Updated sinqMotor version

Reviewed-on: #1

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "sinqMotor"]
+	path = sinqMotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

Makefile

@@ -6,24 +6,26 @@ BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
-# Additional module dependencies
-REQUIRED+=sinqMotor
-
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
 
-# Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.13.0
-
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
 HEADERS += src/masterMacsController.h
 
 # Source files to build
+SOURCES += sinqMotor/src/msgPrintControl.cpp
+SOURCES += sinqMotor/src/sinqAxis.cpp
+SOURCES += sinqMotor/src/sinqController.cpp
 SOURCES += src/masterMacsAxis.cpp
 SOURCES += src/masterMacsController.cpp
 
+# Store the record files
+TEMPLATES += sinqMotor/db/asynRecord.db
+TEMPLATES += sinqMotor/db/sinqMotor.db
+
 # This file registers the motor-specific functions in the IOC shell.
+DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wpedantic -Wextra -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror

src/masterMacsAxis.cpp

@@ -11,6 +11,21 @@
 #include <string.h>
 #include <unistd.h>
 
+struct masterMacsAxisImpl {
+    /*
+    The axis status and axis error of MasterMACS are given as an integer from
+    the controller. The 16 individual bits contain the actual information.
+    */
+    std::bitset<16> axisStatus;
+    std::bitset<16> axisError;
+
+    double lastSetSpeed;
+    bool waitForHandshake;
+    time_t timeAtHandshake;
+    bool needInit = true;
+    bool targetReachedUninitialized;
+};
+
 /*
 A special communication timeout is used in the following two cases:
 1) Enable command
@@ -104,17 +119,14 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     // Collect all axes into this list which will be used in the hook function
     axes.push_back(this);
 
-    // Initialize all member variables
-    axisStatus_ = std::bitset<16>(0);
-    axisError_ = std::bitset<16>(0);
-
-    // Initial value for the motor speed, is overwritten in atFirstPoll.
-    lastSetSpeed_ = 0.0;
-
-    // Flag for handshake waiting
-    waitForHandshake_ = false;
-    timeAtHandshake_ = 0;
-    targetReachedUninitialized_ = true;
+    pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
+        .axisStatus = std::bitset<16>(0),
+        .axisError = std::bitset<16>(0),
+        .lastSetSpeed = 0.0,
+        .waitForHandshake = false,
+        .timeAtHandshake = 0,
+        .targetReachedUninitialized = true,
+    });
 
     // masterMacs motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
@@ -138,6 +150,20 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
             pC_->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
             pC_->stringifyAsynStatus(status));
     }
+
+    // Even though this happens already in sinqAxis, a default value for
+    // motorMessageText is set here again, because apparently the sinqAxis
+    // constructor is not run before the string is accessed?
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
 }
 
 masterMacsAxis::~masterMacsAxis(void) {
@@ -239,7 +265,7 @@ asynStatus masterMacsAxis::init() {
     // Cache the motor speed. If this value differs from the one in the motor
     // record at the start of a movement, the motor record value is sent to
     // MasterMACS.
-    lastSetSpeed_ = motorVelocity;
+    pMasterMacsA_->lastSetSpeed = motorVelocity;
 
     // Store the motor position in the parameter library
     pl_status = setMotorPosition(motorPosition);
@@ -275,6 +301,10 @@ asynStatus masterMacsAxis::init() {
                   pC_->stringifyAsynStatus(pl_status));
         return pl_status;
     }
+
+    // Axis is fully initialized
+    setNeedInit(false);
+
     return pl_status;
 }
 
@@ -305,13 +335,21 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // =========================================================================
 
+    // Does the axis need to be intialized?
+    if (needInit()) {
+        rw_status = init();
+        if (rw_status != asynSuccess) {
+            return rw_status;
+        }
+    }
+
     // Are we currently waiting for a handshake?
-    if (waitForHandshake_) {
+    if (pMasterMacsA_->waitForHandshake) {
 
         // Check if the handshake takes too long and communicate an error in
         // this case. A handshake should not take more than 5 seconds.
         time_t currentTime = time(NULL);
-        bool timedOut = (currentTime > timeAtHandshake_ + 5);
+        bool timedOut = (currentTime > pMasterMacsA_->timeAtHandshake + 5);
 
         if (pC_->getMsgPrintControl().shouldBePrinted(
                 pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, timedOut,
@@ -321,18 +359,12 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                       "handshake at %ld s and didn't get a positive reply yet "
                       "(current time is %ld s).\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      timeAtHandshake_, currentTime);
+                      pMasterMacsA_->timeAtHandshake, currentTime);
         }
 
         if (timedOut) {
-            pl_status =
-                setStringParam(pC_->motorMessageText(),
-                               "Timed out while waiting for a handshake");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
+            setAxisParamChecked(this, motorMessageText,
+                                "Timed out while waiting for a handshake");
         }
 
         pC_->read(axisNo_, 86, response);
@@ -349,39 +381,22 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         if (handshakePerformed == 1.0) {
             // Handshake has been performed successfully -> Continue with the
             // poll
-            waitForHandshake_ = false;
-            targetReachedUninitialized_ = false;
+            pMasterMacsA_->waitForHandshake = false;
+            pMasterMacsA_->targetReachedUninitialized = false;
         } else {
             // Still waiting for the handshake - try again in the next busy
             // poll. This is already part of the movement procedure.
             *moving = true;
 
-            pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status,
-                                                 "motorStatusMoving_", axisNo_,
-                                                 __PRETTY_FUNCTION__, __LINE__);
-            }
-
-            pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
+            setAxisParamChecked(this, motorStatusMoving, *moving);
+            setAxisParamChecked(this, motorStatusDone, !(*moving));
 
             return asynSuccess;
         }
     }
 
     // Motor resolution from parameter library
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                    &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Read the previous motor position
     pl_status = motorPosition(&previousPosition);
@@ -395,7 +410,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         return rw_status;
     }
 
-    if (targetReachedUninitialized_) {
+    if (pMasterMacsA_->targetReachedUninitialized) {
         *moving = false;
     } else {
         if (targetReached() || !switchedOn()) {
@@ -406,7 +421,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     }
 
     if (targetReached()) {
-        targetReachedUninitialized_ = false;
+        pMasterMacsA_->targetReachedUninitialized = false;
     }
 
     // Read the current position
@@ -445,22 +460,16 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                           pC_->getMsgPrintControl().getSuffix());
             }
 
-            pl_status =
-                setStringParam(pC_->motorMessageText(),
-                               "Communication error between PC and motor "
-                               "controller. Please call the support.");
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
+            setAxisParamChecked(this, motorMessageText,
+                                "Communication error between PC and motor "
+                                "controller. Please call the support.");
 
             poll_status = asynError;
         } else {
 
             // This buffer must be initialized to zero because we build the
             // error message by appending strings.
-            char userMessage[pC_->MAXBUF_] = {0};
+            char errorMessage[pC_->MAXBUF_] = {0};
             char shellMessage[pC_->MAXBUF_] = {0};
 
             // Concatenate all other errors
@@ -468,7 +477,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Short circuit fault.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Short circuit error. Please call the support.");
 
                 poll_status = asynError;
@@ -477,7 +486,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             if (encoderError()) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Encoder error.");
-                appendErrorMessage(userMessage, sizeof(userMessage),
+                appendErrorMessage(errorMessage, sizeof(errorMessage),
                                    "Encoder error. Please call the support.");
 
                 poll_status = asynError;
@@ -488,7 +497,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                     shellMessage, sizeof(shellMessage),
                     "Maximum callowed following error exceeded.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Maximum allowed following error exceeded.Check if "
                     "movement range is blocked. Otherwise please call the "
                     "support.");
@@ -499,7 +508,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             if (feedbackError()) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Feedback error.");
-                appendErrorMessage(userMessage, sizeof(userMessage),
+                appendErrorMessage(errorMessage, sizeof(errorMessage),
                                    "Feedback error. Please call the support.");
 
                 poll_status = asynError;
@@ -535,7 +544,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
                 // Generic error message for user
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Software limits or end switch hit. Try homing the motor, "
                     "moving in the opposite direction or check the SPS for "
                     "errors (if available). Otherwise please call the "
@@ -548,7 +557,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Overcurrent error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Overcurrent error. Please call the support.");
 
                 poll_status = asynError;
@@ -558,7 +567,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Overtemperature error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Overtemperature error. Please call the support.");
 
                 poll_status = asynError;
@@ -568,7 +577,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Overvoltage error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Overvoltage error. Please call the support.");
 
                 poll_status = asynError;
@@ -578,7 +587,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "Undervoltage error.");
                 appendErrorMessage(
-                    userMessage, sizeof(userMessage),
+                    errorMessage, sizeof(errorMessage),
                     "Undervoltage error. Please call the support.");
 
                 poll_status = asynError;
@@ -587,7 +596,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             if (stoFault()) {
                 appendErrorMessage(shellMessage, sizeof(shellMessage),
                                    "STO input is on disable state.");
-                appendErrorMessage(userMessage, sizeof(userMessage),
+                appendErrorMessage(errorMessage, sizeof(errorMessage),
                                    "STO fault. Please call the support.");
 
                 poll_status = asynError;
@@ -605,12 +614,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                 }
             }
 
-            pl_status = setStringParam(pC_->motorMessageText(), userMessage);
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
+            setAxisParamChecked(this, motorMessageText, errorMessage);
         }
     } else {
         pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
@@ -651,40 +655,18 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         directly, but need to shrink them a bit. In this case, we're shrinking
         them by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
         */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorLimitsOffset(),
-                                        &limitsOffset);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorLimitsOffset_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        getAxisParamChecked(this, motorLimitsOffset, &limitsOffset);
+
         highLimit = highLimit - limitsOffset;
         lowLimit = lowLimit + limitsOffset;
 
-        pl_status = pC_->setDoubleParam(
-            axisNo_, pC_->motorHighLimitFromDriver(), highLimit);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(
-                pl_status, "motorHighLimitFromDriver_", axisNo_,
-                __PRETTY_FUNCTION__, __LINE__);
-        }
-
-        pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
-                                        lowLimit);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
     }
 
     // Update the enable PV
-    pl_status = setIntegerParam(pC_->motorEnableRBV(),
-                                readyToBeSwitchedOn() && switchedOn());
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(this, motorEnableRBV,
+                        readyToBeSwitchedOn() && switchedOn());
 
     if (*moving) {
         // If the axis is moving, evaluate the movement direction
@@ -697,32 +679,11 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
     // Update the parameter library
     if (hasError) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-    }
-    pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-
-    pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusDone_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    pl_status = setIntegerParam(pC_->motorStatusDirection(), direction);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusDirection_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
+        setAxisParamChecked(this, motorStatusProblem, true);
     }
+    setAxisParamChecked(this, motorStatusMoving, *moving);
+    setAxisParamChecked(this, motorStatusDone, !(*moving));
+    setAxisParamChecked(this, motorStatusDirection, direction);
 
     pl_status = setMotorPosition(currentPosition);
     if (pl_status != asynSuccess) {
@@ -737,10 +698,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
                                   double acceleration) {
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
+    asynStatus status = asynSuccess;
 
     char value[pC_->MAXBUF_];
     double motorCoordinatesPosition = 0.0;
@@ -751,19 +709,8 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // =========================================================================
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableRBV(), &enabled);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "enableMotorRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                    &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorEnableRBV, &enabled);
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     if (enabled == 0) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -783,42 +730,26 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
 
     // Check if the speed is allowed to be changed
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(),
-                                     &motorCanSetSpeed);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorCanSetSpeed_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
 
     // Initialize the movement handshake
-    rw_status = pC_->write(axisNo_, 86, "0");
-    if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return rw_status;
+    status = pC_->write(axisNo_, 86, "0");
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+        return status;
     }
 
     // Set the new motor speed, if the user is allowed to do so and if the
     // motor speed changed since the last move command.
-    if (motorCanSetSpeed != 0 && lastSetSpeed_ != motorVelocity) {
+    if (motorCanSetSpeed != 0 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
 
-        lastSetSpeed_ = motorVelocity;
+        pMasterMacsA_->lastSetSpeed = motorVelocity;
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
-        rw_status = pC_->write(axisNo_, 05, value);
-        if (rw_status != asynSuccess) {
-            pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status,
-                                                 "motorStatusProblem_", axisNo_,
-                                                 __PRETTY_FUNCTION__, __LINE__);
-            }
-            return rw_status;
+        status = pC_->write(axisNo_, 05, value);
+        if (status != asynSuccess) {
+            setAxisParamChecked(this, motorStatusProblem, true);
+            return status;
         }
 
         asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
@@ -830,43 +761,34 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // Set the target position
     snprintf(value, sizeof(value), "%lf", motorCoordinatesPosition);
-    rw_status = pC_->write(axisNo_, 02, value);
-    if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return rw_status;
+    status = pC_->write(axisNo_, 02, value);
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+        return status;
     }
 
     // If the motor has just been enabled, use Enable
     double timeout = pC_->comTimeout();
-    if (targetReachedUninitialized_ && timeout < PowerCycleTimeout) {
+    if (pMasterMacsA_->targetReachedUninitialized &&
+        timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
     // Start the move
     if (relative) {
-        rw_status = pC_->write(axisNo_, 00, "2", timeout);
+        status = pC_->write(axisNo_, 00, "2", timeout);
     } else {
-        rw_status = pC_->write(axisNo_, 00, "1", timeout);
+        status = pC_->write(axisNo_, 00, "1", timeout);
     }
-    if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return rw_status;
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+        return status;
     }
 
     // In the next poll, we will check if the handshake has been performed in a
     // reasonable time
-    waitForHandshake_ = true;
-    timeAtHandshake_ = time(NULL);
+    pMasterMacsA_->waitForHandshake = true;
+    pMasterMacsA_->timeAtHandshake = time(NULL);
 
     // Waiting for a handshake is already part of the movement procedure =>
     // Start the watchdog
@@ -874,52 +796,35 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
         return asynError;
     }
 
-    return rw_status;
+    return status;
 }
 
 asynStatus masterMacsAxis::stop(double acceleration) {
 
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
-    // =========================================================================
-
-    rw_status = pC_->write(axisNo_, 00, "8");
-    if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+    asynStatus status = pC_->write(axisNo_, 00, "8");
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    return rw_status;
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
+    return status;
 }
 
 asynStatus masterMacsAxis::doReset() {
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
 
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
-    // =========================================================================
-
-    rw_status = pC_->write(axisNo_, 17, "");
-    if (rw_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+    asynStatus status = pC_->write(axisNo_, 17, "");
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
     }
 
-    return rw_status;
+    // Reset the driver to idle state and move out of the handshake wait loop,
+    // if we're currently inside it.
+    pMasterMacsA_->waitForHandshake = false;
+
+    return status;
 }
 
 /*
@@ -928,47 +833,31 @@ Home the axis. On absolute encoder systems, this is a no-op
 asynStatus masterMacsAxis::doHome(double min_velocity, double max_velocity,
                                   double acceleration, int forwards) {
 
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
-    pl_status = pC_->getStringParam(axisNo_, pC_->encoderType(),
-                                    sizeof(response), response);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, encoderType, &response);
 
     // Only send the home command if the axis has an incremental encoder
     if (strcmp(response, IncrementalEncoder) == 0) {
 
         // Initialize the movement handshake
-        rw_status = pC_->write(axisNo_, 86, "0");
-        if (rw_status != asynSuccess) {
-            pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status,
-                                                 "motorStatusProblem_", axisNo_,
-                                                 __PRETTY_FUNCTION__, __LINE__);
-            }
-            return rw_status;
+        asynStatus status = pC_->write(axisNo_, 86, "0");
+        if (status != asynSuccess) {
+            setAxisParamChecked(this, motorStatusProblem, true);
+            return status;
         }
 
-        rw_status = pC_->write(axisNo_, 00, "9");
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        status = pC_->write(axisNo_, 00, "9");
+        if (status != asynSuccess) {
+            return status;
         }
 
         // In the next poll, we will check if the handshake has been performed
         // in a reasonable time
-        waitForHandshake_ = true;
-        timeAtHandshake_ = time(NULL);
+        pMasterMacsA_->waitForHandshake = true;
+        pMasterMacsA_->timeAtHandshake = time(NULL);
         return asynSuccess;
     } else {
         return asynError;
@@ -980,12 +869,6 @@ Read the encoder type and update the parameter library accordingly
 */
 asynStatus masterMacsAxis::readEncoderType() {
 
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
     int nvals = 0;
@@ -994,9 +877,9 @@ asynStatus masterMacsAxis::readEncoderType() {
     // =========================================================================
 
     // Check if this is an absolute encoder
-    rw_status = pC_->read(axisNo_, 60, response);
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    asynStatus status = pC_->read(axisNo_, 60, response);
+    if (status != asynSuccess) {
+        return status;
     }
 
     nvals = sscanf(response, "%d", &encoder_id);
@@ -1012,30 +895,18 @@ asynStatus masterMacsAxis::readEncoderType() {
     2=SSI (Absolute encoder with BiSS interface)
      */
     if (encoder_id == 0) {
-        pl_status = setStringParam(pC_->encoderType(), IncrementalEncoder);
+        setAxisParamChecked(this, encoderType, IncrementalEncoder);
     } else {
-        pl_status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
+        setAxisParamChecked(this, encoderType, AbsoluteEncoder);
     }
 
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
     return asynSuccess;
 }
 
 asynStatus masterMacsAxis::enable(bool on) {
 
     int timeout_enable_disable = 2;
-    char value[pC_->MAXBUF_];
-
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
-
-    bool moving = false;
+    char msg[pC_->MAXBUF_];
 
     // =========================================================================
 
@@ -1044,8 +915,15 @@ asynStatus masterMacsAxis::enable(bool on) {
     0. In order to prevent the poll method in interpreting the motor state as
     "moving", this flag is used. It is reset in the handshake.
     */
-    targetReachedUninitialized_ = true;
+    pMasterMacsA_->targetReachedUninitialized = true;
 
+    /*
+    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
@@ -1058,14 +936,8 @@ asynStatus masterMacsAxis::enable(bool on) {
                   "idle and can therefore not be disabled.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
 
-        pl_status =
-            setStringParam(pC_->motorMessageText(),
-                           "Axis cannot be disabled while it is moving.");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorMessageText,
+                            "Axis cannot be disabled while it is moving.");
 
         return asynError;
     }
@@ -1083,33 +955,24 @@ asynStatus masterMacsAxis::enable(bool on) {
     }
 
     // Enable / disable the axis if it is not moving
-    snprintf(value, sizeof(value), "%d", on);
+    snprintf(msg, sizeof(msg), "%d", on);
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "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__);
-    }
 
     // The answer to the enable command on MasterMACS might take some time,
     // hence we wait for a custom timespan in seconds instead of
     // pC_->comTimeout_
     double timeout = pC_->comTimeout();
-    if (targetReachedUninitialized_ && timeout < PowerCycleTimeout) {
+    if (pMasterMacsA_->targetReachedUninitialized &&
+        timeout < PowerCycleTimeout) {
         timeout = PowerCycleTimeout;
     }
 
-    rw_status = pC_->write(axisNo_, 04, value, timeout);
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    asynStatus status = pC_->write(axisNo_, 04, msg, timeout);
+    if (status != asynSuccess) {
+        return status;
     }
 
     // Query the axis status every few milliseconds until the axis has been
@@ -1119,9 +982,9 @@ asynStatus masterMacsAxis::enable(bool on) {
 
         // Read the axis status
         usleep(100000);
-        rw_status = readAxisStatus();
-        if (rw_status != asynSuccess) {
-            return rw_status;
+        status = readAxisStatus();
+        if (status != asynSuccess) {
+            return status;
         }
 
         if (switchedOn() == on) {
@@ -1141,17 +1004,24 @@ asynStatus masterMacsAxis::enable(bool on) {
               on ? "enable" : "disable", timeout_enable_disable);
 
     // Output message to user
-    snprintf(value, sizeof(value), "Failed to %s within %d seconds",
+    snprintf(msg, sizeof(msg), "Failed to %s within %d seconds",
              on ? "enable" : "disable", timeout_enable_disable);
-    pl_status = setStringParam(pC_->motorMessageText(), "Enabling ...");
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+
+    setAxisParamChecked(this, motorMessageText, msg);
     return asynError;
 }
 
+bool masterMacsAxis::needInit() { return pMasterMacsA_->needInit; }
+
+/**
+ * @brief Instruct the axis to run its init() function during the next poll
+ *
+ * @param needInit
+ */
+void masterMacsAxis::setNeedInit(bool needInit) {
+    pMasterMacsA_->needInit = needInit;
+}
+
 /**
 Convert a float to an unint16_t bitset
 */
@@ -1181,7 +1051,7 @@ asynStatus masterMacsAxis::readAxisStatus() {
                                               __PRETTY_FUNCTION__, __LINE__);
         }
 
-        axisStatus_ = toBitset(axisStatus);
+        pMasterMacsA_->axisStatus = toBitset(axisStatus);
     }
 
     return rw_status;
@@ -1201,11 +1071,83 @@ asynStatus masterMacsAxis::readAxisError() {
             return pC_->couldNotParseResponse("R11", response, axisNo_,
                                               __PRETTY_FUNCTION__, __LINE__);
         }
-        axisError_ = toBitset(axisError);
+        pMasterMacsA_->axisError = toBitset(axisError);
     }
     return rw_status;
 }
 
+bool masterMacsAxis::readyToBeSwitchedOn() {
+    return pMasterMacsA_->axisStatus[0];
+}
+
+bool masterMacsAxis::switchedOn() { return pMasterMacsA_->axisStatus[1]; }
+
+bool masterMacsAxis::faultConditionSet() {
+    return pMasterMacsA_->axisStatus[3];
+}
+
+bool masterMacsAxis::voltagePresent() { return pMasterMacsA_->axisStatus[4]; }
+
+bool masterMacsAxis::quickStopping() {
+    return pMasterMacsA_->axisStatus[5] == 0;
+}
+
+bool masterMacsAxis::switchOnDisabled() { return pMasterMacsA_->axisStatus[6]; }
+
+bool masterMacsAxis::warning() { return pMasterMacsA_->axisStatus[7]; }
+
+bool masterMacsAxis::remoteMode() { return pMasterMacsA_->axisStatus[9]; }
+
+bool masterMacsAxis::targetReached() { return pMasterMacsA_->axisStatus[10]; }
+
+bool masterMacsAxis::internalLimitActive() {
+    return pMasterMacsA_->axisStatus[11];
+}
+
+bool masterMacsAxis::setEventHasOcurred() {
+    return pMasterMacsA_->axisStatus[14];
+}
+
+bool masterMacsAxis::powerEnabled() { return pMasterMacsA_->axisStatus[15]; }
+
+bool masterMacsAxis::shortCircuit() { return pMasterMacsA_->axisError[1]; }
+
+bool masterMacsAxis::encoderError() { return pMasterMacsA_->axisError[2]; }
+
+bool masterMacsAxis::followingError() { return pMasterMacsA_->axisError[3]; }
+
+bool masterMacsAxis::communicationError() {
+    return pMasterMacsA_->axisError[4];
+}
+
+bool masterMacsAxis::feedbackError() { return pMasterMacsA_->axisError[5]; }
+
+bool masterMacsAxis::positiveLimitSwitch() {
+    return pMasterMacsA_->axisError[6];
+}
+
+bool masterMacsAxis::negativeLimitSwitch() {
+    return pMasterMacsA_->axisError[7];
+}
+
+bool masterMacsAxis::positiveSoftwareLimit() {
+    return pMasterMacsA_->axisError[8];
+}
+
+bool masterMacsAxis::negativeSoftwareLimit() {
+    return pMasterMacsA_->axisError[9];
+}
+
+bool masterMacsAxis::overCurrent() { return pMasterMacsA_->axisError[10]; }
+
+bool masterMacsAxis::overTemperature() { return pMasterMacsA_->axisError[11]; }
+
+bool masterMacsAxis::overVoltage() { return pMasterMacsA_->axisError[12]; }
+
+bool masterMacsAxis::underVoltage() { return pMasterMacsA_->axisError[13]; }
+
+bool masterMacsAxis::stoFault() { return pMasterMacsA_->axisError[15]; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsAxis.h

@@ -1,12 +1,10 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
+#include "masterMacsController.h"
 #include "sinqAxis.h"
-#include <bitset>
+#include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class masterMacsController;
+struct masterMacsAxisImpl;
 
 class masterMacsAxis : public sinqAxis {
   public:
@@ -105,22 +103,25 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus readEncoderType();
 
-  protected:
-    masterMacsController *pC_;
-    double lastSetSpeed_;
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
+    /**
+     * @brief Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
 
-    bool targetReachedUninitialized_;
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
 
-    asynStatus readConfig();
-
-    /*
-    The axis status and axis error of MasterMACS are given as an integer from
-    the controller. The 16 individual bits contain the actual information.
-    */
-    std::bitset<16> axisStatus_;
-    std::bitset<16> axisError_;
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual masterMacsController *pController() override { return pC_; };
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -130,7 +131,7 @@ class masterMacsAxis : public sinqAxis {
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus_
+    The functions below read the specified status bit from the axisStatus
     bitset. Since a bit can either be 0 or 1, the return value is given as a
     boolean.
     */
@@ -138,68 +139,68 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
+    bool readyToBeSwitchedOn();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchedOn() { return axisStatus_[1]; }
+    bool switchedOn();
 
     // Bit 2 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool faultConditionSet() { return axisStatus_[3]; }
+    bool faultConditionSet();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool voltagePresent() { return axisStatus_[4]; }
+    bool voltagePresent();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool quickStopping() { return axisStatus_[5] == 0; }
+    bool quickStopping();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchOnDisabled() { return axisStatus_[6]; }
+    bool switchOnDisabled();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool warning() { return axisStatus_[7]; }
+    bool warning();
 
     // Bit 8 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool remoteMode() { return axisStatus_[9]; }
+    bool remoteMode();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool targetReached() { return axisStatus_[10]; }
+    bool targetReached();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool internalLimitActive() { return axisStatus_[11]; }
+    bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool setEventHasOcurred() { return axisStatus_[14]; }
+    bool setEventHasOcurred();
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool powerEnabled() { return axisStatus_[15]; }
+    bool powerEnabled();
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -217,72 +218,76 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisError_
      */
-    bool shortCircuit() { return axisError_[1]; }
+    bool shortCircuit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool encoderError() { return axisError_[2]; }
+    bool encoderError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool followingError() { return axisError_[3]; }
+    bool followingError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool communicationError() { return axisError_[4]; }
+    bool communicationError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool feedbackError() { return axisError_[5]; }
+    bool feedbackError();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveLimitSwitch() { return axisError_[6]; }
+    bool positiveLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeLimitSwitch() { return axisError_[7]; }
+    bool negativeLimitSwitch();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveSoftwareLimit() { return axisError_[8]; }
+    bool positiveSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeSoftwareLimit() { return axisError_[9]; }
+    bool negativeSoftwareLimit();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overCurrent() { return axisError_[10]; }
+    bool overCurrent();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overTemperature() { return axisError_[11]; }
+    bool overTemperature();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overVoltage() { return axisError_[12]; }
+    bool overVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool underVoltage() { return axisError_[13]; }
+    bool underVoltage();
 
     /**
      * @brief Read the property from axisError_
      */
-    bool stoFault() { return axisError_[15]; }
+    bool stoFault();
+
+  private:
+    masterMacsController *pC_;
+    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
 };
 
 #endif

src/masterMacsController.cpp

@@ -12,6 +12,10 @@
 #include <string>
 #include <unistd.h>
 
+struct masterMacsControllerImpl {
+    double comTimeout;
+};
+
 /**
  * @brief Copy src into dst and replace all NULL terminators up to the carriage
  * return with spaces. This allows to print *dst with asynPrint.
@@ -59,8 +63,10 @@ masterMacsController::masterMacsController(const char *portName,
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
-    // Initialization of all member variables
-    comTimeout_ = comTimeout;
+    pMasterMacsC_ =
+        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
+            .comTimeout = comTimeout,
+        });
 
     // =========================================================================
 
@@ -130,7 +136,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
-    asynStatus pl_status = asynSuccess;
     char fullCommand[MAXBUF_] = {0};
     char fullResponse[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
@@ -158,7 +163,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Check if a custom timeout has been given
     if (comTimeout < 0.0) {
-        comTimeout = comTimeout_;
+        comTimeout = pMasterMacsC_->comTimeout;
     }
 
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
@@ -192,7 +197,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUserSelf)) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUserSelf)) {
             char printableCommand[MAXBUF_] = {0};
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -202,7 +207,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                       stringifyAsynStatus(status), printableCommand);
         }
     } else {
-        msgPrintControl_.resetCount(comKey, pasynUserSelf);
+        getMsgPrintControl().resetCount(comKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes
@@ -249,41 +254,31 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        setAxisParamChecked(axis, motorStatusCommsError, false);
     } else {
 
-        // Check if the axis already is in an error communication mode. If
-        // it is not, upstream the error. This is done to avoid "flooding"
-        // the user with different error messages if more than one error
-        // ocurred before an error-free communication
-        pl_status =
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        if (pl_status != asynSuccess) {
-            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
-        }
+        /*
+        Since the communication failed, there is the possibility that the
+        controller is not connected at all to the network. In that case, we
+        cannot be sure that the information read out in the init method of the
+        axis is still up-to-date the next time we get a connection. Therefore,
+        an info flag is set which the axis object can use at the start of its
+        poll method to try to initialize itself.
+        */
+        axis->setNeedInit(true);
+
+        /*
+        Check if the axis already is in an error communication mode. If
+        it is not, upstream the error. This is done to avoid "flooding"
+        the user with different error messages if more than one error
+        ocurred before an error-free communication
+        */
+        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorMessageText_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusProblem",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
+            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            setAxisParamChecked(axis, motorStatusProblem, true);
+            setAxisParamChecked(axis, motorStatusCommsError, false);
         }
     }
 
@@ -305,12 +300,22 @@ asynStatus masterMacsController::parseResponse(
 
     bool responseValid = false;
     int responseStart = 0;
+    asynStatus status = asynSuccess;
+    int prevConnected = 0;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
     msgPrintControlKey parseKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+    if (axis == nullptr) {
+        return asynError;
+    }
+
+    // Was the motor previously connected?
+    getAxisParamChecked(axis, motorConnected, &prevConnected);
+
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
     for (uint32_t i = 0; i < MAXBUF_; i++) {
@@ -319,20 +324,57 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '=') {
             *valueStart = i + 1;
         } else if (fullResponse[i] == '\x06') {
+            // ACK
             *valueStop = i;
             responseValid = true;
-            break;
-        } else if (fullResponse[i] == '\x15') {
-            // NAK
-            snprintf(drvMessageText, MAXBUF_, "Communication failed.");
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+            // Motor wasn't connected before -> Update the paramLib entry and PV
+            // to show it is now connected.
+            if (prevConnected == 0) {
+
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d => %s, line "
-                          "%d:\nCommunication failed.%s\n",
-                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                          msgPrintControl_.getSuffix());
+                          "%d:\nAxis connection status has changed to "
+                          "connected.\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                setAxisParamChecked(axis, motorConnected, true);
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
+                }
+            }
+
+            break;
+        } else if (fullResponse[i] == '\x15') {
+            /*
+            NAK
+            This indicates that the axis is not connected. This is not an error!
+            */
+            snprintf(drvMessageText, MAXBUF_, "Axis not connected.");
+
+            // Motor was connected before -> Update the paramLib entry and PV
+            // to show it is now disconnected.
+            if (prevConnected == 1) {
+                asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d => %s, line "
+                          "%d:\nAxis connection status has changed to "
+                          "disconnected.\n",
+                          portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+                setAxisParamChecked(axis, motorConnected, false);
+                status = callParamCallbacks();
+                if (status != asynSuccess) {
+                    asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                              "Controller \"%s\", axis %d => %s, line "
+                              "%d:\nCould not update parameter library\n",
+                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                    return status;
+                }
             }
             break;
         } else if (fullResponse[i] == '\x18') {
@@ -341,15 +383,15 @@ asynStatus masterMacsController::parseResponse(
                      "Tried to write with a read-only command. This is a "
                      "bug, please call the support.");
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
+                                                     pasynUserSelf)) {
                 adjustForPrint(printableCommand, fullCommand, MAXBUF_);
                 asynPrint(
                     this->pasynUserSelf, ASYN_TRACE_ERROR,
                     "Controller \"%s\", axis %d => %s, line %d:\nTried to "
                     "write with the read-only command %s.%s\n",
                     portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                    printableCommand, msgPrintControl_.getSuffix());
+                    printableCommand, getMsgPrintControl().getSuffix());
             }
             responseValid = false;
             break;
@@ -357,7 +399,7 @@ asynStatus masterMacsController::parseResponse(
     }
 
     if (responseValid) {
-        msgPrintControl_.resetCount(parseKey, pasynUserSelf);
+        getMsgPrintControl().resetCount(parseKey, pasynUserSelf);
 
         // Check if the response matches the expectations. Each response
         // contains the string "axisNo R tcpCmd" (including the spaces)
@@ -381,15 +423,15 @@ asynStatus masterMacsController::parseResponse(
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             adjustForPrint(printableResponse, fullResponse, MAXBUF_);
 
-            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                                                 pasynUserSelf)) {
+            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
+                                                     pasynUserSelf)) {
                 asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,
                           "Controller \"%s\", axis %d => %s, line "
                           "%d:\nMismatched "
                           "response %s to command %s.%s\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
                           printableResponse, printableCommand,
-                          msgPrintControl_.getSuffix());
+                          getMsgPrintControl().getSuffix());
             }
 
             snprintf(drvMessageText, MAXBUF_,
@@ -398,15 +440,16 @@ asynStatus masterMacsController::parseResponse(
                      printableResponse, printableCommand);
             return asynError;
         } else {
-            msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
+            getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);
         }
     }
     return asynSuccess;
 }
 
-asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+asynStatus masterMacsController::readInt32(asynUser *pasynUser,
+                                           epicsInt32 *value) {
     // masterMacs can be disabled
-    if (pasynUser->reason == motorCanDisable_) {
+    if (pasynUser->reason == motorCanDisable()) {
         *value = 1;
         return asynSuccess;
     } else {
@@ -414,6 +457,8 @@ asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
     }
 }
 
+double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsController.h

@@ -8,9 +8,16 @@
 
 #ifndef masterMacsController_H
 #define masterMacsController_H
-#include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
+#include <memory>
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class masterMacsAxis;
+
+struct masterMacsControllerImpl;
 
 class masterMacsController : public sinqController {
 
@@ -31,6 +38,15 @@ class masterMacsController : public sinqController {
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);
 
+    /**
+     * @brief Overloaded version of the sinqController version
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
     /**
      * @brief Get the axis object
      *
@@ -123,13 +139,10 @@ class masterMacsController : public sinqController {
      *
      * @return double Timeout in seconds
      */
-    double comTimeout() { return comTimeout_; }
+    double comTimeout();
 
   private:
-    /*
-    Stores the constructor input comTimeout
-    */
-    double comTimeout_;
+    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
 };
 
 #endif /* masterMacsController_H */