Added doReset wrapper around reset and added two functions to set and

retrieve the motor position which handle the conversion via
motorRecResolution.

src/sinqAxis.h

@@ -19,15 +19,12 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     sinqAxis(class sinqController *pC_, int axisNo);
 
     /**
-     * @brief Perform some standardized operation before and after the concrete
+     * @brief Perform some standardized operations before and after the concrete
     `doPoll` implementation.
      *
-     * Wrapper around doPoll which performs the following operations:
-    Before calling doPoll:
+     * Wrapper around `doPoll` which performs the following operations:
 
-    - Try to execute atFirstPoll once (and retry, if that failed)
-
-    After calling doPoll:
+    - Call the `doPoll` method
 
     - Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if
     doPoll returned asynSuccess
@@ -45,8 +42,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      *
      * @param moving              Forwarded to `doPoll`.
      * @return asynStatus         Forward the status of `doPoll`, unless one of
-    the parameter library operation fails (in that case, returns the failed
-    operation status).
+    the parameter library operation fails (in that case, returns the status of
+    the failed operation.
      */
     asynStatus poll(bool *moving);
 
@@ -61,11 +58,12 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     virtual asynStatus doPoll(bool *moving);
 
     /**
-     * @brief Perform some standardized operation before and after the concrete
+     * @brief Perform some standardized operations before and after the concrete
     `doMove` implementation.
 
     * Wrapper around `doMove` which calculates the (absolute) target position
-    and stores it in the parameter library. After that, it calls and returns
+    and stores it in the member variable `targetPosition_`. This member variable
+    is e.g. used for the movement watchdog. Afterwards, it calls and returns
     `doMove`.
      *
      * @param position            Forwarded to `doMove`.
@@ -162,20 +160,30 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
 
     /**
      * @brief This function is called when the PV "$(INSTR)$(M):Reset" is set to
-     * any value. This method should be implemented by a child class of
-     * sinqAxis.
+     * any value. It calls `doReset` (which ought to be implemented by a child
+     * class) and then performs da defined number of consecutive fast polls. If
+     * one of the polls returns asynSuccess, it returns immediately.
      *
      * @return asynStatus
      */
-    virtual asynStatus reset();
+    asynStatus reset();
+
+    /**
+     * @brief Implementation of the "proper", device-specific `reset` method.
+     This method should be implemented by a child class of sinqAxis. If the
+     motor cannot be reset, this function should return asynError.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus doReset();
 
     /**
      * @brief This function enables / disables an axis. It should be implemented
      * by a child class of sinqAxis.
      *
      * The concrete implementation should (but doesn't need to) follow the
-     * convetion that a value of 0 disables the axis and any other value enables
-     * it.
+     * convention that a value of 0 disables the axis and any other value
+     * enables it.
      *
      * @param on
      * @return asynStatus
@@ -188,7 +196,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * Populates the speed fields of the motor record. If the param lib
      * entry motorCanSetSpeed_ (connected to the PV x:VariableSpeed) is set to
      * 1, VBAS and VMAX are set to min and max respectively. Otherwise, they are
-     * set to val. Additionally, the speed itself is set to velo.
+     * set to val. Additionally, the speed itself is set to VELO.
      *
      * The units of the inputs are engineering units (EGU) per second (e.g. mm/s
      * if the EGU is mm).
@@ -243,15 +251,15 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
 
     with
 
-    timeContSpeed = abs(motorTargetPosition - motorPosition) / motorVelBase
+    timeContSpeed = abs(targetPosition - motorPosition) / motorVelBase
     timeAcc = motorVelBase / motorAccel
 
-    The values motorTargetPosition, motorVelBase, motorAccel and
-    positionAtMovementStart are taken from the parameter library. Therefore it
-    is necessary to populate them before using this function. If they are not
-    given, both speed and velocity are assumed to be infinite. This means that
-    timeContSpeed and/or timeAcc are set to zero. motorTargetPosition is
-    populated automatically when using the doMove function.
+    The values motorVelBase, motorAccel and positionAtMovementStart are taken
+    from the parameter library. Therefore it is necessary to populate them
+    before using this function. If they are not given, both speed and velocity
+    are assumed to be infinite. This means that timeContSpeed and/or timeAcc are
+    set to zero. targetPosition is populated automatically when using the doMove
+    function.
 
     The values offsetMovTimeout_ and scaleMovTimeout_ can be set directly from
     the IOC shell with the functions setScaleMovTimeout and setOffsetMovTimeout,
@@ -280,7 +288,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @brief Set the offsetMovTimeout. Also available in the IOC shell
      * (see "extern C" section in sinqController.cpp).
      *
-    See documentation of `checkMovTimeoutWatchdog` for details.
+     * See documentation of `checkMovTimeoutWatchdog` for details.
      *
      * @param offsetMovTimeout    Offset (in seconds)
      * @return asynStatus
@@ -311,6 +319,34 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     int axisNo() { return axisNo_; }
 
+    /**
+     * @brief Read the motor position from the paramLib, adjusted for the
+     * motorRecResolution
+     *
+     * The motorPosition value in the paramLib is the encoder position
+     * divided by the motorRecResolution (see README.md). This function
+     * fetches the paramLib value and multiplies it with motorRecResolution
+     * (also fetched from the paramLib).
+     *
+     * @param motorPositon
+     * @return asynStatus
+     */
+    asynStatus motorPosition(double *motorPositon);
+
+    /**
+     * @brief Write the motor position in the paramLib, adjusted for the
+     * motorRecResolution
+     *
+     * The motorPosition value in the paramLib is the encoder position
+     * divided by the motorRecResolution (see README.md). This function takes
+     * the input value and divides it with motorRecResolution (fetched from
+     * the paramLib).
+     *
+     * @param motorPosition
+     * @return asynStatus
+     */
+    asynStatus setMotorPosition(double motorPosition);
+
   protected:
     // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime_;