Added explanation why the return status of doPoll is not used in the

enable function.

.gitea/workflows/action.yaml

@@ -1,24 +0,0 @@
-name: Test And Build
-on: [push]
-
-jobs:
-  Lint:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-      - name: cppcheck
-        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-      - name: formatting
-        run: clang-format --style=file --Werror --dry-run src/*.cpp
-  Build:
-    runs-on: linepics
-    steps:
-      - name: checkout repo
-        uses: actions/checkout@v4
-        with:
-          submodules: 'true'
-      - run: |
-          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
-          make install

.gitlab-ci.yml

@@ -0,0 +1,48 @@
+default:
+  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
+
+stages:
+  - lint
+  - build
+  - test
+
+cppcheck:
+  stage: lint
+  script:
+    - cppcheck --std=c++17 --addon=cert --addon=misc --suppress=cert-STR07-C --error-exitcode=1 src/*.cpp
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - sinq
+
+formatting:
+  stage: lint
+  script:
+    - clang-format --style=file --Werror --dry-run src/*.cpp
+  artifacts:
+    expire_in: 1 week
+  tags:
+    - sinq
+
+build_module:
+  stage: build
+  script:
+    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
+    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
+    - pushd sinqmotor
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
+    - make install
+    - popd
+    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
+    - make install
+    - cp -rT "/ioc/modules/masterMacs/$(ls -U /ioc/modules/masterMacs/ | head -1)" "./masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+  artifacts:
+    name: "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
+    paths:
+      - "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
+    expire_in: 1 week
+  when: always
+  tags:
+    - sinq

Makefile

@@ -6,6 +6,9 @@ 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
 
@@ -28,4 +31,4 @@ TEMPLATES += sinqMotor/db/sinqMotor.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/masterMacs.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wpedantic -Wextra -Werror

README.md

@@ -57,8 +57,6 @@ setThresholdComTimeout("$(NAME)", 100, 1);
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/masterMacs.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
 dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
@@ -68,4 +66,4 @@ Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-e
 
 ### How to build it
 
-Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.

src/masterMacsAxis.h

@@ -1,10 +1,12 @@
 #ifndef masterMacsAXIS_H
 #define masterMacsAXIS_H
-#include "masterMacsController.h"
 #include "sinqAxis.h"
-#include <memory>
+#include <bitset>
 
-struct masterMacsAxisImpl;
+// 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;
 
 class masterMacsAxis : public sinqAxis {
   public:
@@ -103,25 +105,22 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus readEncoderType();
 
-    /**
+  protected:
-     * @brief Check if the axis needs to run its initialization function
+    masterMacsController *pC_;
-     *
+    double lastSetSpeed_;
-     * @return true
+    bool waitForHandshake_;
-     * @return false
+    time_t timeAtHandshake_;
-     */
-    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();
-     * @brief Return a pointer to the axis controller
+
-     */
+    /*
-    virtual masterMacsController *pController() override { return pC_; };
+    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 Read the Master MACS status with the xR10 command and store the
@@ -131,7 +130,7 @@ 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.
     */
@@ -139,68 +138,68 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisStatus_
      */
-    bool readyToBeSwitchedOn();
+    bool readyToBeSwitchedOn() { return axisStatus_[0]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchedOn();
+    bool switchedOn() { return axisStatus_[1]; }
 
     // Bit 2 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool faultConditionSet();
+    bool faultConditionSet() { return axisStatus_[3]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool voltagePresent();
+    bool voltagePresent() { return axisStatus_[4]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool quickStopping();
+    bool quickStopping() { return axisStatus_[5] == 0; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool switchOnDisabled();
+    bool switchOnDisabled() { return axisStatus_[6]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool warning();
+    bool warning() { return axisStatus_[7]; }
 
     // Bit 8 is unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool remoteMode();
+    bool remoteMode() { return axisStatus_[9]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool targetReached();
+    bool targetReached() { return axisStatus_[10]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool internalLimitActive();
+    bool internalLimitActive() { return axisStatus_[11]; }
 
     // Bits 12 and 13 are unused
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool setEventHasOcurred();
+    bool setEventHasOcurred() { return axisStatus_[14]; }
 
     /**
      * @brief Read the property from axisStatus_
      */
-    bool powerEnabled();
+    bool powerEnabled() { return axisStatus_[15]; }
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store the
@@ -218,76 +217,72 @@ class masterMacsAxis : public sinqAxis {
     /**
      * @brief Read the property from axisError_
      */
-    bool shortCircuit();
+    bool shortCircuit() { return axisError_[1]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool encoderError();
+    bool encoderError() { return axisError_[2]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool followingError();
+    bool followingError() { return axisError_[3]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool communicationError();
+    bool communicationError() { return axisError_[4]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool feedbackError();
+    bool feedbackError() { return axisError_[5]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveLimitSwitch();
+    bool positiveLimitSwitch() { return axisError_[6]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeLimitSwitch();
+    bool negativeLimitSwitch() { return axisError_[7]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool positiveSoftwareLimit();
+    bool positiveSoftwareLimit() { return axisError_[8]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool negativeSoftwareLimit();
+    bool negativeSoftwareLimit() { return axisError_[9]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overCurrent();
+    bool overCurrent() { return axisError_[10]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overTemperature();
+    bool overTemperature() { return axisError_[11]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool overVoltage();
+    bool overVoltage() { return axisError_[12]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool underVoltage();
+    bool underVoltage() { return axisError_[13]; }
 
     /**
      * @brief Read the property from axisError_
      */
-    bool stoFault();
+    bool stoFault() { return axisError_[15]; }
-
-  private:
-    masterMacsController *pC_;
-    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
 };
 
 #endif

src/masterMacsController.cpp

@@ -12,10 +12,6 @@
 #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.
@@ -63,10 +59,8 @@ masterMacsController::masterMacsController(const char *portName,
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
-    pMasterMacsC_ =
+    // Initialization of all member variables
-        std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
+    comTimeout_ = comTimeout;
-            .comTimeout = comTimeout,
-        });
 
     // =========================================================================
 
@@ -136,6 +130,7 @@ 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};
@@ -163,7 +158,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Check if a custom timeout has been given
     if (comTimeout < 0.0) {
-        comTimeout = pMasterMacsC_->comTimeout;
+        comTimeout = comTimeout_;
     }
 
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
@@ -197,7 +192,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
     if (status != asynSuccess) {
-        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUserSelf)) {
+        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUserSelf)) {
             char printableCommand[MAXBUF_] = {0};
             adjustForPrint(printableCommand, fullCommand, MAXBUF_);
             asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -207,7 +202,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                       stringifyAsynStatus(status), printableCommand);
         }
     } else {
-        getMsgPrintControl().resetCount(comKey, pasynUserSelf);
+        msgPrintControl_.resetCount(comKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes
@@ -254,31 +249,48 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        setAxisParamChecked(axis, motorStatusCommsError, false);
+        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        if (pl_status != asynSuccess) {
+            return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
+        }
+    } else if (status == asynDisconnected) {
+        // Do nothing
     } else {
+        // Set the error status bits only if the axis is not disconnected
 
-        /*
+        // Check if the axis already is in an error communication mode. If
-        Since the communication failed, there is the possibility that the
+        // it is not, upstream the error. This is done to avoid "flooding"
-        controller is not connected at all to the network. In that case, we
+        // the user with different error messages if more than one error
-        cannot be sure that the information read out in the init method of the
+        // ocurred before an error-free communication
-        axis is still up-to-date the next time we get a connection. Therefore,
+        pl_status =
-        an info flag is set which the axis object can use at the start of its
+            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        poll method to try to initialize itself.
+        if (pl_status != asynSuccess) {
-        */
+            return paramLibAccessFailed(pl_status, "motorStatusProblem_",
-        axis->setNeedInit(true);
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
-
+        }
-        /*
-        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) {
-            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
-            setAxisParamChecked(axis, motorStatusProblem, true);
+            if (pl_status != asynSuccess) {
-            setAxisParamChecked(axis, motorStatusCommsError, false);
+                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__);
+            }
         }
     }
 
@@ -298,7 +310,6 @@ asynStatus masterMacsController::parseResponse(
     const char *fullCommand, const char *fullResponse, char *drvMessageText,
     int *valueStart, int *valueStop, int axisNo, int tcpCmd, bool isRead) {
 
-    bool responseValid = false;
     int responseStart = 0;
     asynStatus status = asynSuccess;
     int prevConnected = 0;
@@ -308,13 +319,12 @@ asynStatus masterMacsController::parseResponse(
     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);
+    status = getIntegerParam(axisNo, motorConnected(), &prevConnected);
+    if (status != asynSuccess) {
+        return paramLibAccessFailed(status, "motorConnected", axisNo,
+                                    __PRETTY_FUNCTION__, __LINE__);
+    }
 
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
@@ -326,7 +336,6 @@ asynStatus masterMacsController::parseResponse(
         } else if (fullResponse[i] == '\x06') {
             // ACK
             *valueStop = i;
-            responseValid = true;
 
             // Motor wasn't connected before -> Update the paramLib entry and PV
             // to show it is now connected.
@@ -338,7 +347,16 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                setAxisParamChecked(axis, motorConnected, true);
+                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis == nullptr) {
+                    return asynError;
+                }
+                status = axis->setIntegerParam(motorConnected(), 1);
+                if (status != asynSuccess) {
+                    return paramLibAccessFailed(status, "motorConnected",
+                                                axisNo, __PRETTY_FUNCTION__,
+                                                __LINE__);
+                }
                 status = callParamCallbacks();
                 if (status != asynSuccess) {
                     asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -349,7 +367,51 @@ asynStatus masterMacsController::parseResponse(
                 }
             }
 
-            break;
+            msgPrintControl_.resetCount(parseKey, pasynUserSelf);
+
+            // Check if the response matches the expectations. Each response
+            // contains the string "axisNo R tcpCmd" (including the spaces)
+            char expectedResponseSubstring[MAXBUF_] = {0};
+
+            // The response does not contain a leading 0 if tcpCmd only has
+            // a single digit!
+            if (isRead) {
+                snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d R %d",
+                         axisNo, tcpCmd);
+            } else {
+                snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d S %d",
+                         axisNo, tcpCmd);
+            }
+
+            msgPrintControlKey responseMatchKey = msgPrintControlKey(
+                portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+
+            if (strstr(&fullResponse[responseStart],
+                       expectedResponseSubstring) == NULL) {
+                adjustForPrint(printableCommand, fullCommand, MAXBUF_);
+                adjustForPrint(printableResponse, fullResponse, MAXBUF_);
+
+                if (msgPrintControl_.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());
+                }
+
+                snprintf(
+                    drvMessageText, MAXBUF_,
+                    "Mismatched response %s to command %s. Please call the "
+                    "support.",
+                    printableResponse, printableCommand);
+                return asynError;
+            } else {
+                msgPrintControl_.resetCount(responseMatchKey, pasynUserSelf);
+            }
+            return asynSuccess;
         } else if (fullResponse[i] == '\x15') {
             /*
             NAK
@@ -366,7 +428,16 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                setAxisParamChecked(axis, motorConnected, false);
+                masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+                if (axis == nullptr) {
+                    return asynError;
+                }
+                status = axis->setIntegerParam(motorConnected(), 0);
+                if (status != asynSuccess) {
+                    return paramLibAccessFailed(status, "motorConnected",
+                                                axisNo, __PRETTY_FUNCTION__,
+                                                __LINE__);
+                }
                 status = callParamCallbacks();
                 if (status != asynSuccess) {
                     asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -376,80 +447,33 @@ asynStatus masterMacsController::parseResponse(
                     return status;
                 }
             }
-            break;
+            return asynDisconnected;
         } else if (fullResponse[i] == '\x18') {
             // CAN
             snprintf(drvMessageText, MAXBUF_,
                      "Tried to write with a read-only command. This is a "
                      "bug, please call the support.");
 
-            if (getMsgPrintControl().shouldBePrinted(parseKey, true,
+            if (msgPrintControl_.shouldBePrinted(parseKey, true,
-                                                     pasynUserSelf)) {
+                                                 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, getMsgPrintControl().getSuffix());
+                    printableCommand, msgPrintControl_.getSuffix());
             }
-            responseValid = false;
-            break;
-        }
-    }
-
-    if (responseValid) {
-        getMsgPrintControl().resetCount(parseKey, pasynUserSelf);
-
-        // Check if the response matches the expectations. Each response
-        // contains the string "axisNo R tcpCmd" (including the spaces)
-        char expectedResponseSubstring[MAXBUF_] = {0};
-
-        // The response does not contain a leading 0 if tcpCmd only has
-        // a single digit!
-        if (isRead) {
-            snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d R %d", axisNo,
-                     tcpCmd);
-        } else {
-            snprintf(expectedResponseSubstring, MAXBUF_ - 4, "%d S %d", axisNo,
-                     tcpCmd);
-        }
-
-        msgPrintControlKey responseMatchKey =
-            msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-
-        if (strstr(&fullResponse[responseStart], expectedResponseSubstring) ==
-            NULL) {
-            adjustForPrint(printableCommand, fullCommand, MAXBUF_);
-            adjustForPrint(printableResponse, fullResponse, MAXBUF_);
-
-            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,
-                          getMsgPrintControl().getSuffix());
-            }
-
-            snprintf(drvMessageText, MAXBUF_,
-                     "Mismatched response %s to command %s. Please call the "
-                     "support.",
-                     printableResponse, printableCommand);
             return asynError;
-        } else {
-            getMsgPrintControl().resetCount(responseMatchKey, pasynUserSelf);
         }
     }
-    return asynSuccess;
+    return asynError;
 }
 
 asynStatus masterMacsController::readInt32(asynUser *pasynUser,
                                            epicsInt32 *value) {
     // masterMacs can be disabled
-    if (pasynUser->reason == motorCanDisable()) {
+    if (pasynUser->reason == motorCanDisable_) {
         *value = 1;
         return asynSuccess;
     } else {
@@ -457,8 +481,6 @@ asynStatus masterMacsController::readInt32(asynUser *pasynUser,
     }
 }
 
-double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
-
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/masterMacsController.h

@@ -8,16 +8,9 @@
 
 #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 {
 
@@ -38,15 +31,6 @@ 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
      *
@@ -139,10 +123,15 @@ class masterMacsController : public sinqController {
      *
      * @return double Timeout in seconds
      */
-    double comTimeout();
+    double comTimeout() { return comTimeout_; }
+
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
   private:
-    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
+    /*
+    Stores the constructor input comTimeout
+    */
+    double comTimeout_;
 };
 
 #endif /* masterMacsController_H */