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

retrieve the motor position which handle the conversion via
motorRecResolution.

src/sinqController.h

@@ -32,9 +32,9 @@ class epicsShareClass sinqController : public asynMotorController {
    pAxes_ which has the length specified here. When getting an axis, the
    `getAxis` function indexes into this array. A length of 8 would therefore
    mean that the axis slots 0 to 7 are available. However, in order to keep the
-   axis enumeration in sync with the electronics counting logic, we start
-   counting the axes with 1 and end at 8. Therefore, an offset of 1 is added
-   when forwarding this number to asynMotorController.
+   axis enumeration identical to that of the hardware, we start counting the
+   axes with 1 and end at 8. Therefore, an offset of 1 is added when forwarding
+   this number to asynMotorController.
    * @param movingPollPeriod      Time between polls when moving (in seconds)
    * @param idlePollPeriod        Time between polls when not moving (in
    seconds)
@@ -82,7 +82,7 @@ class epicsShareClass sinqController : public asynMotorController {
      *
      * If accessing the parameter library failed (return status !=
     asynSuccess), calling this function writes a standardized message to both
-    the IOC shell and the motor message text PV. It then returns the input
+    the IOC shell and the motorMessageText PV. It then returns the input
     status.
      *
      * @param status              Status of the failed parameter library access
@@ -90,7 +90,7 @@ class epicsShareClass sinqController : public asynMotorController {
     error messages.
      * @param functionName        Name of the caller function. It is recommended
     to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
-     * @param line          Source code line where this function is
+     * @param line                Source code line where this function is
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns input status.
      */
@@ -115,7 +115,7 @@ class epicsShareClass sinqController : public asynMotorController {
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
-    asynStatus errMsgCouldNotParseResponse(const char *command,
+    asynStatus couldNotParseResponse(const char *command,
                                            const char *response, int axisNo,
                                            const char *functionName, int line);
 
@@ -131,7 +131,7 @@ class epicsShareClass sinqController : public asynMotorController {
      * @brief This function should be called when a communication timeout
     occured. It calculates the frequency of communication timeout events and
     creates an error message, if an threshold has been exceeded.
-     *
+
     Occasionally, communication timeouts between the IOC and the motor
     controller may happen, usually because the controller takes too long to
     respond. If this happens infrequently, this is not a problem. However, if it
@@ -181,7 +181,7 @@ class epicsShareClass sinqController : public asynMotorController {
 
     /**
      * @brief Inform the user, if the number of timeouts exceeds the threshold
-     * specified with setMaxSubsequentTimeouts
+     * specified with `setMaxSubsequentTimeouts`.
      *
      * @param timeoutNo             Number of subsequent timeouts which already
      * happened.
@@ -192,10 +192,10 @@ class epicsShareClass sinqController : public asynMotorController {
                                                   class sinqAxis *axis);
 
     /**
-     * @brief See documentation of checkMaxSubsequentTimeouts(sinqAxis * axis)
+     * @brief See documentation of `checkMaxSubsequentTimeouts(sinqAxis * axis)`
      *
-     * @param userMessage             Buffer for the user message
-     * @param userMessageSize         Buffer size in chars
+     * @param userMessage           Buffer for the user message
+     * @param userMessageSize       Buffer size in chars
      * @return asynStatus
      */
     virtual asynStatus checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
@@ -216,8 +216,8 @@ class epicsShareClass sinqController : public asynMotorController {
 
     /**
      * @brief Get a reference to the map used to control the maximum number of
-     * message repetitions. See the documentation of printRepetitionWatchdog in
-     * msgPrintControl.h for details.
+     * message repetitions. See the documentation of `printRepetitionWatchdog`
+     * in msgPrintControl.h for details.
      */
     msgPrintControl &getMsgPrintControl();
 
@@ -253,7 +253,7 @@ class epicsShareClass sinqController : public asynMotorController {
     int motorStatus() { return motorStatus_; }
     int motorUpdateStatus() { return motorUpdateStatus_; }
 
-    // Accessors for sztatus bits (integers)
+    // Accessors for status bits (integers)
     int motorStatusDirection() { return motorStatusDirection_; }
     int motorStatusDone() { return motorStatusDone_; }
     int motorStatusHighLimit() { return motorStatusHighLimit_; }
@@ -295,6 +295,8 @@ class epicsShareClass sinqController : public asynMotorController {
 
     // Additional members
     int numAxes() { return numAxes_; }
+    double idlePollPeriod() { return idlePollPeriod_; }
+    double movingPollPeriod() { return movingPollPeriod_; }
     asynUser *asynUserSelf() { return pasynUserSelf; }
     asynUser *ipPortUser() { return ipPortUser_; }
 
@@ -302,7 +304,7 @@ class epicsShareClass sinqController : public asynMotorController {
 
   protected:
     // Pointer to the port user which is specified by the char array
-    // ipPortConfigName in the constructor
+    // `ipPortConfigName` in the constructor
     asynUser *ipPortUser_;
     double movingPollPeriod_;
     double idlePollPeriod_;