Added dedicated interface function for setting the operation mode.

README.md

@@ -331,6 +331,8 @@ available in the IOC shell.
 This function is also available in the IOC shell.
 - `setScaleMovTimeout`: Set a scaling factor for the expected movement time.
 This function is also available in the IOC shell.
+- `setMode`: This is an empty function which should be overwritten by concrete
+driver implementations.
 
 #### msgPrintControl.h
 In addition to the two extension classes this library also includes a mechanism

src/sinqAxis.cpp

@@ -732,6 +732,11 @@ void sinqAxis::setTargetPosition(double targetPosition) {
     pSinqA_->targetPosition = targetPosition;
 }
 
+asynStatus sinqAxis::setMode(int mode) {
+    (void)mode;
+    return asynSuccess;
+}
+
 // =============================================================================
 // IOC shell functions
 extern "C" {

src/sinqAxis.h

@@ -434,6 +434,18 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     asynStatus assertConnected();
 
+    /**
+     * @brief Set the operation mode (position or velocity) of the axis. It
+     * should be implemented by a child class of sinqAxis.
+     *
+     * This function is called from within sinqController::writeInt32 if a new
+     * operation mode has been set.
+     *
+     * @param mode: New operation mode. 0 is position mode, 1 is velocity mode.
+     * @return asynStatus
+     */
+    virtual asynStatus setMode(int mode);
+
     /**
      * @brief Return a pointer to the axis controller.
      *

src/sinqController.cpp

@@ -510,7 +510,7 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
             // for velocity mode):
             if (value == 0 || value == 1) {
                 setAxisParamChecked(axis, motorMode, value);
-                return asynMotorController::writeInt32(pasynUser, value);
+                return axis->setMode(value);
             } else {
                 int axisNo;
                 getAddress(pasynUser, &axisNo);