From 2578081814943129175fbb6ec329ec7531f59b8b Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 20 Jan 2026 16:44:13 +0100
Subject: [PATCH] Added dedicated interface function for setting the operation
 mode.

---
 README.md              |  2 ++
 src/sinqAxis.cpp       |  5 +++++
 src/sinqAxis.h         | 12 ++++++++++++
 src/sinqController.cpp |  2 +-
 4 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 82560c9..fb577bd 100644
--- a/README.md
+++ b/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
diff --git a/src/sinqAxis.cpp b/src/sinqAxis.cpp
index bf02152..010934c 100644
--- a/src/sinqAxis.cpp
+++ b/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" {
diff --git a/src/sinqAxis.h b/src/sinqAxis.h
index e118548..f9adaa7 100644
--- a/src/sinqAxis.h
+++ b/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.
      *
diff --git a/src/sinqController.cpp b/src/sinqController.cpp
index 322023f..09f530b 100644
--- a/src/sinqController.cpp
+++ b/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);