Various improvements:

- Moved the encoder type PV to sinqMotor
- Unified the PV naming scheme
- Removed the IsEnabled function - this status is read out from the
parameter library (motorEnableRBV_)

src/sinqAxis.cpp

@@ -17,6 +17,20 @@ asynStatus sinqAxis::atFirstPoll() {
     asynStatus status = asynSuccess;
     int variableSpeed = 0;
 
+    // Motor is assumed to be enabled
+    status = pC_->setIntegerParam(axisNo_, pC_->motorEnableRBV_, 1);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorEnableRBV_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    // By default, motors cannot be disabled
+    status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable_, 0);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorCanDisable_",
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
     status =
         pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
     if (status != asynSuccess) {
@@ -118,10 +132,6 @@ asynStatus sinqAxis::poll(bool *moving) {
         }
     }
 
-    // Update the enable RBV
-    bool axisIsEnabled = false;
-
-    pl_status = isEnabled(&axisIsEnabled);
     if (pl_status != asynSuccess) {
         asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
                   "%s => line %d:\nFunction isEnabled failed with %s.\n",
@@ -134,12 +144,6 @@ asynStatus sinqAxis::poll(bool *moving) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              __PRETTY_FUNCTION__, __LINE__);
         }
-    } else {
-        pl_status = setIntegerParam(pC_->motorEnableRBV_, axisIsEnabled);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_",
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
     }
 
     // According to the function documentation of asynMotorAxis::poll, this
@@ -256,11 +260,6 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
 
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
 
-asynStatus sinqAxis::isEnabled(bool *on) {
-    *on = true;
-    return asynSuccess;
-}
-
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
     asynStatus status = asynSuccess;
     int variableSpeed = 0;

src/sinqAxis.h

@@ -152,16 +152,6 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     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 Populate the motor record fields VELO, VBAS and VMAX
      *

src/sinqController.cpp

@@ -204,6 +204,15 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("ENCODER_TYPE", asynParamOctet, &encoderType_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s => line %d:\nFATAL ERROR (creating a parameter failed "
+                  "with %s).\nTerminating IOC",
+                  __PRETTY_FUNCTION__, __LINE__, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     // Poller configuration
     status = startPoller(movingPollPeriod, idlePollPeriod, 1);
     if (status != asynSuccess) {
@@ -247,12 +256,27 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
 
 asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
     if (pasynUser->reason == motorEnableRBV_) {
-        // Value is updated in the poll function of an axis
-        return asynSuccess;
+        // Read out the parameter library
+        asynMotorAxis *asynAxis = getAxis(pasynUser);
+        sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+        if (axis == nullptr) {
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s => line %d:\nAxis %d is not an instance of sinqAxis",
+                      __PRETTY_FUNCTION__, __LINE__, axis->axisNo_);
+            return asynError;
+        }
+        return getIntegerParam(axis->axisNo_, motorEnableRBV_, value);
     } else if (pasynUser->reason == motorCanDisable_) {
-        // By default, motors cannot be disabled
-        *value = 1;
-        return asynSuccess;
+        // Check if the motor can be disabled
+        asynMotorAxis *asynAxis = getAxis(pasynUser);
+        sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+        if (axis == nullptr) {
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s => line %d:\nAxis %d is not an instance of sinqAxis",
+                      __PRETTY_FUNCTION__, __LINE__, axis->axisNo_);
+            return asynError;
+        }
+        return getIntegerParam(axis->axisNo_, motorCanDisable_, value);
     } else {
         return asynMotorController::readInt32(pasynUser, value);
     }

src/sinqController.h

@@ -10,6 +10,8 @@ Stefan Mathis, November 2024
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
+#define IncrementalEncoder "Incremental encoder"
+#define AbsoluteEncoder "Absolute encoder"
 
 class epicsShareClass sinqController : public asynMotorController {
   public:
@@ -146,7 +148,8 @@ class epicsShareClass sinqController : public asynMotorController {
     int motorAcclFromDriver_;
     int motorHighLimitFromDriver_;
     int motorLowLimitFromDriver_;
-#define LAST_SINQMOTOR_PARAM motorLowLimitFromDriver_
+    int encoderType_;
+#define LAST_SINQMOTOR_PARAM encoderType_
 };
 #define NUM_SINQMOTOR_DRIVER_PARAMS                                            \
     (&LAST_SINQMOTOR_PARAM - &FIRST_SINQMOTOR_PARAM + 1)