Perform poll even if init fails

The expected version can now be set in the Makefile via USR_CXXFLAGS.
Additionally, the README.md has received documentation regarding the
version check. Lastly, the version check can now be disabled by omitting
the flags or setting one of them to a negative value.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+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

@@ -1,48 +0,0 @@
-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

@@ -6,9 +6,6 @@ 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
 
@@ -26,9 +23,14 @@ SOURCES += src/masterMacsController.cpp
 # Store the record files
 TEMPLATES += sinqMotor/db/asynRecord.db
 TEMPLATES += sinqMotor/db/sinqMotor.db
+TEMPLATES += db/masterMacs.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 -Wunused-result -Wextra -Werror
+
+# These flags define the expected firmware version. See README.md, section
+# "Firmware version checking" for details.
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=2 -DFIRMWARE_MINOR_VERSION=2 -Wall -Wextra -Weffc++ -Wunused-result -Wextra

README.md

@@ -57,6 +57,8 @@ 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)")
 ```
 
@@ -64,6 +66,32 @@ dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PO
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
 
+### Firmware version checking
+
+This driver expects a certain version of the firmware running on the controller itself.
+This is checked at IOC startup by reading the version directly from the hardware.
+If the firmware version is incompatible to the driver, the IOC will be shut down.
+If the firmware version cannot be read (e.g. because the variable used to do so
+does not exist yet on old firmware versions), the firmware is assumed to be compatible
+to the driver.
+
+The version check is separated into a check of the major and the minor firmware
+version against expected values. The firmware is seen as compatible if the following conditions hold:
+- Read-out major version == Expected major version
+- Read-out read major version >= Expected minor version
+
+The expected versions are defined via compiler flags in `Makefile`:
+
+```
+USR_CXXFLAGS += -DFIRMWARE_MAJOR_VERSION=1 -DFIRMWARE_MINOR_VERSION=0
+```
+Be aware that these flags are only used to compile C++-files (.cpp, .cxx) and not
+C-files (.c). For C-files, the Makefile variable `USR_CFLAGS` must be used.
+
+In order to disable the checks, the flags can be set to -1 or just be removed
+entirely. If one of the flags is not given, both the major and the minor version 
+checks are deactivated.
+
 ### How to build it
 
-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.
+Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

db/masterMacs.db

@@ -0,0 +1,7 @@
+# Call the nodeReset function of the corresponding masterMacsAxis.
+# This record is coupled to the parameter library via nodeReset_ -> NODE_RESET.
+record(longout, "$(INSTR)$(M):NodeReset") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) NODE_RESET")
+    field(PINI, "NO")
+}

src/masterMacsAxis.h

@@ -1,14 +1,12 @@
 #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 HIDDEN masterMacsAxisImpl;
 
-class masterMacsAxis : public sinqAxis {
+class HIDDEN masterMacsAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new masterMacsAxis
@@ -18,6 +16,13 @@ class masterMacsAxis : public sinqAxis {
      */
     masterMacsAxis(masterMacsController *pController, int axisNo);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    masterMacsAxis(const masterMacsAxis &) = delete;
+    masterMacsAxis &operator=(const masterMacsAxis &) = delete;
+
     /**
      * @brief Destroy the masterMacsAxis
      *
@@ -52,13 +57,13 @@ class masterMacsAxis : public sinqAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
-     * @param max_velocity
+     * @param minVelocity
+     * @param maxVelocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
-                      double max_velocity, double acceleration);
+    asynStatus doMove(double position, int relative, double minVelocity,
+                      double maxVelocity, double acceleration);
 
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
@@ -77,12 +82,27 @@ class masterMacsAxis : public sinqAxis {
      */
     asynStatus doReset();
 
+    /**
+     * @brief Performs a "node reset" on the axis as defined in the CANopen
+     * standard
+     *
+     * A "node reset" is a factory reset on the axis which completely deletes
+     * all configured information (e.g. limits or speed) from the axis. The
+     * MasterMACS controller then reapplies the initial configuration to this
+     * axis. It can therefore be seen as a "hard" version of the normal error
+     * reset performed by the `doReset` method.
+     *
+     * @return asynStatus
+     */
+    asynStatus nodeReset();
+
     /**
      * @brief Readout of some values from the controller at IOC startup
      *
      * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and acceleration
-     * from the MCU and store this information in the parameter library.
+     * - Read out the motor status, motor position, velocity and
+     * acceleration from the MCU and store this information in the parameter
+     * library.
      * - Set the enable PV accordint to the initial status of the axis.
      *
      * @return asynStatus
@@ -98,39 +118,43 @@ class masterMacsAxis : public sinqAxis {
     asynStatus enable(bool on);
 
     /**
-     * @brief Read the encoder type (incremental or absolute) for this axis from
-     * the MCU and store the information in the PV ENCODER_TYPE.
+     * @brief Read the encoder type (incremental or absolute) for this axis
+     * from the MCU and store the information in the PV ENCODER_TYPE.
      *
      * @return asynStatus
      */
     asynStatus readEncoderType();
 
-  protected:
-    masterMacsController *pC_;
-    double lastSetSpeed_;
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
-
-    bool targetReachedUninitialized_;
-
-    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 Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store the
-     * result in axisStatus_
+     * @brief Instruct the axis to run its init() function during the next
+     * poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
+
+    /**
+     * @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 result in axisStatus_
      *
      */
     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.
     */
@@ -138,72 +162,72 @@ 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
-     * result in axisStatus_
+     * @brief Read the Master MACS status with the xR10 command and store
+     * the result in axisStatus_
      *
      */
     asynStatus readAxisError();
@@ -217,72 +241,76 @@ 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 +12,35 @@
 #include <string>
 #include <unistd.h>
 
+/*
+These functions are used to read out the compiler flags defining the major and
+minor versions. See README.md, section "Firmware version checking" for
+details. If these flags are not given, a default value of -1 is used, which
+disables the version checks (it suffices to have one of these at -1 to disable
+both major and minor version check)
+ */
+constexpr int firmware_major_version() {
+#ifdef FIRMWARE_MAJOR_VERSION
+    return FIRMWARE_MAJOR_VERSION;
+#else
+    return -1;
+#endif
+}
+constexpr int firmware_minor_version() {
+#ifdef FIRMWARE_MINOR_VERSION
+    return FIRMWARE_MINOR_VERSION;
+#else
+    return -1;
+#endif
+}
+
+struct masterMacsControllerImpl {
+    double comTimeout;
+
+    // Indices of additional ParamLib entries
+    int nodeReset;
+};
+
 /**
  * @brief Copy src into dst and replace all NULL terminators up to the carriage
  * return with spaces. This allows to print *dst with asynPrint.
@@ -52,15 +81,32 @@ masterMacsController::masterMacsController(const char *portName,
     : sinqController(portName, ipPortConfigName, numAxes, movingPollPeriod,
                      idlePollPeriod,
                      // No additional parameter library entries
-                     0)
+                     0),
+      pMasterMacsC_(
+          std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
+              .comTimeout = comTimeout,
+              .nodeReset = 0, // Overwritten later
+          }))
 
 {
 
     // Initialization of local variables
     asynStatus status = asynSuccess;
+    char response[MAXBUF_] = {0};
 
-    // Initialization of all member variables
-    comTimeout_ = comTimeout;
+    // =========================================================================
+    // Create additional parameter library entries
+
+    status =
+        createParam("NODE_RESET", asynParamInt32, &pMasterMacsC_->nodeReset);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
 
     // =========================================================================
 
@@ -93,6 +139,60 @@ masterMacsController::masterMacsController(const char *portName,
         pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
+
+    // =========================================================================
+
+    if (firmware_major_version() >= 0 && firmware_minor_version() >= 0) {
+        // Check the firmware version according to the conditions outlined in
+        // README.md
+        status = read(0, 99, response);
+
+        if (status == asynSuccess) {
+
+            // Just interpret the version if the variable already exists
+            double versionRaw = 0.0;
+            int nvals = sscanf(response, "%lf", &versionRaw);
+            if (nvals == 1 && versionRaw != 0.0) {
+                // Discard decimal part
+                long long versionInt = (long long)versionRaw;
+
+                // Extract bugfix (last 3 digits)
+                // Currently not used, just here for completions sake
+                // int bugfix = versionInt % 1000;
+                versionInt /= 1000;
+
+                // Extract minor (next 3 digits)
+                int minor = versionInt % 1000;
+                versionInt /= 1000;
+
+                // Remaining is major
+                int major = (int)versionInt;
+
+                // Compare to target values
+                if (firmware_major_version() != major ||
+                    firmware_minor_version() > minor) {
+                    asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                              "Controller \"%s\" => %s, line %d\nFATAL ERROR "
+                              "(Incorrect "
+                              "version number of firmware: Expected major "
+                              "version equal "
+                              "to %d, got %d. Expected minor version equal to "
+                              "or larger "
+                              "than %d, got %d).\nTerminating IOC",
+                              portName, __PRETTY_FUNCTION__, __LINE__,
+                              firmware_major_version(), major,
+                              firmware_minor_version(), minor);
+                    exit(-1);
+                }
+            }
+        } else {
+            asynPrint(
+                this->pasynUser(), ASYN_TRACE_ERROR,
+                "Controller \"%s\" => %s, line %d\nCould not read firmware "
+                "version\n",
+                portName, __PRETTY_FUNCTION__, __LINE__);
+        }
+    }
 }
 
 /*
@@ -114,8 +214,24 @@ masterMacsAxis *masterMacsController::getMasterMacsAxis(int axisNo) {
     return dynamic_cast<masterMacsAxis *>(asynAxis);
 }
 
+asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
+                                            epicsInt32 value) {
+    int function = pasynUser->reason;
+
+    // =====================================================================
+
+    masterMacsAxis *axis = getMasterMacsAxis(pasynUser);
+
+    // Handle custom PVs
+    if (function == nodeReset()) {
+        return axis->nodeReset();
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
+    }
+}
+
 asynStatus masterMacsController::read(int axisNo, int tcpCmd, char *response,
-                                      double comTimeout) {
+                                      double /*comTimeout*/) {
     return writeRead(axisNo, tcpCmd, NULL, response);
 }
 
@@ -130,7 +246,6 @@ 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};
@@ -158,13 +273,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
 
     // Check if a custom timeout has been given
     if (comTimeout < 0.0) {
-        comTimeout = comTimeout_;
-    }
-
-    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
+        comTimeout = pMasterMacsC_->comTimeout;
     }
 
     // Build the full command depending on the inputs to this function
@@ -192,7 +301,7 @@ 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 +311,7 @@ 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
@@ -248,48 +357,38 @@ 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);
-        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
-        // 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__);
+    if (axisNo != 0) {
+        masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+        if (axis == nullptr) {
+            // We already did the error logging directly in getAxis
+            return asynError;
         }
 
-        if (motorStatusProblem == 0) {
-            pl_status = axis->setStringParam(motorMessageText_, drvMessageText);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorMessageText_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
+        if (status == asynSuccess) {
+            setAxisParamChecked(axis, motorStatusCommsError, false);
+        } else {
+            /*
+            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);
 
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusProblem",
-                                            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);
 
-            pl_status = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (pl_status != asynSuccess) {
-                return paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
+            if (motorStatusProblem == 0) {
+                setAxisParamChecked(axis, motorMessageText, drvMessageText);
+                setAxisParamChecked(axis, motorStatusProblem, true);
+                setAxisParamChecked(axis, motorStatusCommsError, false);
             }
         }
     }
@@ -310,20 +409,24 @@ 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;
+    int prevConnected = 1;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
     msgPrintControlKey parseKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
+    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+    if (axisNo != 0 && axis == nullptr) {
+        return asynError;
+    }
+
     // Was the motor previously connected?
-    status = getIntegerParam(axisNo, motorConnected(), &prevConnected);
-    if (status != asynSuccess) {
-        return paramLibAccessFailed(status, "motorConnected", axisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
+    if (axis != nullptr) {
+        getAxisParamChecked(axis, motorConnected, &prevConnected);
     }
 
     // We don't use strlen here since the C string terminator 0x00
@@ -336,6 +439,7 @@ 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.
@@ -347,71 +451,21 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                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,
-                              "Controller \"%s\", axis %d => %s, line "
-                              "%d:\nCould not update parameter library\n",
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-                    return status;
+                if (axis != nullptr) {
+                    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;
+                    }
                 }
             }
 
-            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;
+            break;
         } else if (fullResponse[i] == '\x15') {
             /*
             NAK
@@ -428,52 +482,93 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
-                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,
-                              "Controller \"%s\", axis %d => %s, line "
-                              "%d:\nCould not update parameter library\n",
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
-                    return status;
+                if (axis != nullptr) {
+                    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;
+                    }
                 }
             }
-            return asynDisconnected;
+            break;
         } 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 (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());
             }
-            return asynError;
+            responseValid = false;
+            break;
         }
     }
-    return asynError;
+
+    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;
 }
 
 asynStatus masterMacsController::readInt32(asynUser *pasynUser,
                                            epicsInt32 *value) {
     // masterMacs can be disabled
-    if (pasynUser->reason == motorCanDisable_) {
+    if (pasynUser->reason == motorCanDisable()) {
         *value = 1;
         return asynSuccess;
     } else {
@@ -481,6 +576,10 @@ asynStatus masterMacsController::readInt32(asynUser *pasynUser,
     }
 }
 
+double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
+
+int masterMacsController::nodeReset() { return pMasterMacsC_->nodeReset; }
+
 /***************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */
@@ -540,7 +639,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configMasterMacsCreateController = {
-    "masterMacsController", 6, CreateControllerArgs};
+    "masterMacsController", 6, CreateControllerArgs,
+    "Create a new instance of a MasterMACS controller."};
 static void configMasterMacsCreateControllerCallFunc(const iocshArgBuf *args) {
     masterMacsCreateController(args[0].sval, args[1].sval, args[2].ival,
                                args[3].dval, args[4].dval, args[5].dval);

src/masterMacsController.h

@@ -8,11 +8,18 @@
 
 #ifndef masterMacsController_H
 #define masterMacsController_H
-#include "masterMacsAxis.h"
 #include "sinqAxis.h"
 #include "sinqController.h"
+#include <memory>
 
-class masterMacsController : public sinqController {
+// 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 HIDDEN masterMacsAxis;
+
+struct HIDDEN masterMacsControllerImpl;
+
+class HIDDEN masterMacsController : public sinqController {
 
   public:
     /**
@@ -31,6 +38,22 @@ class masterMacsController : public sinqController {
                          int numAxes, double movingPollPeriod,
                          double idlePollPeriod, double comTimeout);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    masterMacsController(const masterMacsController &) = delete;
+    masterMacsController &operator=(const masterMacsController &) = delete;
+
+    /**
+     * @brief Overloaded version of the sinqController version
+     *
+     * @param pasynUser
+     * @param value
+     * @return asynStatus
+     */
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
     /**
      * @brief Get the axis object
      *
@@ -49,6 +72,17 @@ class masterMacsController : public sinqController {
      */
     masterMacsAxis *getMasterMacsAxis(int axisNo);
 
+    /**
+     * @brief Overloaded function of sinqController
+     *
+     * The function is overloaded to allow resetting the node
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               New value
+     * @return asynStatus
+     */
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
     /**
      * @brief Send a command to the hardware (S mode)
      *
@@ -123,15 +157,13 @@ class masterMacsController : public sinqController {
      *
      * @return double Timeout in seconds
      */
-    double comTimeout() { return comTimeout_; }
+    double comTimeout();
 
-    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+    // Accessors for additional PVs
+    int nodeReset();
 
   private:
-    /*
-    Stores the constructor input comTimeout
-    */
-    double comTimeout_;
+    std::unique_ptr<masterMacsControllerImpl> pMasterMacsC_;
 };
 
 #endif /* masterMacsController_H */