Applied PIMPL by moving members to internal struct sinqAxisImpl

This change makes sinqMotor ready for 1.x releases where ABI stability
and backwards compatibility is guaranteed.

src/sinqController.h

@@ -11,9 +11,8 @@ Stefan Mathis, November 2024
 #define sinqController_H
 #include "asynMotorController.h"
 #include "msgPrintControl.h"
-#include <deque>
 #include <initHooks.h>
-#include <unordered_map>
+#include <memory>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
@@ -21,6 +20,8 @@ Stefan Mathis, November 2024
 #define AbsoluteEncoder "absolute"
 #define NoEncoder "none"
 
+struct sinqControllerImpl;
+
 class epicsShareClass sinqController : public asynMotorController {
   public:
     /**
@@ -175,11 +176,7 @@ class epicsShareClass sinqController : public asynMotorController {
      * @return asynStatus
      */
     virtual asynStatus setThresholdComTimeout(time_t comTimeoutWindow,
-                                              size_t maxNumberTimeouts) {
-        comTimeoutWindow_ = comTimeoutWindow;
-        maxNumberTimeouts_ = maxNumberTimeouts;
-        return asynSuccess;
-    }
+                                              size_t maxNumberTimeouts);
 
     /**
      * @brief Inform the user, if the number of timeouts exceeds the threshold
@@ -211,17 +208,14 @@ class epicsShareClass sinqController : public asynMotorController {
      * @param maxSubsequentTimeouts
      * @return asynStatus
      */
-    asynStatus setMaxSubsequentTimeouts(int maxSubsequentTimeouts) {
-        maxSubsequentTimeouts_ = maxSubsequentTimeouts;
-        return asynSuccess;
-    }
+    asynStatus setMaxSubsequentTimeouts(int maxSubsequentTimeouts);
 
     /**
      * @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.
      */
-    msgPrintControl &getMsgPrintControl() { return msgPrintControl_; }
+    msgPrintControl &getMsgPrintControl();
 
     /**
      * @brief Get the axis object
@@ -293,25 +287,26 @@ class epicsShareClass sinqController : public asynMotorController {
     int motorRecDirection() { return motorRecDirection_; }
     int motorRecOffset() { return motorRecOffset_; }
 
-    // Accessors for additional PVs defined in sinqController
-    int motorMessageText() { return motorMessageText_; }
-    int motorReset() { return motorReset_; }
-    int motorEnable() { return motorEnable_; }
-    int motorEnableRBV() { return motorEnableRBV_; }
-    int motorCanDisable() { return motorCanDisable_; }
-    int motorEnableMovWatchdog() { return motorEnableMovWatchdog_; }
-    int motorCanSetSpeed() { return motorCanSetSpeed_; }
-    int motorLimitsOffset() { return motorLimitsOffset_; }
-    int motorForceStop() { return motorForceStop_; }
-    int motorConnected() { return motorConnected_; }
-    int motorVeloFromDriver() { return motorVeloFromDriver_; }
-    int motorVbasFromDriver() { return motorVbasFromDriver_; }
-    int motorVmaxFromDriver() { return motorVmaxFromDriver_; }
-    int motorAcclFromDriver() { return motorAcclFromDriver_; }
-    int motorHighLimitFromDriver() { return motorHighLimitFromDriver_; }
-    int motorLowLimitFromDriver() { return motorLowLimitFromDriver_; }
-    int adaptivePolling() { return adaptivePolling_; }
-    int encoderType() { return encoderType_; }
+    // Accessors for additional PVs defined in sinqController (which are hidden
+    // in pSinqC_)
+    int motorMessageText();
+    int motorReset();
+    int motorEnable();
+    int motorEnableRBV();
+    int motorCanDisable();
+    int motorEnableMovWatchdog();
+    int motorCanSetSpeed();
+    int motorLimitsOffset();
+    int motorForceStop();
+    int motorConnected();
+    int motorVeloFromDriver();
+    int motorVbasFromDriver();
+    int motorVmaxFromDriver();
+    int motorAcclFromDriver();
+    int motorHighLimitFromDriver();
+    int motorLowLimitFromDriver();
+    int adaptivePolling();
+    int encoderType();
 
     // Additional members
     int numAxes() { return numAxes_; }
@@ -330,7 +325,7 @@ class epicsShareClass sinqController : public asynMotorController {
      *
      * @return asynUser*
      */
-    asynUser *pasynOctetSyncIOipPort() { return pasynOctetSyncIOipPort_; }
+    asynUser *pasynOctetSyncIOipPort();
 
     /**
      * @brief Overloaded version of `asynController::poll` which decreases
@@ -374,7 +369,7 @@ class epicsShareClass sinqController : public asynMotorController {
      * specified
      *
      */
-    int outstandingForcedFastPolls() { return outstandingForcedFastPolls_; }
+    int outstandingForcedFastPolls();
 
     // Maximum error message buffer size. This is an empirical value which must
     // be large enough to avoid overflows for all commands to the device /
@@ -383,67 +378,9 @@ class epicsShareClass sinqController : public asynMotorController {
 
     // =========================================================================
 
-  protected:
-    // Number of fast polls which still need to be performed before adaptive
-    // polling is active again.
-    int outstandingForcedFastPolls_;
-
-    // Number of polls forced by wakeupPoller which are still
-
-    // Pointer to the port user which is specified by the char array
-    // `ipPortConfigName` in the constructor
-    asynUser *pasynOctetSyncIOipPort_;
-    double movingPollPeriod_;
-    double idlePollPeriod_;
-    msgPrintControl msgPrintControl_;
-
-    // Internal variables used in the communication timeout frequency watchdog
-    time_t comTimeoutWindow_;  // Size of the time window
-    size_t maxNumberTimeouts_; // Maximum acceptable number of events within the
-                               // time window
-    std::deque<time_t>
-        timeoutEvents_; // Deque holding the timestamps of the individual events
-
-    // Communicate a timeout to the user after it has happened this many times
-    // in a row
-    int maxSubsequentTimeouts_;
-    bool maxSubsequentTimeoutsExceeded_;
-
-    /*
-    See the documentation in db/sinqMotor.db for the following integers
-    */
-#define FIRST_SINQMOTOR_PARAM motorMessageText_
-    int motorMessageText_;
-    int motorReset_;
-    int motorEnable_;
-    int motorEnableRBV_;
-    int motorCanDisable_;
-    int motorEnableMovWatchdog_;
-    int motorCanSetSpeed_;
-    int motorLimitsOffset_;
-    int motorForceStop_;
-    int motorConnected_;
-    /*
-    These parameters are here to write values from the hardware to the EPICS
-    motor record. Using motorHighLimit_ / motorLowLimit_ does not work:
-    https://epics.anl.gov/tech-talk/2023/msg00576.php. Therefore, some
-    additional records are introduced which read from these parameters and write
-    into the motor record.
-    */
-    int motorVeloFromDriver_;
-    int motorVbasFromDriver_;
-    int motorVmaxFromDriver_;
-    int motorAcclFromDriver_;
-    int motorHighLimitFromDriver_;
-    int motorLowLimitFromDriver_;
-    int adaptivePolling_;
-    int encoderType_;
-#define LAST_SINQMOTOR_PARAM encoderType_
-
   private:
+    std::unique_ptr<sinqControllerImpl> pSinqC_;
     static void epicsInithookFunction(initHookState iState);
 };
-#define NUM_SINQMOTOR_DRIVER_PARAMS                                            \
-    (&LAST_SINQMOTOR_PARAM - &FIRST_SINQMOTOR_PARAM + 1)
 
 #endif