Addes instructions how to use sinqMotor as static dependency.

README.md

@@ -260,7 +260,7 @@ The versioning is done via git tags. Git tags are recognized by the PSI build sy
 
 All existing tags can be listed with `git tag` in the sinqMotor directory. Detailed information (author, data, commit number, commit message) regarding a specific tag can be shown with `git show x.x.x`, where `x.x.x` is the name of your version. To create a new tag, use `git tag x.x.x`. If the tag `x.x.x` is already used by another commit, git will show a corresponding error.
 
-### How to build it
+### Dependencies
 
 This library is based on the PSI version of the EPICS motor record, which can be found here: `https://git.psi.ch/epics_driver_modules/motorBase`. We use a branch with a bugfix which is currently not merged into master due to resistance of the PSI userbase: `https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`. This library can be build with the following steps, assuming GCC and make are available:
 - `git clone https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`
@@ -268,6 +268,26 @@ This library is based on the PSI version of the EPICS motor record, which can be
 - `git tag 7.2.2`. The latest version on master is currently 7.2.1, hence we increment the bugfix version counter by one
 - `make install`
 
-To build sinqMotor itself, the makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
+### Usage as dynamic dependency
+
+The makefile in the top directory includes all necessary steps for compiling a shared library of sinqMotor together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
 
 To use the library when writing a concrete motor driver, include it in the makefile of your application / library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile. The version can be specified with `sinqMotor_VERSION=x.x.x.`
+
+### Usage as static dependency
+
+This repository is included as a git submodule in some of the driver repositories depending upon sinqMotor. When installing via a Makefile (`make install`) using the PSI build system, the following git command is executed within `/ioc/tools/driver.makefile`:
+
+`git submodule update --init --recursive`
+
+This forces each submodule to be checked out at the latest commit hash stored in the remote repository. However, this is usually unwanted behaviour, since the higher-level drivers are usually designed to be compiled against a specific version of sinqMotor. In order to set the submodule to a specific version, the following steps need to be done BEFORE calling `make install`:
+
+- `cd sinqMotor`
+- `git checkout 0.1`
+- `cd ..`
+
+Then, the fixation of the version to 0.1 needs to be committed in the parent repository:
+
+- `git commit -m "Update sinqMotor to 0.1"`
+
+After this commit, running `make install` will use the correct driver version for compilation.

src/sinqAxis.cpp

@@ -61,8 +61,7 @@ asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
 template <>
 asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
                              int (sinqController::*func)(), int *readValue,
-                             const char *callerFunctionName, int lineNumber,
+                             const char *callerFunctionName, int lineNumber) {
-                             int maxChars) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->pController()->getIntegerParam(
         axis->axisNo(), indexValue, readValue);
@@ -76,18 +75,16 @@ asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
 template <>
 asynStatus getAxisParam<bool>(sinqAxis *axis, const char *indexName,
                               int (sinqController::*func)(), bool *readValue,
-                              const char *callerFunctionName, int lineNumber,
+                              const char *callerFunctionName, int lineNumber) {
-                              int maxChars) {
     return getAxisParam(axis, indexName, func, (int *)readValue,
                         callerFunctionName, lineNumber);
 }
 
 template <>
-asynStatus getAxisParam<double>(sinqAxis *axis, const char *indexName,
+asynStatus
-                                int (sinqController::*func)(),
+getAxisParam<double>(sinqAxis *axis, const char *indexName,
-                                double *readValue,
+                     int (sinqController::*func)(), double *readValue,
-                                const char *callerFunctionName, int lineNumber,
+                     const char *callerFunctionName, int lineNumber) {
-                                int maxChars) {
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->pController()->getDoubleParam(
         axis->axisNo(), indexValue, readValue);
@@ -101,8 +98,10 @@ asynStatus getAxisParam<double>(sinqAxis *axis, const char *indexName,
 template <>
 asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
                               int (sinqController::*func)(), char *readValue,
-                              const char *callerFunctionName, int lineNumber,
+                              const char *callerFunctionName, int lineNumber) {
-                              int maxChars) {
+
+    int maxChars = 190;
+
     int indexValue = (axis->pController()->*func)();
     asynStatus status = axis->pController()->getStringParam(
         axis->axisNo(), indexValue, maxChars, readValue);
@@ -114,11 +113,10 @@ asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
 }
 
 template <>
-asynStatus getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
+asynStatus
-                                     int (sinqController::*func)(),
+getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
-                                     std::string *readValue,
+                          int (sinqController::*func)(), std::string *readValue,
-                                     const char *callerFunctionName,
+                          const char *callerFunctionName, int lineNumber) {
-                                     int lineNumber, int maxChars) {
     int indexValue = (axis->pController()->*func)();
 
     // Convert the pointer to a reference, since getStringParam expects the

src/sinqAxis.h

@@ -474,8 +474,7 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
 template <typename T>
 asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
                         int (sinqController::*func)(), T *readValue,
-                        const char *callerFunctionName, int lineNumber,
+                        const char *callerFunctionName, int lineNumber);
-                        int maxChars = 0);
 
 /**
  * @brief Macro to get an paramLib parameter and error checking the return value
@@ -523,13 +522,25 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
  * ```
  * =============================================================================
  */
-#define getAxisParamChecked(axis, indexGetterFunction, readValue, ...)         \
+// #define getAxisParamChecked(axis, indexGetterFunction, readValue, ...)         \
+//     {                                                                          \
+//         asynStatus getStatus = getAxisParam(                                   \
+//             axis, #indexGetterFunction,                                        \
+//             &std::remove_pointer<                                              \
+//                 decltype(axis->pController())>::type::indexGetterFunction,     \
+//             readValue, __PRETTY_FUNCTION__, __LINE__, ##__VA_ARGS__);          \
+//         if (getStatus != asynSuccess) {                                        \
+//             return getStatus;                                                  \
+//         }                                                                      \
+//     }
+
+#define getAxisParamChecked(axis, indexGetterFunction, readValue)              \
     {                                                                          \
         asynStatus getStatus = getAxisParam(                                   \
             axis, #indexGetterFunction,                                        \
             &std::remove_pointer<                                              \
                 decltype(axis->pController())>::type::indexGetterFunction,     \
-            readValue, __PRETTY_FUNCTION__, __LINE__, ##__VA_ARGS__);          \
+            readValue, __PRETTY_FUNCTION__, __LINE__);                         \
         if (getStatus != asynSuccess) {                                        \
             return getStatus;                                                  \
         }                                                                      \