller-wide param PMAC_C_CommsError_
   getIntegerParam(PMAC_C_CommsError_, &commsError);
   
-  if (!commsError) {
-    status = pasynOctetSyncIO->writeRead(lowLevelPortUser_ ,
+  status = pasynOctetSyncIO->writeRead(lowLevelPortUser_ ,
 					 command, strlen(command),
 					 response, PMAC_MAXBUF_,
 					 PMAC_TIMEOUT_,
 					 &nwrite, &nread, &eomReason );
     
-    if (status) {
-      asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: Error from pasynOctetSyncIO->writeRead. command: %s\n", functionName, command);
-      setIntegerParam(PMAC_C_CommsError_, PMAC_ERROR_);
-    } else {
-      setIntegerParam(PMAC_C_CommsError_, PMAC_OK_);
-    }
+  if (status) {
+    asynInterface *pasynInterface = pasynManager->findInterface(lowLevelPortUser_,
+                                                                asynCommonType, true);
+    asynCommon *pasynCommon = (asynCommon*) pasynInterface->pinterface;
+
+    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: Error from pasynOctetSyncIO->writeRead. command: %s, status=%d\n", functionName, command, status);
+    setIntegerParam(PMAC_C_CommsError_, PMAC_ERROR_);
+    pasynCommon->disconnect(pasynInterface->drvPvt, lowLevelPortUser_);
+
+  } else {
+    setIntegerParam(PMAC_C_CommsError_, PMAC_OK_);
   }
   
   asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER, "%s: response: %s\n", functionName, response);