Substantial rRework of 0.2.0 after the CAMEA test showed multiple

problems. Also improved the documentation.

src/sinqAxis.h

@@ -42,6 +42,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     After calling doPoll:
     - Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if
     doPoll returned asynSuccess
+    - If the movement timeout watchdog has been started, check it.
+    - Update the parameter library entry enableMotorRBV_ by calling isEnabled.
     - Run `callParamCallbacks`
     - Return the status of `doPoll`
      *
@@ -141,6 +143,25 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     virtual asynStatus doHome(double minVelocity, double maxVelocity,
                               double acceleration, int forwards);
 
+    /**
+     * @brief This function enables / disables an axis. It should be implemented
+     * by a child class of sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    virtual asynStatus enable(bool on);
+
+    /**
+     * @brief This function should set "on" to true, if the motor is enabled,
+     * and false otherwise. It should be implemented by a child class of
+     * sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    virtual asynStatus isEnabled(bool *on);
+
     /**
      * @brief Start the watchdog for the movement, if the watchdog is not
     disabled. See the documentation of checkMovTimeoutWatchdog for more details.
@@ -235,7 +256,6 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     time_t expectedArrivalTime_;
     time_t offsetMovTimeout_;
     double scaleMovTimeout_;
-    bool watchdogEnabled_;
     bool watchdogMovActive_;
 
   private: