Fixed docs

uniqe_ptr

.gitlab-ci.yml

@@ -1,6 +1,6 @@
 default:
   image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
+
 stages:
   - lint
   - build
@@ -24,16 +24,6 @@ formatting:
   tags:
     - sinq
 
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
 build_module:
   stage: build
   script:
@@ -48,4 +38,4 @@ build_module:
     expire_in: 1 week
   when: always
   tags:
-    - sinq
+    - sinq

LICENSE.txt

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
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+  17. Interpretation of Sections 15 and 16.
+
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+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
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+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
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+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    {one line to give the program's name and a brief idea of what it does.}
+    Copyright (C) {year}  {name of author}
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
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+    (at your option) any later version.
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+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
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+  If the program does terminal interaction, make it output a short
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+    {project}  Copyright (C) {year}  {fullname}
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+
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+
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+if any, to sign a "copyright disclaimer" for the program, if necessary.
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+<http://www.gnu.org/licenses/>.
+
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+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
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+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

Makefile

@@ -6,17 +6,26 @@ BUILDCLASSES=Linux
 EPICS_VERSIONS=7.0.7
 ARCH_FILTER=RHEL%
 
-# additional module dependencies
-REQUIRED+=asynMotor
+# Specify the version of asynMotor we want to build against
+asynMotor_VERSION=7.2.2
 
 # Source files to build
+SOURCES += src/msgPrintControl.cpp
 SOURCES += src/sinqAxis.cpp
 SOURCES += src/sinqController.cpp
 
 # Headers which allow using this library in concrete driver implementations
+HEADERS += src/msgPrintControl.h
 HEADERS += src/sinqAxis.h
 HEADERS += src/sinqController.h
 
-USR_CFLAGS += -Wall -Wextra # -Werror
+# Store the record files
+TEMPLATES += db/asynRecord.db
+TEMPLATES += db/sinqMotor.db
 
-# MISCS  would be the place to keep the stream device template files
+# This file registers the motor-specific functions in the IOC shell.
+DBDS += src/sinqMotor.dbd
+
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result # -Werror
+
+# MISCS would be the place to keep the stream device template files

README.md

@@ -2,37 +2,293 @@
 
 ## Overview
 
-This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqController`) of PSI SINQ. These classes are extensions of the classes `asynMotorAxis` and `asynMotorController` from the `asynMotor` framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionalities.
+This library offers base classes for EPICS motor drivers (`sinqAxis` and `sinqController`) of PSI SINQ. These classes are extensions of the classes `asynMotorAxis` and `asynMotorController` from the `asynMotor` framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionality.
 
-## Features
+## User guide
 
-sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required
+### Architecture of EPICS motor drivers at SINQ
 
-### sinqController
+The asyn-framework offers two base classes `asynMotorAxis` and `asynMotorController`. At SINQ, we extend those classes by two children `sinqAxis` and `sinqController` which are not complete drivers on their own, but serve as a framework extension for writing drivers. The concrete drivers are then created as separated libraries, an example is the TurboPMAC-driver: https://git.psi.ch/sinq-epics-modules/turboPmac.
+
+The full inheritance chain for two different motor drivers "a" and "b" looks like this:
+`asynController -> sinqController -> aController`
+`asynAxis -> sinqAxis -> aAxis`
+
+`asynController -> sinqController -> bController`
+`asynAxis -> sinqAxis -> bAxis`
+
+Those inheritance chains are created at runtime by loading shared libraries. These libraries must be compatible to each other (see next section).
+
+### Versioning
+
+In order to make sure the shared libraries are compatible to each other, we use the "require" framework extension for EPICS (https://github.com/paulscherrerinstitute/require). If a shared library has another library as a dependency, it is checked whether the latter is already loaded. If yes, the loaded version is considered compatible if:
+
+1) no specific version was required by the former library
+2) the already loaded version matches the required version exactly
+3) major and minor numbers are the same and already loaded patch number is equal to the required one or higher
+4) major numbers are the same and already loaded minor number is higher than the required one
+5) the already loaded version is a test version and the required version is not a test version
+These rules are in complicance with the SemVer standard (https://semver.org/lang/de/)
+
+If the dependency hasn't been loaded yet, it is loaded now. In case no specific version is required, the latest numbered version is used.
+
+Because these rules are checked sequentially for each required dependency and no unloading is performed, it is important to consider the order of required libraries. Consider the following example:
+
+```
+require "libDriverA" # sinqMotor 1.2 is specified as a dependency
+require "libDriverB" # sinqMotor 1.0 is specified as a dependency
+```
+`require` first checks the dependencies of `libDriverA` and sees that `sinqMotor 1.2` is required. It therefore load `sinqMotor 1.2` and then `libDriverA`. Now the next `require` starts analyzing the dependencies of `libDriverB` and sees that `sinqMotor 1.0` is required. Since `sinqMotor 1.2` is already loaded, rule 4) is applied and `libDriverB` is assumed to be compatible with `sinqMotor 1.2` as well (which it should be according to SemVer).
+
+When the order is inverted, the following happens:
+```
+require "libDriverB" # sinqMotor 1.0 is specified as a dependency
+require "libDriverA" # sinqMotor 1.2 is specified as a dependency
+```
+`require` first checks the dependencies of `libDriverB` and sees that `sinqMotor 1.0` is required. It therefore load `sinqMotor 1.0` and then `libDriverB`. Now the next `require` starts analyzing the dependencies of `libDriverA` and sees that `sinqMotor 1.2` is required. Since `sinqMotor 1.0` is already loaded, `require` cannot load `sinqMotor 1.2`. Therefore the IOC startup is aborted with an error message.
+
+In order to make the setup script more robust, it is therefore recommended to explicitly add a dependency version which is compatible to all required libraries:
+
+```
+require "sinqMotor", "1.2"
+require "libDriverB" # sinqMotor 1.0 is specified as a dependency
+require "libDriverA" # sinqMotor 1.2 is specified as a dependency
+```
+The IOC startup now succeeds because we made sure the higher version is loaded first. 
+
+Please see the README.md of https://github.com/paulscherrerinstitute/require for more details.
+
+To find out which version of sinqMotor is needed by a driver, refer to its Makefile (line `sinqMotor_VERSION=x.x.x`, where x.x.x is the minimum required version).
+
+### IOC startup script
+
+An EPICS IOC for motor control at SINQ is started by executing a script with the IOC shell. In its simplest form, an IOC for two controllers is a file looking like this:
+```
+#!/usr/local/bin/iocsh  
+
+# Load libraries needed for the IOC
+require sinqMotor, 1.0.0
+require actualDriver, 1.2.0
+
+# Define environment variables used later to parametrize the individual controllers
+epicsEnvSet("TOP","/ioc/sinq-ioc/sinqtest-ioc/")
+epicsEnvSet("INSTR","SQ:SINQTEST:")
+
+# Include other scripts for the controllers 1 and 2
+< actualDriver.cmd 
+< actualDriver.cmd 
+
+iocInit()
+```
+The first line is a so-called shebang which instructs Linux to execute the file with the executable located at the given path - the IOC shell in this case. The controller script "mcu1.cmd" looks like this:
+The script for controller 1 ("turboPmac1.cmd") for a Turbo PMAC (see https://git.psi.ch/sinq-epics-modules/turboPmac) has the following structure. The scripts for other controller types can be found in the README.md of their respective repositories.
+
+```
+# Define the name of the controller and the corresponding port
+epicsEnvSet("DRIVER_PORT","actualDriver1")
+epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
+
+# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
+drvAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
+
+# Create the controller object with the defined name and connect it to the socket via the port name.
+# The other parameters are as follows:
+# 8: Maximum number of axes
+# 0.05: Busy poll period in seconds
+# 1: Idle poll period in seconds
+# 1: Socket communication timeout in seconds
+actualDriverController("$(DRIVER_PORT)", "$(IP_PORT)", 8, 0.05, 1, 1);
+
+# Define some axes for the specified motor controller at the given slot (1, 2 and 5). No slot may be used twice!
+actualDriverAxis("$(DRIVER_PORT)",1);
+actualDriverAxis("$(DRIVER_PORT)",2);
+actualDriverAxis("$(DRIVER_PORT)",5);
+
+# Set the number of subsequent timeouts 
+setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
+
+# Set the number of forced fast polls performed after the poller is "woken up".
+# When the poller is "woken up", it performs the specified number of polls with
+# the previously stated busy poll period.
+setForcedFastPolls("$(DRIVER_PORT)", 10);
+
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
+
+# Parametrize the EPICS record database with the substitution file named after the motor controller.
+epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
+epicsEnvSet("SINQDBPATH","$(actualDriver_DB)/turboPmac.db")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
+```
+
+### Substitution file
+
+The substitution file is a table containing axis-specific information which is used to create the axis-specific PVs.
+To work with sinqMotor, "mcu1.substitutions" needs to look like this (the order of columns does not matter):
+```
+file "$(SINQDBPATH)"
+{
+pattern
+{ AXIS,      M, DESC,                              EGU, DIR, MRES,  MSGTEXTSIZE, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED, ADAPTPOLL }
+{ 1,    "lin1", "Linear motor doing whatever",      mm, Pos, 0.001,         200,                 1,          1.0,           1,         1 }
+{ 2,    "rot1", "First rotary motor",           degree, Neg, 0.001,         200,                 0,          1.0,           0,         1 }
+{ 3,    "rot2", "Second rotary motor",          degree, Pos, 0.001,         200,                 0,          0.0,           1,         0 }
+{ 5,    "rot3", "Surprise: Third rotary motor", degree, Pos, 0.001,         200,                 1,          2.0,           0,         0 }
+}
+```
+The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTemplate`.
+
+#### Mandatory parameters
+
+- `AXIS`: Index of the axis, corresponds to the physical connection of the axis to the MCU.
+- `M`: The full PV name is created by concatenating the variables INSTR, DRIVER_PORT and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
+- `EGU`: Engineering units. For a linear motor, this is mm, for a rotaty motor, this is degree.
+- `DIR`: If set to "Neg", the axis direction is inverted.
+- `MRES`: This is a scaling factor determining the resolution of the position readback value. For example, 0.001 means a precision of 1 um. A detailed description can be found in section [Motor record resolution MRES](#motor-record-resolution-mres).
+
+#### Optional parameters
+The default values for those parameters are given for the individual records in db/sinqMotor.db
+- `DESC`: Description of the motor. This field is just for documentation and is not needed for operating a motor. Defaults to the motor name.
+- `MSGTEXTSIZE`: Buffer size for the motor message record in characters. Defaults to 200 characters
+- `ENABLEMOVWATCHDOG`: Sets `setWatchdogEnabled` during IOC startup to the given value. Defaults to 0.
+- `LIMITSOFFSET`: If the motor limits are read out from the controller, they can 
+be further reduced by this offset in order to avoid errors due to slight overshoot 
+on the motor controller. For example, if this value is 1.0 and the read-out limits 
+are [-10.0 10.0], the EPICS limits are set to [-9.0 9.0]. This parameter uses engineering units (EGU). Defaults to 0.0.
+- `CANSETSPEED`: If set to 1, the motor speed can be modified by the user. Defaults to 0.
+- `ADAPTPOLL`: If set to any value other than 0, adaptive polling is enabled for this particular axis. Adaptive polling is designed to reduce the communication load in case some axis is moving. By default, if at least one axis is moving, all axes are polled using the busy / moving poll period (see [IOC startup script](#ioc-startup-script)). Adaptive polling modifies this behaviour so that the affected axis is only polled with the busy / moving poll period if it itself is moving. This setting is ignored for "forced fast polls" (when the poller is woken up, e.g. after an axis received a move command). Defaults to 1.
+
+### Motor record resolution MRES
+
+The motor record resolution (index motorRecResolution_ in the parameter
+library, MRES in the motor record) is NOT a conversion factor between
+user units (e.g. mm) and motor units (e.g. encoder steps), but a scaling
+factor defining the resolution of the position readback field RRBV. This
+is due to an implementation detail of EPICS described here:
+https://epics.anl.gov/tech-talk/2018/msg00089.php
+https://github.com/epics-modules/motor/issues/8
+
+Basically, the position value in the parameter library is a double which
+is then truncated to an integer in devMotorAsyn.c (because it was
+originally meant for converting from engineering units to encoder steps,
+which are by definition integer values). Therefore, if we want a
+precision of 1 millimeter, we need to set MRES to 1. If we want one of
+1 micrometer, we need to set MRES to 0.001. The readback value needs to
+be multiplied with MRES to get the actual value.
+
+In the driver, we use user units. Therefore, when we interact with the
+parameter library, we need to account for MRES. This means:
+- When writing position or speed to the parameter library, we divide the
+value by the motor record resolution.
+- When reading position or speed from the parameter library, we multiply
+the value with the motor record resolution.
+
+Index and motor record field are coupled as follows:
+The parameter motorRecResolution_ is coupled to the field MRES of the
+motor record in the following manner:
+- In sinqMotor.db, the PV (motor_record_pv_name) MOTOR_REC_RESOLUTION
+is defined as a copy of the field (motor_record_pv_name).MRES .
+- The PV name MOTOR_REC_RESOLUTION is coupled in asynMotorController.h
+to the constant motorRecResolutionString
+- ... which in turn is assigned to motorRecResolution_ in
+asynMotorController.cpp This way of making the field visible to the
+driver is described here:
+https://epics.anl.gov/tech-talk/2020/msg00378.php This is a one-way
+coupling, changes to the parameter library via setDoubleParam are NOT
+transferred to (motor_record_pv_name).MRES or to
+(motor_record_pv_name):Resolution.
+
+### Additional records
+
+`sinqMotor` provides a variety of additional records. See `db/sinqMotor.db` for the complete list and the documentation.
+
+## Developer guide
+
+### Base classes
+
+sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-files. All of these functions can be overwritten manually if e.g. a completely different implementation of `poll` is required. Some functions are marked as virtual, because they are called from other functions of sinqMotor and therefore need runtime polymorphism. Functions without that marker are not called anywhere in sinqMotor.
+
+#### sinqController.h
+- `couldNotParseResponse`: Write a standardized message if parsing a device response failed.
+- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed.
 - `stringifyAsynStatus`: Convert the enum `asynStatus` into a human-readable string.
-- `errMsgCouldNotParseResponse`: Write a standardized message if parsing a device response failed
-- `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed
+- `checkComTimeoutWatchdog`: Calculates the timeout frequency (number of timeouts in a given time) and informs the user if a specified limit has been exceeded.
+- `setThresholdComTimeout`: Set the maximum number of timeouts and the time window size for the timeout frequency limit. This function is also available in the IOC shell.
+- `checkMaxSubsequentTimeouts`: Check if the number of subsequent timeouts exceeds a specified limit.
+- `setMaxSubsequentTimeouts`: Set the limit for the number of subsequent timeouts before the user is informed. This function is also available in the IOC shell.
+- `setForcedFastPolls`: Set the number of forced fast polls which are performed after the poller has been "woken up" ( = after `wakePoller()` is called). This function is also available in the IOC shell.
 
-### sinqAxis
-- `atFirstPoll`: This function is executed once before the first poll. If it returns anything but `asynSuccess`, it retries.
+#### sinqAxis.h
+- `enable`: This function is called if the `$(INSTR)$(M):Enable` PV from db/sinqMotor.db is set. 
+This is an empty function which should be overwritten by concrete driver implementations.
+- `reset`: This function is called when the `$(INSTR)$(M):Reset` PV from db/sinqMotor.db is set. 
+It calls `doReset` and performs some fast polls after `doReset` returns.
+- `doReset`: This is an empty function which should be overwritten by concrete driver implementations.
+- `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
+- `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
+- `home`: This function sets the internal status flags for the homing process and then calls doHome.
+- `doHome`: This is an empty function which should be overwritten by concrete driver implementations.
 - `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
+
   Before calling `doPoll`:
-  - Try to execute `atFirstPoll` once (and retry, if that failed)
+  - Check if the paramLib already contains an old error message. If so, put it into a temporary bufffer
 
   After calling `doPoll`:
-  - Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
+  - Call `checkMovTimeoutWatchdog`. If the movement timed out, create an error message for the user
+  - Update the readback-value for the axis enablement.
+  - If `doPoll` returns anything other than `asynSuccess` or if an old error message is waiting in the temporary buffer, set `motorStatusProblem` to true, otherwise to false. If an old error message is waiting in the temporary buffer, but `doPoll` returned  `asynSuccess`, overwrite the paramLib entry for `motorMessageText` with the old error message.
   - Run `callParamCallbacks`
+  - Reset `motorMessageText` AFTER updating the PVs. This makes sure that the error message is shown for at least one poll cycle.
   - Return the status of `doPoll`
-- `doPoll`: This is an empty function which should be overwritten by concrete driver implementations.
+- `motorPosition`: Returns the parameter library value of the motor position, accounted for the motor record resolution (see section "Motor record resolution MRES")
+- `setMotorPosition`: Writes the given value into the parameter library, accounted for the motor record resolution (see section "Motor record resolution MRES")
+- `setVeloFields`: Populates the motor record fields VELO (actual velocity), VBAS (minimum allowed velocity) and VMAX (maximum allowed velocity) from the driver.
+- `setAcclField`: Populates the motor record field ACCL from the driver.
+- `startMovTimeoutWatchdog`: Starts a watchdog for the movement time. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.
+- `checkMovTimeoutWatchdog`: Check if the watchdog timed out.
+- `setWatchdogEnabled`: Enables / disables the watchdog. This function is also available in the IOC shell.
+- `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
+- `setScaleMovTimeout`: Set a scaling factor for the expected movement time. This function is also available in the IOC shell.
 
-## Versioning
+#### msgPrintControl.h
+In addition to the two extension classes this library also includes a mechanism which prevents excessive repetitions of the same error message to the IOC shell via the classes `msgPrintControl` and `msgPrintControlKey`. A detailed description of the mechanism can be found in the docstring of `msgPrintControl`. The implementation of the `poll` function of `sinqAxis` also contains an example how to use it. Using this feature in derived drivers is entirely optional.
+
+### Versioning
 
 The versioning is done via git tags. Git tags are recognized by the PSI build system: If you tag a version as 1.0, it will be built into the directory /ioc/modules/sinqMotor/1.0. The tag is directly coupled to a commit so that it is always clear which source code was used to build which binary.
 
-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`, where X.X is the name of your version. To create a new tag, use `git tag -a X.X`.
+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
 
-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 run `make install -f Makefile` from the terminal.
+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`
+- `cd motorBase`
+- `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 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.
+### 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.

db/asynRecord.db

@@ -0,0 +1,11 @@
+# SPDX-License-Identifier: GPL-3.0-only
+
+record(asyn,"$(P)")
+{
+    field(DTYP,"asynRecordDevice")
+    field(PORT,"$(PORT)")
+    field(ADDR,"0")
+    field(OMAX,"80")
+    field(IMAX,"80")
+}
+

db/sinqMotor.db

@@ -0,0 +1,326 @@
+# SPDX-License-Identifier: GPL-3.0-only
+
+# The main asyn motor record. Some fields are populated from the substitution 
+# files via macros:
+# - INSTR: Name of the instrument, e.g. "SQ:SINQTEST:"
+# - M: Name of the motor in EPICS, e.g. "lin1"
+# - DESC: Short description of the motor. If not given, this is equal to M
+# - DIR: This value is usually set to "Pos". If the motor axis direction 
+# should be inverted, this value can be set to "Neg"
+# - CONTROLLER: Name of the motor controller, e.g. "mcu1"
+# - AXIS: Number of the axis, e.g. "1"
+# - MRES: Motor record resolution. See the README.md for a detailed discussion
+# - EGU: Engineering units. In case of a rotary axis, this is "degree", in 
+# case of a linear axis this is "mm".
+# - RTRY: The maximum number of times the motor record will try again to move to 
+# the desired position. When the retry limit is reached, the motor record will 
+# declare the motion finished. If the desired position was not reached, the 
+# field MISS will be set to 1 and NICOS will emit a warning "Did not reach 
+# target position". If this value is set to 0, the retry deadband is never 
+# applied and therefore MISS will always be 0. The error message "Did not reach 
+# target position" will therefore never appear.
+# - RDBD: Retry deadband: When the motor has finished a complete motion, 
+# possibly including backlash takeout, the motor record will compare its current 
+# position with the desired position. If the magnitude of the difference is 
+# greater than RDBD, the motor will try again, as if the user had requested a 
+# move from the now current position to the desired position. Only a limited 
+# number of retries will be performed (see RTRY). If the given value is smaller 
+# than MRES, it is set to MRES. In this version of the record, we set RDBD to a
+# very high value in order to suppress both retries and the NTM (new target
+# monitor) logic from issuing stop commands during overshoots (see
+# https://epics.anl.gov/bcda/synApps/motor/motorRecord.html#Fields_misc).
+record(motor,"$(INSTR)$(M)")
+{
+    field(DESC,"$(DESC=$(M))")
+    field(DTYP,"asynMotor")
+    field(DIR,"$(DIR=Pos)")
+    field(OUT,"@asyn($(CONTROLLER),$(AXIS))")
+    field(MRES,"$(MRES)")
+    field(EGU,"$(EGU)")
+    field(INIT,"")
+    field(PINI,"NO")
+    field(DHLM, "$(DHLM=0)")
+    field(DLLM, "$(DLLM=0)")
+    field(TWV,"1")
+    field(RTRY,"0")
+    field(RDBD, "$(RDBD=10e300)") # Suppress retries and overshoot stop commands
+    field(BDST, "0") 
+    field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
+}
+
+# This PV reads out the 10th bit of the MSTA field of the motor record, which
+# is the "motorStatusProblem_" bit.
+record(calc, "$(INSTR)$(M):StatusProblem")
+{
+    field(INPA,  "$(INSTR)$(M).MSTA CP")
+    field(CALC, "A >> 9")
+}
+
+# If the value of this PV is 0, the according axis is currently disconnected from the controller.
+# Trying to give commands to a disconnected axis will result in an error message in the IOC shell
+# This record is coupled to the parameter library via motorConnected_ -> MOTOR_CONNECTED.
+record(longin, "$(INSTR)$(M):Connected")
+{
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_CONNECTED")
+    field(SCAN, "I/O Intr")
+    field(PINI, "NO")
+    field(VAL, "1")
+}
+
+# Call the reset function of the corresponding sinqAxis
+# This record is coupled to the parameter library via motorReset_ -> MOTOR_RESET.
+record(longout, "$(INSTR)$(M):Reset") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_RESET")
+    field(PINI, "NO")
+}
+
+# This PV allows force-stopping the motor record from within the driver by setting
+# the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorForceStop_ -> MOTOR_FORCE_STOP.
+record(longin, "$(INSTR)$(M):StopRBV")
+{
+    field(DTYP, "asynInt32")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_FORCE_STOP")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):Stop2Field")
+}
+record(longout, "$(INSTR)$(M):Stop2Field") {
+    field(DOL,  "$(INSTR)$(M):StopRBV NPP")
+    field(OUT,  "$(INSTR)$(M).STOP")
+    field(OMSL, "closed_loop")
+}
+
+# This record forwards the motor record resolution MRES to the parameter library
+# entry "MOTOR_REC_RESOLUTION" (solution from https://epics.anl.gov/tech-talk/2020/msg00378.php)
+# The value of MRES is needed inside the driver for various calculations (e.g.
+# for calculating the estimated time of arrival inside the watchdog).
+record(ao,"$(INSTR)$(M):RecResolution") {
+    field(DESC, "$(M) resolution")
+    field(DOL,  "$(INSTR)$(M).MRES CP")
+    field(OMSL, "closed_loop")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_REC_RESOLUTION")
+}
+
+# This record contains messages from the driver (usually error messages).
+# The macro MSGTEXTSIZE can be used to set the maximum length of the message.
+# if not provided, a default value of 200 is used.
+# This record is coupled to the parameter library via motorMessageText_ -> MOTOR_MESSAGE_TEXT.
+record(waveform, "$(INSTR)$(M)-MsgTxt") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_MESSAGE_TEXT")
+    field(FTVL, "CHAR")
+    field(NELM, "$(MSGTEXTSIZE=200)") # Should be the same as MAXBUF in the driver code
+    field(SCAN, "I/O Intr")
+}
+
+# User-writable switch which disables the motor for an input of zero and enables
+# it otherwise. Some motors can't be disabled in certain states (e.g. during 
+# movement). This behaviour has to be implemented inside the driver.
+# This record is coupled to the parameter library via motorEnable_ -> MOTOR_ENABLE.
+record(longout, "$(INSTR)$(M):Enable") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE")
+    field(PINI, "NO")
+}
+
+# Readback value which returns 1 if the motor is disabled and 0 otherwise.
+# This record is coupled to the parameter library via motorEnableRBV_ -> MOTOR_ENABLE_RBV.
+record(longin, "$(INSTR)$(M):EnableRBV") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_RBV")
+    field(PINI, "NO")
+    field(SCAN, "I/O Intr")
+}
+
+# Some (older) motors cannot be disabled. This property has to be specified in
+# the driver by setting the corresponding parameter library entry motorCanDisable_
+# to 0 (its default value is 1).
+# This record is coupled to the parameter library via motorCanDisable_ -> MOTOR_CAN_DISABLE.
+record(longin, "$(INSTR)$(M):CanDisable") {
+    field(DTYP, "asynInt32")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_DISABLE")
+    field(PINI, "NO")
+    field(SCAN, "I/O Intr")
+}
+
+# For some motors, the user might be allowed to adjust the speed within the 
+# limits specified in the motor record as VBAS and VMAX. This functionality  can
+# be enabled by setting CANSETSPEED to 1. It is disabled by default.
+# This record is coupled to the parameter library via motorCanSetSpeed_ -> MOTOR_CAN_SET_SPEED.
+record(longout, "$(INSTR)$(M):CanSetSpeed") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_CAN_SET_SPEED")
+    field(PINI, "YES")
+    field(ASG, "READONLY") # Field is initialized during IOC startup
+    field(VAL, "$(CANSETSPEED=0)")
+}
+
+# If this PV has a value other than 0, adaptive polling for this axis is enabled.
+# The standard motor record behaviour is to poll all axis with the busy / move poll
+# period if at least one of the axes is moving. Adaptive polling changes this so
+# that only axes which were moving in the last poll are polled with the busy / move poll
+# period and all other axes are polled with the idle poll period.
+record(longout, "$(INSTR)$(M):AdaptivePolling") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) ADAPTIVE_POLLING")
+    field(PINI, "YES")
+    field(VAL, "$(ADAPTPOLL=1)")
+}
+
+# The timeout mechanism for movements can be enabled / disabled by setting 
+# this PV to 1 / 0.
+# This record is coupled to the parameter library via motorEnableMovWatchdog -> MOTOR_ENABLE_MOV_WATCHDOG.
+record(longout, "$(INSTR)$(M):EnableMovWatchdog") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_ENABLE_MOV_WATCHDOG")
+    field(PINI, "YES")
+    field(VAL, "$(ENABLEMOVWATCHDOG=0)")
+}
+
+# For modern controllers, the high and low limits of the axis are read out 
+# directly from the hardware. However, since the axis might slightly
+# "overshoot" when moving to a position next to the limits, the hardware might
+# go into a "limits hit" error state. To prevent this, this value allows adding
+# a small offset in EGU, which is  subtracted from the high limit and added to the
+# low limit.
+# This record is coupled to the parameter library via motorLimitsOffset_ -> MOTOR_LIMITS_OFFSET.
+record(ao, "$(INSTR)$(M):LimitsOffset") {
+    field(DTYP, "asynFloat64")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_LIMITS_OFFSET")
+    field(PINI, "YES")
+    field(ASG, "READONLY") # Field is initialized during IOC startup
+    field(VAL, "$(LIMITSOFFSET=0)")
+}
+
+# This record pair reads the parameter library value for "motorHighLimitFromDriver_"
+# and pushes it to the motor record field "DHLM". This can be used to read limits
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorHighLimitFromDriver_ -> MOTOR_HIGH_LIMIT_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):DHLM_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(VAL, "$(DHLM=0)")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_HIGH_LIMIT_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushDHLM2Field")
+    field(PINI, "NO")
+}
+record(ao, "$(INSTR)$(M):PushDHLM2Field") {
+    field(DOL,  "$(INSTR)$(M):DHLM_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).DHLM")
+    field(OMSL, "closed_loop")
+    field(PINI, "NO")
+}
+
+# This record pair reads the parameter library value for "motorLowLimitFromDriver_"
+# and pushes it to the motor record field "DLLM". This can be used to read limits
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorLowLimitFromDriver_ -> MOTOR_LOW_LIMIT_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):DLLM_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(VAL, "$(DLLM=0)")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_LOW_LIMIT_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushDLLM2Field")
+    field(PINI, "NO")
+}
+record(ao, "$(INSTR)$(M):PushDLLM2Field") {
+    field(DOL,  "$(INSTR)$(M):DLLM_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).DLLM")
+    field(OMSL, "closed_loop")
+    field(PINI, "NO")
+}
+
+# This record pair reads the parameter library value for "motorVeloFromDriver_"
+# and pushes it to the motor record field "VELO". This can be used to read the speed value
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorVeloFromDriver_ -> MOTOR_VELO_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):VELO_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VELO_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushVELO2Field")
+}
+record(ao, "$(INSTR)$(M):PushVELO2Field") {
+    field(DOL,  "$(INSTR)$(M):VELO_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).VELO")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorVbasFromDriver_"
+# and pushes it to the motor record field "VBAS". This can be used to read the lower speed limit
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorVbasFromDriver_ -> MOTOR_VBAS_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):VBAS_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VBAS_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushVBAS2Field")
+}
+record(ao, "$(INSTR)$(M):PushVBAS2Field") {
+    field(DOL,  "$(INSTR)$(M):VBAS_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).VBAS")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorVmaxFromDriver_"
+# and pushes it to the motor record field "VMAX". This can be used to read the upper speed limit
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorVmaxFromDriver_ -> MOTOR_VMAX_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):VMAX_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_VMAX_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushVMAX2Field")
+}
+record(ao, "$(INSTR)$(M):PushVMAX2Field") {
+    field(DOL,  "$(INSTR)$(M):VMAX_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).VMAX")
+    field(OMSL, "closed_loop")
+}
+
+# This record pair reads the parameter library value for "motorAcclFromDriver_"
+# and pushes it to the motor record field "ACCL". This can be used to read the acceleration
+# from the hardware and correspondingly update the motor record from the driver.
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorAcclFromDriver_ -> MOTOR_ACCL_FROM_DRIVER.
+record(ai, "$(INSTR)$(M):ACCL_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ACCL_FROM_DRIVER")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushACCL2Field")
+}
+record(ao, "$(INSTR)$(M):PushACCL2Field") {
+    field(DOL,  "$(INSTR)$(M):ACCL_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).ACCL")
+    field(OMSL, "closed_loop")
+}
+
+# Read out the encoder type in human-readable form. The output numbers are ASCII
+# codes and can be converted to chars in order to get the encoder type.
+# EPICS prepends the ASCII code with 80
+# The following encoder types are defined:
+# - "Absolute encoder" (array 80 65 98 115 111 108 117 116 101 32 101 110 99 111 100 101 114)
+# - "Incremental encoder" (array 80 73 110 99 114 101 109 101 110 116 97 108 32 101 110 99 111 100 101 114)
+# This record is coupled to the parameter library via encoderType -> ENCODER_TYPE.
+record(waveform, "$(INSTR)$(M):EncoderType") {
+    field(DTYP, "asynOctetRead")
+    field(INP, "@asyn($(CONTROLLER),$(AXIS),1) ENCODER_TYPE")
+    field(FTVL, "CHAR")
+    field(NELM, "80")
+    field(SCAN, "I/O Intr")
+}

src/msgPrintControl.cpp

@@ -0,0 +1,117 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
+#include "msgPrintControl.h"
+#include <unordered_map>
+
+msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
+                                       const char *functionName, int line,
+                                       size_t maxRepetitions) {
+    controller_ = controller;
+    axisNo_ = axisNo;
+    line_ = line;
+    functionName_ = functionName;
+    maxRepetitions_ = maxRepetitions;
+}
+
+void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
+    snprintf(buffer, bufferSize, "controller %s, axis %d, function %s, line %d",
+             controller_.c_str(), axisNo_, functionName_, line_);
+}
+
+// =============================================================================
+
+msgPrintControl::~msgPrintControl() = default;
+
+bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                                      asynUser *pasynUser) {
+
+    // Reset the suffix
+    suffix_[0] = 0;
+
+    if (wantToPrint) {
+        /*
+        We want to print the message associated with key -> Check if the number
+        of allowed repetitions is exceeded. If true, inform the user that
+        further output is suppressed.
+        */
+        if (map_.find(key) != map_.end()) {
+            size_t repetitions = map_[key];
+            if (repetitions < key.maxRepetitions_) {
+                // Number of allowed repetitions not exceeded -> Printing the
+                // message is ok.
+                map_[key] = repetitions + 1;
+                return true;
+            } else if (repetitions == key.maxRepetitions_) {
+                // Reached number of allowed repetitions -> Printing the message
+                // is ok, but further trys are rejected.
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                snprintf(suffix_, sizeof(suffix_),
+                         " Further repetition of this error message (key "
+                         "\"%s\") is suppressed.",
+                         formattedKey);
+                map_[key] = repetitions + 1;
+                return true;
+            } else {
+                // Exceeded number of allowed repetitions -> Do not print the
+                // message
+                return false;
+            }
+        } else {
+            // Message is not yet in map -> create an entry so it is watched in
+            // the future.
+            map_[key] = 1;
+            return true;
+        }
+
+    } else {
+        /*
+        We do not want to print the message associated with key -> If the key is
+        part of the map, set the counter back to zero.
+         */
+        if (map_.find(key) != map_.end()) {
+            if (map_[key] != 0) {
+                if (pasynUser != nullptr) {
+                    char formattedKey[100] = {0};
+                    key.format(formattedKey, sizeof(formattedKey));
+                    asynPrint(
+                        pasynUser, ASYN_TRACE_ERROR,
+                        "Controller \"%s\", axis %d  => %s, line %d\nError "
+                        "associated with key \"%s\" has been resolved.\n",
+                        key.controller_.c_str(), key.axisNo_, key.functionName_,
+                        key.line_, formattedKey);
+                }
+                map_[key] = 0;
+            }
+        }
+        return false;
+    }
+}
+
+bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
+                                      const char *functionName, int line,
+                                      bool wantToPrint, asynUser *pasynUser,
+                                      size_t maxRepetitions) {
+    msgPrintControlKey key =
+        msgPrintControlKey(portName, axisNo, functionName, __LINE__);
+    return shouldBePrinted(key, wantToPrint, pasynUser);
+}
+
+void msgPrintControl::resetCount(msgPrintControlKey &key, asynUser *pasynUser) {
+    if (map_.find(key) != map_.end()) {
+        if (map_[key] != 0) {
+            if (pasynUser != nullptr) {
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line %d\nError "
+                          "associated with key \"%s\" has been resolved.\n",
+                          key.controller_.c_str(), key.axisNo_,
+                          key.functionName_, key.line_, formattedKey);
+            }
+            map_[key] = 0;
+        }
+    }
+}
+
+char *msgPrintControl::getSuffix() { return suffix_; }

src/msgPrintControl.h

@@ -0,0 +1,155 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
+#ifndef msgPrintControl_H
+#define msgPrintControl_H
+
+#define DefaultMaxRepetitions 4
+
+#include <asynDriver.h>
+#include <string.h>
+#include <string>
+#include <unordered_map>
+
+/**
+ * @brief Class to identify a message print location. See the docstring of
+ * `msgPrintControl` on how to use this key.
+ *
+ */
+class msgPrintControlKey {
+  public:
+    std::string controller_;
+
+    // -1 indicates a non-axis specific message
+    int axisNo_;
+
+    const char *functionName_;
+    int line_;
+
+    /**
+     * @brief Maximum number of times a message is printed before it is
+     * suppressed. This number is not used as part of the hash.
+     *
+     */
+    size_t maxRepetitions_;
+
+    msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
+                       int line, size_t maxRepetitions = DefaultMaxRepetitions);
+
+    bool operator==(const msgPrintControlKey &other) const {
+        return axisNo_ == other.axisNo_ && line_ == other.line_ &&
+               strcmp(functionName_, other.functionName_) == 0 &&
+               controller_ == other.controller_;
+    }
+
+    void format(char *buffer, size_t bufferSize);
+};
+
+/**
+ * @brief Implementation of the hash functionality for `msgPrintControlKey`
+ *
+ */
+namespace std {
+template <> struct hash<msgPrintControlKey> {
+    size_t operator()(const msgPrintControlKey &obj) const {
+        // Combine the hashes of the members (x and y)
+        size_t h1 = std::hash<std::string>{}(obj.controller_);
+        size_t h2 = hash<int>{}(obj.axisNo_);
+        size_t h3 = std::hash<const char *>{}(obj.functionName_);
+        size_t h4 = hash<int>{}(obj.line_);
+        // Combine the hashes (simple XOR and shifting technique)
+        return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+};
+} // namespace std
+
+/**
+ * @brief Class to control the number of repetitions of error messages
+ *
+ * This class is used to prevent excessive repetitions of identical error
+ * messages. For example, if the communication between a controller and an
+ * axis fails, a corresponding error message is created in each poll. This
+ * could "flood" the IOC shell with noise. To prevent this, this class keeps
+ * track of the number of subsequent error message repetition. Each message is
+ * uniquely identified by `msgPrintControlKey`. The function `shouldBePrinted`
+ * can be used in order to see if a message should be printed or not:
+ *
+ * ```
+ * const char* controller = "MCU" // Name of the controller
+ * int axisNo = 0; // Number of the axis
+ * bool wantToPrint = evaluateConditions(...); *
+ * if (msgPrintControl.shouldBePrinted(controller, axisNo, __PRETTY_FUNCTION__,
+ * __LINE__, wantToPrint)) { asynPrint(...)
+ * }
+ * ```
+ */
+class msgPrintControl {
+  public:
+    /**
+     * @brief Destroy the msgPrintControl object
+     *
+     */
+    ~msgPrintControl();
+
+    /**
+     * @brief Checks if the error message associated with "key" has been printed
+     * more than `this->maxRepetitions_` times in a row. If yes, returns false,
+     * otherwise true. Counter is reset if `wantToPrint` is false.
+     *
+     * If the conditions for printing a message are met, `wantToPrint` must be
+     * set to true. The function then checks if `maxRepetitions_` has been
+     * exceeded. If yes, the function returns no, indicating that the message
+     * should not be printed. If no, the number of repetitions stored in the map
+     * is incremented and the function returns true, indicating that the message
+     * should be printed.
+     *
+     * If the conditions for printing a message are not met, `wantToPrint` must
+     * be set to false. This resets the map entry.
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param wantToPrint       If the message associated with key should be
+     * printed, this value should be true, otherwise false.
+     * @param pasynUser         If the problem has been resolved (wantToPrint =
+     * false), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
+     * @return bool             If true, the message should be printed, if
+     * false, it should not.
+     */
+    bool shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                         asynUser *pasynUser);
+
+    /**
+     * @brief Like `shouldBePrinted(msgPrintControlKey key, bool wantToPrint)`,
+     * but constructs the key from the first four arguments.
+     *
+     * @param controller_
+     * @param axisNo
+     * @param fileName
+     * @param line
+     * @param wantToPrint
+     * @param pasynUser
+     */
+    bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
+                         int line, bool wantToPrint, asynUser *pasynUser,
+                         size_t maxRepetitions = DefaultMaxRepetitions);
+
+    /**
+     * @brief Reset the error message count incremented in `shouldBePrinted` for
+     * the given key
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param pasynUser         If the problem has been resolved (`wantToPrint =
+     * false`), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
+     */
+    void resetCount(msgPrintControlKey &key, asynUser *pasynUser);
+
+    char *getSuffix();
+
+  private:
+    std::unordered_map<msgPrintControlKey, size_t> map_;
+    char suffix_[300] = {0};
+};
+
+#endif

src/sinqAxis.cpp

@@ -1,91 +1,817 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 #include "sinqAxis.h"
+#include "epicsExport.h"
+#include "iocsh.h"
+#include "msgPrintControl.h"
 #include "sinqController.h"
+#include <epicsTime.h>
+#include <errlog.h>
+#include <math.h>
 #include <unistd.h>
 
-sinqAxis::sinqAxis(class sinqController *pC, int axis)
-    : asynMotorAxis((asynMotorController *)pC, axis), pC_(pC) {
+#define getControllerMethod pController
 
-    bool initial_poll_ = true;
-    int init_poll_counter_ = 0;
+struct sinqAxisImpl {
+    // Internal variables used in the movement timeout watchdog
+    time_t expectedArrivalTime;
+    time_t offsetMovTimeout;
+
+    double scaleMovTimeout;
+    bool watchdogMovActive;
+    // Store the motor target position for the movement time calculation
+    double targetPosition;
+
+    bool wasMoving;
+
+    /*
+    Store the time since the last poll
+    */
+    epicsTimeStamp lastPollTime;
+};
+
+sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
+    : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
+    asynStatus status = asynSuccess;
+
+    epicsTimeStamp lastPollTime;
+    epicsTimeGetCurrent(&lastPollTime);
+
+    pSinqA_ = std::make_unique<sinqAxisImpl>(
+        (sinqAxisImpl){.expectedArrivalTime = 0,
+                       .offsetMovTimeout = 30,
+                       .scaleMovTimeout = 2.0,
+                       .watchdogMovActive = false,
+                       .targetPosition = 0.0,
+                       .wasMoving = false,
+                       .lastPollTime = lastPollTime});
+
+    /*
+    This check is also done in asynMotorAxis, but there the IOC continues
+    running even though the configuration is incorrect. When failing this check,
+    the IOC is stopped, since this is definitely a configuration problem.
+    */
+    if ((axisNo < 0) || (axisNo >= pC->numAxes())) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(axis index %d is not in range 0 to %d)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo,
+                  pC->numAxes() - 1);
+        exit(-1);
+    }
+
+    /*
+    Initialize the parameter library entry for the motor message text, because
+    it is read during the first poll before it has been written to.
+    */
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Motor is assumed to be enabled
+    status = setIntegerParam(pC_->motorEnableRBV(), 1);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // By default, motors cannot be disabled
+    status = setIntegerParam(pC_->motorCanDisable(), 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Provide a default value for the motor position.
+    status = setDoubleParam(pC_->motorPosition(), 0.0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Assume that the motor is connected initially
+    status = setIntegerParam(pC_->motorConnected(), 1);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // We assume that the motor has no status problems initially
+    status = setIntegerParam(pC_->motorStatusProblem(), 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Set the homing-related flags
+    status = setIntegerParam(pC_->motorStatusHome(), 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+    status = setIntegerParam(pC_->motorStatusHomed(), 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+    status = setIntegerParam(pC_->motorStatusAtHome(), 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
 }
 
-asynStatus sinqAxis::atFirstPoll() { return asynSuccess; }
+sinqAxis::~sinqAxis() = default;
 
 asynStatus sinqAxis::poll(bool *moving) {
+
     // Local variable declaration
     asynStatus pl_status = asynSuccess;
     asynStatus poll_status = asynSuccess;
+    int homing = 0;
+    int adaptivePolling = 0;
+    char waitingMessage[pC_->MAXBUF_] = {0};
+    char newMessage[pC_->MAXBUF_] = {0};
 
-    // =========================================================================
+    /*
+    If adaptive polling is enabled:
+    - Check if the motor was moving during the last poll
+        - If yes, perform the poll
+        - If no, check if the last poll was at least an idlePollPeriod ago
+            - If yes, perform the poll
+            - If no, skip it
+    */
+    getAxisParamChecked(this, adaptivePolling, &adaptivePolling);
 
-    // If this poll is the initial poll, check if the parameter library has
-    // already been initialized. If not, force EPCIS to repeat the poll until
-    // the initialization is complete (or until a timeout is reached). Once the
-    // parameter library has been initialized, read configuration data from the
-    // motor controller into it.
-    if (initial_poll_) {
-        poll_status = atFirstPoll();
-        if (poll_status == asynSuccess) {
-            initial_poll_ = false;
-        } else {
-            // Send a message to the IOC shell every 10 trials.
-            init_poll_counter_ += 1;
-            if (init_poll_counter_ % 10 == 0) {
-                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-                          "%s => line %d:\nRunning function 'atFirstPoll' "
-                          "failed %d times with error %s.",
-                          __PRETTY_FUNCTION__, __LINE__, init_poll_counter_,
-                          pC_->stringifyAsynStatus(poll_status));
+    // Using the EPICS timestamp here, see
+    // https://docs.epics-controls.org/projects/base/en/latest/epicsTime_h.html#_CPPv414epicsTimeStamp
+
+    // Get the current time
+    epicsTimeStamp ts;
+    epicsTimeGetCurrent(&ts);
+
+    /*
+    Check if both adaptive polling is enabled and no forced fast polls are still
+    required.
+     */
+    if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0) {
+        // Motor wasn't moving during the last poll
+        if (!pSinqA_->wasMoving) {
+
+            // Add the idle poll period
+            epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
+            epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
+
+            if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
+                *moving = false;
+                return asynSuccess;
             }
-
-            // Wait for 100 ms until trying the entire poll again
-            usleep(100000);
-            return poll_status;
         }
     }
 
-    // The poll function is just a wrapper around doPoll and
-    // handles mainly the callParamCallbacks() function. This wrapper is used
-    // to make sure callParamCallbacks() is called in case of a premature
-    // return.
+    // Update the start time of the last poll
+    pSinqA_->lastPollTime = ts;
+
+    /*
+    If the "motorMessageText" record currently contains an error message, it
+    should be shown for at least one poll period. To assure this, it is read out
+    here from the paramLib into "waitingMessage". If no new error message was
+    added to the parameter library at the end of the poll cycle, the
+    "waitingMessage" is briefly put into the paramLib again, then the PVs are
+    updated and then the message text is cleared again.
+    */
+    getAxisParamChecked(this, motorMessageText,
+                        static_cast<char *>(waitingMessage));
+
+    // Clear the communication
+    setAxisParamChecked(this, motorStatusCommsError, false);
+
+    /*
+    The poll function is just a wrapper around doPoll and handles mainly the
+    callParamCallbacks() function. This wrapper is used to make sure
+    callParamCallbacks() is called in case of a premature return.
+    */
     poll_status = doPoll(moving);
 
-    // If the poll status is ok, reset the error indicators in the parameter
-    // library
-    if (poll_status == asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
-        if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                      __PRETTY_FUNCTION__, __LINE__);
-        }
-        pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
-        if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_",
-                                      __PRETTY_FUNCTION__, __LINE__);
+    /*
+    If the poll did not succeed OR if an error message is waiting, something
+    went wrong and the motor has a status problem. Otherwise, delete the error
+    message entry which is currently in the paramLib.
+    */
+    if (poll_status != asynSuccess || waitingMessage[0] != '\0') {
+        /*
+        If doPoll cleared the error message paramLib entry, but an old message
+        is still waiting, set the old message.
+        */
+        getAxisParamChecked(this, motorMessageText,
+                            static_cast<char *>(newMessage));
+        if (newMessage[0] == '\0') {
+            setAxisParamChecked(this, motorMessageText,
+                                static_cast<char *>(waitingMessage));
         }
+        setAxisParamChecked(this, motorStatusProblem, true);
+    } else {
+        // No errors are waiting -> Clear everything.
+        setAxisParamChecked(this, motorMessageText, "");
+        setAxisParamChecked(this, motorStatusProblem, false);
+    }
 
-        pl_status = setStringParam(pC_->motorMessageText_, "");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
+    /*
+    Motor is in homing mode, was moving, but is not moving anymore -> It can be
+    assumed that the homing procedure is done.
+     */
+    getAxisParamChecked(this, motorStatusHome, &homing);
+    if (homing == 1 && !(*moving) && pSinqA_->wasMoving) {
+        setAxisParamChecked(this, motorStatusHome, false);
+        setAxisParamChecked(this, motorStatusHomed, true);
+        setAxisParamChecked(this, motorStatusAtHome, true);
+    }
+
+    // Update the wasMoving status
+    if (pC_->outstandingForcedFastPolls() == 0) {
+        pSinqA_->wasMoving = *moving;
+    }
+
+    // Check and update the watchdog
+    if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
+        return asynError;
     }
 
     // According to the function documentation of asynMotorAxis::poll, this
     // function should be called at the end of a poll implementation.
     pl_status = callParamCallbacks();
-    if (pl_status != asynSuccess) {
-        // If we can't communicate with the parameter library, it doesn't make
-        // sense to try and upstream this to the user -> Just log the error
-        asynPrint(
-            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
-            "%s => line %d:\ncallParamCallbacks failed with %s for axis %d",
-            __PRETTY_FUNCTION__, __LINE__,
-            pC_->stringifyAsynStatus(poll_status), axisNo_);
+    bool wantToPrint = pl_status != asynSuccess;
+    if (pC_->getMsgPrintControl().shouldBePrinted(
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
+            pC_->pasynUser())) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\ncallParamCallbacks failed with %s.%s\n",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(poll_status),
+                  pC_->getMsgPrintControl().getSuffix());
+    }
+    if (wantToPrint) {
         poll_status = pl_status;
     }
 
+    /*
+    Delete the error message AFTER updating the PVs so it is not there anymore
+    during the next poll.
+    */
+    setAxisParamChecked(this, motorMessageText, "");
+
     return poll_status;
 }
 
-asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
+asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
+
+asynStatus sinqAxis::move(double position, int relative, double minVelocity,
+                          double maxVelocity, double acceleration) {
+
+    // Status of parameter library operations
+    asynStatus status = asynSuccess;
+    double motorRecRes = 0.0;
+
+    // =========================================================================
+
+    // Store the target position internally
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    pSinqA_->targetPosition = position * motorRecRes;
+
+    status = doMove(position, relative, minVelocity, maxVelocity, acceleration);
+    if (status != asynSuccess) {
+        return status;
+    }
+
+    status = assertConnected();
+    if (status != asynSuccess) {
+        return status;
+    }
+
+    // Since the move command was successfull, we assume that the motor has
+    // started its movement.
+    setAxisParamChecked(this, motorStatusHomed, false);
+    setAxisParamChecked(this, motorStatusAtHome, false);
+
+    // Needed for adaptive polling
+    pSinqA_->wasMoving = true;
+
+    return pC_->callParamCallbacks();
+}
+
+asynStatus sinqAxis::doMove(double position, int relative, double minVelocity,
+                            double maxVelocity, double acceleration) {
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
+                          double acceleration, int forwards) {
+
+    asynStatus status = asynSuccess;
+
+    status = doHome(minVelocity, maxVelocity, acceleration, forwards);
+
+    if (status == asynSuccess) {
+
+        setAxisParamChecked(this, motorStatusHome, true);
+        setAxisParamChecked(this, motorStatusHomed, false);
+        setAxisParamChecked(this, motorStatusAtHome, false);
+        pSinqA_->wasMoving = true;
+
+        status = assertConnected();
+        if (status != asynSuccess) {
+            return status;
+        }
+        return pC_->wakeupPoller();
+
+    } else if (status == asynError) {
+        // asynError means that we tried to home an absolute encoder
+        setAxisParamChecked(this, motorMessageText,
+                            "Can't home a motor with absolute encoder");
+
+        status = assertConnected();
+        if (status != asynSuccess) {
+            return status;
+        }
+
+        // Update the motor record
+        return callParamCallbacks();
+    } else {
+        // Bubble up all other problems
+        return status;
+    }
+}
+
+asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
+                            double acceleration, int forwards) {
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::reset() {
+    asynStatus status = doReset();
+
+    if (status == asynSuccess) {
+        // Perform some fast polls
+        pC_->wakeupPoller();
+    }
+
+    status = assertConnected();
+    if (status != asynSuccess) {
+        return status;
+    }
+
+    return status;
+}
+
+asynStatus sinqAxis::doReset() { return asynError; }
+
+asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
+
+asynStatus sinqAxis::motorPosition(double *motorPos) {
+    asynStatus status = asynSuccess;
+    double motorRecRes = 0.0;
+
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+
+    /*
+    We cannot use getAxisParamChecked checked here, since the name of the index
+    getter function of the controller and this function have the same name.
+    Therefore we implement this manually
+    */
+    status = pC_->getDoubleParam(axisNo(), pC_->motorPosition(), motorPos);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, "motorPosition", axisNo(),
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    *motorPos = *motorPos * motorRecRes;
+    return status;
+}
+
+asynStatus sinqAxis::setMotorPosition(double motorPos) {
+    asynStatus status = asynSuccess;
+    double motorRecRes = 0.0;
+
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    setAxisParamChecked(this, motorPosition, motorPos / motorRecRes);
+
+    return status;
+}
+
+asynStatus sinqAxis::assertConnected() {
+    int connected = 0;
+    getAxisParamChecked(this, motorConnected, &connected);
+    if (connected == 0) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line "
+                  "%d:\nAxis is not connected, all commands are ignored.\n",
+                  pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
+    }
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
+    asynStatus status = asynSuccess;
+    int variableSpeed = 0;
+
+    // Can the speed of the motor be varied?
+    getAxisParamChecked(this, motorCanSetSpeed, &variableSpeed);
+
+    if (variableSpeed == 1) {
+
+        // Check the inputs and create corresponding error messages
+        if (vbas > vmax) {
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d:\nLower speed "
+                      "limit vbas=%lf must not be smaller than upper limit "
+                      "vmax=%lf.\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      vbas, vmax);
+            setAxisParamChecked(
+                this, motorMessageText,
+                "Lower speed limit must not be smaller than upper speed limit");
+            return asynError;
+        }
+        if (velo < vbas || velo > vmax) {
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d:\nActual "
+                      "speed velo=%lf must be between lower limit vbas=%lf and "
+                      "upper limit vmax=%lf.\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      velo, vbas, vmax);
+
+            setAxisParamChecked(this, motorMessageText,
+                                "Speed is not inside limits");
+            return asynError;
+        }
+
+        setAxisParamChecked(this, motorVbasFromDriver, vbas);
+        setAxisParamChecked(this, motorVeloFromDriver, velo);
+        setAxisParamChecked(this, motorVmaxFromDriver, vmax);
+    } else {
+        // Set minimum and maximum speed equal to the set speed
+        setAxisParamChecked(this, motorVbasFromDriver, velo);
+        setAxisParamChecked(this, motorVeloFromDriver, velo);
+        setAxisParamChecked(this, motorVmaxFromDriver, velo);
+    }
+    return status;
+}
+
+asynStatus sinqAxis::setAcclField(double accl) {
+
+    if (accl <= 0.0) {
+        return asynError;
+    }
+
+    setAxisParamChecked(this, motorAcclFromDriver, accl);
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
+    setAxisParamChecked(this, motorEnableMovWatchdog, enable);
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::startMovTimeoutWatchdog() {
+    asynStatus pl_status;
+    int enableMovWatchdog = 0;
+
+    getAxisParamChecked(this, motorEnableMovWatchdog, &enableMovWatchdog);
+
+    if (enableMovWatchdog == 1) {
+        // These parameters are only needed in this branch
+        double motorPos = 0.0;
+        double motorVelocity = 0.0;
+        double motorVelocityRec = 0.0;
+        double motorAccel = 0.0;
+        double motorAccelRec = 0.0;
+        double motorRecRes = 0.0;
+        time_t timeContSpeed = 0;
+        time_t timeAccel = 0;
+
+        // Activate the watchdog
+        pSinqA_->watchdogMovActive = true;
+
+        /*
+        NOTE: This function must not be called in the constructor (e.g. in order
+        to save the read result to the member variable earlier), since the
+        parameter library is updated at a later stage!
+        */
+        pl_status = motorPosition(&motorPos);
+        if (pl_status != asynSuccess) {
+            return pl_status;
+        }
+
+        /*
+        We use motorVelocity, which corresponds to the record field VELO.
+        From https://epics.anl.gov/docs/APS2015/14-Motor-Record.pdf:
+        * VELO = motorVelocity_ = Slew velocity
+        * VBAS = motorVelBase_ = Only used for stepper motors to minimize
+        resonance.
+        As documented in
+        https://epics.anl.gov/docs/APS2015/17-Motor-Driver.pdf, the
+        following relations apply: motorVelBase = VBAS / MRES motorVelocity
+        = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
+        Therefore, we need to correct the values from the parameter library.
+         */
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+
+        // Read the velocity
+        getAxisParamChecked(this, motorVelocity, &motorVelocityRec);
+
+        // Only calculate timeContSpeed if the motorVelocity has been populated
+        // with a sensible value (e.g. > 0)
+        if (pl_status == asynSuccess && motorVelocityRec > 0.0) {
+            // Convert back to the value in the VELO field
+            motorVelocity = motorVelocityRec * motorRecRes;
+            if (pl_status == asynSuccess) {
+
+                timeContSpeed =
+                    std::ceil(std::fabs(pSinqA_->targetPosition - motorPos) /
+                              motorVelocity);
+            }
+        }
+
+        getAxisParamChecked(this, motorAccel, &motorAccelRec);
+        if (pl_status == asynSuccess && motorVelocityRec > 0.0 &&
+            motorAccelRec > 0.0) {
+
+            // Convert back to the value in the ACCL field
+            motorAccel = motorVelocityRec / motorAccelRec;
+
+            // Calculate the time
+            timeAccel = 2 * std::ceil(motorVelocity / motorAccel);
+        }
+
+        // Calculate the expected arrival time
+        pSinqA_->expectedArrivalTime =
+            time(NULL) + pSinqA_->offsetMovTimeout +
+            pSinqA_->scaleMovTimeout * (timeContSpeed + 2 * timeAccel);
+    } else {
+        pSinqA_->watchdogMovActive = false;
+    }
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
+    int enableMovWatchdog = 0;
+
+    getAxisParamChecked(this, motorEnableMovWatchdog, &enableMovWatchdog);
+
+    // Not moving or watchdog not active / enabled
+    if (enableMovWatchdog == 0 || !moving || !pSinqA_->watchdogMovActive) {
+        pSinqA_->watchdogMovActive = false;
+        return asynSuccess;
+    }
+
+    // Create the unique callsite identifier manually so it can be used later in
+    // the shouldBePrinted calls.
+    msgPrintControlKey key = msgPrintControlKey(pC_->portName, axisNo_,
+                                                __PRETTY_FUNCTION__, __LINE__);
+
+    // Check if the expected time of arrival has been exceeded.
+    if (pSinqA_->expectedArrivalTime < time(NULL)) {
+        // Check the watchdog
+        if (pC_->getMsgPrintControl().shouldBePrinted(key, true,
+                                                      pC_->pasynUser())) {
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                      "Controller \"%s\", axis %d => %s, line %d:\nExceeded "
+                      "expected arrival time %ld (current time is %ld).\n",
+                      pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                      pSinqA_->expectedArrivalTime, time(NULL));
+        }
+
+        setAxisParamChecked(
+            this, motorMessageText,
+            "Exceeded expected arrival time. Check if the axis is blocked.");
+        setAxisParamChecked(this, motorStatusProblem, true);
+    } else {
+        pC_->getMsgPrintControl().resetCount(key, pC_->pasynUser());
+    }
+
+    // Even if the movement timed out, the rest of the poll should continue.
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::setOffsetMovTimeout(time_t offsetMovTimeout) {
+    pSinqA_->offsetMovTimeout = offsetMovTimeout;
+    return asynSuccess;
+}
+
+asynStatus sinqAxis::setScaleMovTimeout(time_t scaleMovTimeout) {
+    pSinqA_->scaleMovTimeout = scaleMovTimeout;
+    return asynSuccess;
+}
+
+bool sinqAxis::wasMoving() { return pSinqA_->wasMoving; }
+
+void sinqAxis::setWasMoving(bool wasMoving) { pSinqA_->wasMoving = wasMoving; }
+
+double sinqAxis::targetPosition() { return pSinqA_->targetPosition; }
+
+void sinqAxis::setTargetPosition(double targetPosition) {
+    pSinqA_->targetPosition = targetPosition;
+}
+
+// =============================================================================
+// IOC shell functions
+extern "C" {
+
+/**
+ * @brief Enable / disable the watchdog (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param enable                  If 0, disable the watchdog, otherwise enable
+ * it
+ * @return asynStatus
+ */
+asynStatus setWatchdogEnabled(const char *portName, int axisNo, int enable) {
+
+    sinqController *pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf(
+            "Controller \"%s\", axis %d => %s, line %d:\nAxis does not "
+            "exist or is not an instance of sinqAxis.",
+            portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    return axis->setWatchdogEnabled(enable != 0);
+}
+
+static const iocshArg setWatchdogEnabledArg0 = {"Controller port name",
+                                                iocshArgString};
+static const iocshArg setWatchdogEnabledArg1 = {"Axis number", iocshArgInt};
+static const iocshArg setWatchdogEnabledArg2 = {
+    "Enabling / disabling the watchdog", iocshArgInt};
+static const iocshArg *const setWatchdogEnabledArgs[] = {
+    &setWatchdogEnabledArg0, &setWatchdogEnabledArg1, &setWatchdogEnabledArg2};
+static const iocshFuncDef setWatchdogEnabledDef = {"setWatchdogEnabled", 3,
+                                                   setWatchdogEnabledArgs};
+
+static void setWatchdogEnabledCallFunc(const iocshArgBuf *args) {
+    setWatchdogEnabled(args[0].sval, args[1].ival, args[2].ival);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the offsetMovTimeout (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param offsetMovTimeout        Offset (in seconds)
+ * @return asynStatus
+ */
+asynStatus setOffsetMovTimeout(const char *portName, int axisNo,
+                               double offsetMovTimeout) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
+                     "exist or is not an instance of sinqAxis.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+    }
+
+    return axis->setOffsetMovTimeout(offsetMovTimeout);
+}
+
+static const iocshArg setOffsetMovTimeoutArg0 = {"Controller port name",
+                                                 iocshArgString};
+static const iocshArg setOffsetMovTimeoutArg1 = {"Axis number", iocshArgInt};
+static const iocshArg setOffsetMovTimeoutArg2 = {"Offset timeout for movement",
+                                                 iocshArgDouble};
+static const iocshArg *const setOffsetMovTimeoutArgs[] = {
+    &setOffsetMovTimeoutArg0, &setOffsetMovTimeoutArg1,
+    &setOffsetMovTimeoutArg2};
+static const iocshFuncDef setOffsetMovTimeoutDef = {"setOffsetMovTimeout", 3,
+                                                    setOffsetMovTimeoutArgs};
+
+static void setOffsetMovTimeoutCallFunc(const iocshArgBuf *args) {
+    setOffsetMovTimeout(args[0].sval, args[1].ival, args[2].dval);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the setScaleMovTimeout (FFI implementation)
+ *
+ * @param portName                Name of the controller
+ * @param axisNo                  Axis number
+ * @param scaleMovTimeout         Scaling factor (in seconds)
+ * @return asynStatus
+ */
+asynStatus setScaleMovTimeout(const char *portName, int axisNo,
+                              double scaleMovTimeout) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    asynMotorAxis *asynAxis = pC->getAxis(axisNo);
+    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+    if (axis == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
+                     "exist or is not an instance of sinqAxis.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+        return asynError;
+    }
+
+    return axis->setScaleMovTimeout(scaleMovTimeout);
+}
+
+static const iocshArg setScaleMovTimeoutArg0 = {"Controller port name",
+                                                iocshArgString};
+static const iocshArg setScaleMovTimeoutArg1 = {"Axis number", iocshArgInt};
+static const iocshArg setScaleMovTimeoutArg2 = {
+    "Multiplier for calculated move time", iocshArgDouble};
+static const iocshArg *const setScaleMovTimeoutArgs[] = {
+    &setScaleMovTimeoutArg0, &setScaleMovTimeoutArg1, &setScaleMovTimeoutArg2};
+static const iocshFuncDef setScaleMovTimeoutDef = {"setScaleMovTimeout", 3,
+                                                   setScaleMovTimeoutArgs};
+
+static void setScaleMovTimeoutCallFunc(const iocshArgBuf *args) {
+    setScaleMovTimeout(args[0].sval, args[1].ival, args[2].dval);
+}
+
+// =============================================================================
+
+// This function is made known to EPICS in sinqMotor.dbd and is called by EPICS
+// in order to register all functions in the IOC shell
+static void sinqAxisRegister(void) {
+    iocshRegister(&setOffsetMovTimeoutDef, setOffsetMovTimeoutCallFunc);
+    iocshRegister(&setScaleMovTimeoutDef, setScaleMovTimeoutCallFunc);
+    iocshRegister(&setWatchdogEnabledDef, setWatchdogEnabledCallFunc);
+}
+epicsExportRegistrar(sinqAxisRegister);
+
+} // extern C

src/sinqAxis.h

@@ -1,39 +1,758 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 /*
 This class extends asynMotorAxis by some features used in SINQ.
 
 Stefan Mathis, November 2024
 */
-#ifndef __SINQDRIVER
-#define __SINQDRIVER
+
+#ifndef sinqAxis_H
+#define sinqAxis_H
 #include "asynMotorAxis.h"
+#include <memory>
+#include <type_traits>
+
+struct sinqAxisImpl;
 
 class epicsShareClass sinqAxis : public asynMotorAxis {
   public:
-    sinqAxis(class sinqController *pC_, int axis);
+    /**
+     * @brief Construct a new sinqAxis object
+     *
+     * @param pC_                 Pointer to the controller of the axis
+     * @param axis                Index of the axis
+     */
+    sinqAxis(class sinqController *pC_, int axisNo);
 
     /**
-    This function is executed at the very first poll after the IOC startup. If
-    it returns anything else than 'asynSuccess', the function is evaluated again
-    after 100 ms until it succeeds. Every 10 trials a warning is emitted.
+     * @brief Destroy the sinqAxis object
+     *
+     * This destructor is necessary in order to use the PIMPL idiom.
      */
-    asynStatus atFirstPoll();
-
-    asynStatus poll(bool *moving);
+    ~sinqAxis();
 
     /**
-    Implementation of the "proper", device-specific poll method. This method
-    should be implemented by a child class of sinqAxis.
+     * @brief Perform some standardized operations before and after the concrete
+    `doPoll` implementation.
+     *
+     * Wrapper around `doPoll` which performs the following operations:
+
+    - Call the `doPoll` method
+
+    - Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if
+    doPoll returned asynSuccess
+
+    - If the movement timeout watchdog has been started, check it.
+
+    - The flags `motorStatusHome_`, `motorStatusHomed_` and
+    `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
+    in the `poll()` method once the homing procedure is finished. See the
+    documentation of the `home()` method for more details.
+
+    - Run `callParamCallbacks()`
+
+    - Return the status of `doPoll`
+     *
+     * @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 status of
+    the failed operation.
      */
-    asynStatus doPoll(bool *moving);
+    virtual asynStatus poll(bool *moving);
 
-    friend class sinqController;
+    /**
+     * @brief Implementation of the "proper", device-specific poll method. This
+    method should be implemented by a child class of sinqAxis.
+     *
+     * @param moving            Should be set to true, if the axis is moving,
+     * and false otherwise.
+     * @return asynStatus
+     */
+    virtual asynStatus doPoll(bool *moving);
 
-  protected:
-    bool initial_poll_;
-    int init_poll_counter_;
+    /**
+     * @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 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`.
+     * @param relative            Forwarded to `doMove`.
+     * @param minVelocity         Forwarded to `doMove`.
+     * @param maxVelocity         Forwarded to `doMove`.
+     * @param acceleration        Forwarded to `doMove`.
+     * @return asynStatus         Forward the status of `doMove`, unless one of
+    the parameter library operation fails (in that case, returns the failed
+    operation status).
+     */
+    virtual asynStatus move(double position, int relative, double minVelocity,
+                            double maxVelocity, double acceleration);
+
+    /**
+     * @brief Implementation of the "proper", device-specific move method. This
+    method should be implemented by a child class of sinqAxis.
+     *
+     * @param position            Target position `VAL` from the motor record
+     * @param relative            Specifies, whether the target position is
+    relative or absolute.
+     * @param minVelocity         Minimum velocity VMIN from the motor record
+     * @param maxVelocity         Maximum velocity VMAX from the motor record
+     * @param acceleration        Acceleration ACCEL from the motor record
+     * @return asynStatus
+     */
+    virtual asynStatus doMove(double position, int relative, double minVelocity,
+                              double maxVelocity, double acceleration);
+
+    /**
+     * @brief Wrapper around doHome which handles the homing-related flags
+     *
+     * The homing procedure of the motor record is controlled by the following
+     * parameter library flags:
+     *
+     * - `motorMoveToHome_`: Setting this flag to `1` indicates to EPICS that a
+    homing procedure should start and can therefore be used to start homing from
+    within the driver.
+
+     * - `motorStatusHome_`: This flag should be set to `1` while the motor is
+    actively moving toward its home position and to `0` when the home position
+    is reached.
+     *
+     * - `motorStatusHomed_`: This flag should be set to `0` at the start of a
+    homing command and to 1 once the home position is reached.
+     *
+     * - `motorStatusAtHome_`: This flag is similar to `motorStatusHomed_`, but
+    in addition it should also be `1` when the motor is at its home position,
+    but wasn't actively homed in order to get there.
+     *
+     * This function performs the following operations in the given order:
+     *
+     * - Call `doHome()` and forward the parameters
+     *
+     * - If `doHome()` returned asynSuccess: Set `motorStatusHome_` to `1`,
+    `motorStatusHomed_` to `0` and `motorStatusAtHome_` to `0`.
+     *
+     * - If `doHome()` returned asynError: This means that the motor cannot be
+    homed because the encoder is absolute. Set a corresponding error message,
+    but return asynSuccess in order to avoid any automatic retries by asyn.
+
+     * - If `doHome()` returned anything else: Forward the status.
+     *
+     * The flags `motorStatusHome_`, `motorStatusHomed_` and
+    `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
+    in the `poll()` method once the homing procedure is finished.
+     *
+     * @param minVelocity         Forwarded to `doHome`.
+     * @param maxVelocity         Forwarded to `doHome`.
+     * @param acceleration        Forwarded to `doHome`.
+     * @param forwards            Forwarded to `doHome`.
+     * @return asynStatus         Forward the status of `doHome`, unless one of
+    the parameter library operation fails (in that case, returns the failed
+    operation status).
+     */
+    virtual asynStatus home(double minVelocity, double maxVelocity,
+                            double acceleration, int forwards);
+
+    /**
+     * @brief Implementation of the "proper", device-specific home method. This
+    method should be implemented by a child class of sinqAxis. If the motor
+    cannot be homed because it has an absolute encoder, this function should
+    return asynError.
+     *
+     * @param minVelocity         Minimum velocity VMIN from the motor record
+     * @param maxVelocity         Maximum velocity VMAX from the motor record
+     * @param acceleration        Acceleration ACCEL from the motor record
+     * @param forwards            Is 1, if the motor record field HOMF was used
+    to trigger the homing, and 0, if HOMR was used.
+     * @return asynStatus
+     */
+    virtual asynStatus doHome(double minVelocity, double maxVelocity,
+                              double acceleration, int forwards);
+
+    /**
+     * @brief This function is called when the PV "$(INSTR)$(M):Reset" is set to
+     * 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();
+
+    /**
+     * @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
+     * convention that a value of 0 disables the axis and any other value
+     * enables it.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    virtual asynStatus enable(bool on);
+
+    /**
+     * @brief Populate the motor record fields VELO, VBAS and VMAX
+     *
+     * 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.
+     *
+     * The units of the inputs are engineering units (EGU) per second (e.g. mm/s
+     * if the EGU is mm).
+     *
+     * If the given configuration is invalid (min > max, velo < min, velo > max)
+     * and the motor is configured as a variable speed motor (param lib entry
+     * motorCanSetSpeed_ is 1), this function returns an asynError.
+     *
+     * @param velo                Actual velocity (EGU / s)
+     * @param vbas                Minimum allowed velocity (EGU / s)
+     * @param velo                Maximum allowed velocity (EGU / s)
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus setVeloFields(double velo, double vbas, double vmax);
+
+    /**
+     * @brief Populate the ACCL field of the motor record
+     *
+     * Populates the acceleration field of the motor record with the given
+     * value. If accl is not positive, this function does not set the value and
+     * returns an asynError.
+     *
+     * The unit of the input is engineering units (EGU) per second squared (e.g.
+     * mm/s^2 if the EGU is mm).
+     *
+     * @param accl                Actual acceleration (EGU / s^2)
+     * @return asynStatus
+     */
+    virtual asynStatus setAcclField(double accl);
+
+    /**
+     * @brief Start the watchdog for the movement, if the watchdog is not
+    disabled. See the documentation of checkMovTimeoutWatchdog for more details.
+     *
+     * @return asynStatus         If one of the parameter library operations
+    used to get the values for the timeout calculation failed, return that
+    status, otherwise return asynSuccess.
+     */
+    virtual asynStatus startMovTimeoutWatchdog();
+
+    /**
+     * @brief Check if the watchdog timed out
+     *
+    Manages a timeout mechanism for the movement:
+    If the axis is moving and the movement takes too long, create an error
+    message and return asynError. The watchdog is started when moving switches
+    from "false" to "true" and stopped when moving switches from "true" to
+    "false". At the watchdog start, the estimated movement time is calculated as
+
+    t = offsetMovTimeout_ + scaleMovTime_ * [timeContSpeed + 2*timeAccel]
+
+    with
+
+    timeContSpeed = abs(targetPosition - motorPosition) / motorVelBase
+    timeAcc = motorVelBase / motorAccel
+
+    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,
+    if sinqMotor is loaded via the "require" mechanism.
+     *
+     * @param moving              Should be the "moving" status from `poll` /
+    `doPoll`.
+     * @return asynStatus         Return asynError, if the watchdog timed out,
+    and asynSuccess otherwise.
+     */
+    virtual asynStatus checkMovTimeoutWatchdog(bool moving);
+
+    /**
+     * @brief Enable / disable the watchdog. Also available in the IOC shell
+     * (see "extern C" section in sinqController.cpp).
+     *
+     * If enable is set to false and the watchdog is currently running, this
+     * function stops it immediately.
+     *
+     * @param enabled
+     * @return asynStatus
+     */
+    virtual asynStatus setWatchdogEnabled(bool enable);
+
+    /**
+     * @brief Set the offsetMovTimeout. Also available in the IOC shell
+     * (see "extern C" section in sinqController.cpp).
+     *
+     * See documentation of `checkMovTimeoutWatchdog` for details.
+     *
+     * @param offsetMovTimeout    Offset (in seconds)
+     * @return asynStatus
+     */
+    virtual asynStatus setOffsetMovTimeout(time_t offsetMovTimeout);
+
+    /**
+     * @brief Set the scaleMovTimeout. Also available in the IOC shell
+     * (see "extern C" section in sinqController.cpp).
+     *
+    See documentation of `checkMovTimeoutWatchdog` for details.
+     *
+     * @param scaleMovTimeout     Scaling factor (in seconds)
+     * @return asynStatus
+     */
+    virtual asynStatus setScaleMovTimeout(time_t scaleMovTimeout);
+
+    /**
+     * @brief Return the axis number of this axis
+     *
+     * @return int
+     */
+    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);
+
+    /**
+     * @brief Check if the axis is not connected and print a corresponding error
+     * message
+     *
+     * This method is meant to be used at the end of "interactive" function
+     * calls such as move, home, stop etc which can be manually triggered from
+     * the IOC shell or from the channel access protocol.
+     */
+    asynStatus assertConnected();
+
+    /**
+     * @brief Return a pointer to the axis controller.
+     *
+     * This function should be overriden in derived classes using the `override`
+     * keyword so the macros `getAxisParamChecked` and `setAxisParamChecked`
+     * work correctly:
+     *
+     * ```
+     * class mySpecialAxis : public sinqAxis {
+        public:
+            mySpecialController* getControllerMethod() override {
+                return mySpecialControllerPtr;
+            }
+        };
+     * ```
+     */
+    virtual sinqController *pController() { return pC_; };
+
+    /**
+     * @brief Returns true, if the axis was moving in the last poll cycle, and
+     * false otherwise.
+     *
+     * @return true
+     * @return false
+     */
+    bool wasMoving();
+
+    /**
+     * @brief Override the wasMoving flag (normally, it is automatically updated
+     * during each poll).
+     *
+     */
+    void setWasMoving(bool wasMoving);
+
+    /**
+     * @brief Read out the last received target position in engineering units.
+     *
+     * @return double
+     */
+    double targetPosition();
+
+    /**
+     * @brief Override the targetPosition value (normally, it is automatically
+     * updated at every call of the move() method).
+     *
+     */
+    void setTargetPosition(double targetPosition);
 
   private:
+    std::unique_ptr<sinqAxisImpl> pSinqA_;
     sinqController *pC_;
 };
 
-#endif
+// =============================================================================
+// Helper functions and definitions for the macro setAxisParamChecked
+
+template <typename T> struct TypeTag {};
+
+// Generic fallback - if the compiler tries to compile this function, it fails.
+template <typename A, typename C, typename T>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), T writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<void>) {
+    static_assert(sizeof(T) == 0, "Unsupported type for setAxisParamImpl");
+    return asynError;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), int writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<int>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setIntegerParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), bool writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<bool>) {
+    return setAxisParamImpl(axis, controller, indexName, func,
+                            static_cast<int>(writeValue), callerFunctionName,
+                            lineNumber, TypeTag<int>{});
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), double writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<double>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setDoubleParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), char *writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<char *>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setStringParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), const char *writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<const char *>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setStringParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+/**
+ * @brief Helper function to set an integer / double / string parameter for an
+ * axis in the paramLib
+ *
+ * This function should not be used directly, but rather through its macro
+ * variant `setAxisParamChecked`.
+ *
+ * @tparam A
+ * @tparam C
+ * @tparam T
+ * @param axis
+ * @param controller
+ * @param indexName
+ * @param func
+ * @param writeValue
+ * @param callerFunctionName
+ * @param lineNumber
+ * @return asynStatus
+ */
+template <typename A, typename C, typename T>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
+    return setAxisParamImpl(axis, controller, indexName, func, writeValue,
+                            callerFunctionName, lineNumber, TypeTag<T>{});
+}
+
+/**
+ * @brief Macro to set an paramLib parameter and error checking the return value
+ *
+ * This macro is a wrapper around `setIntegerParam` / `setDoubleParam` /
+ * `setStringParam` which checks if the operation was successfull. If it wasn't,
+ * it returns by calling the paramLibAccessFailed function.
+ *
+ * For example, the following input:
+ * ```
+ * setAxisParamChecked(this, motorStatusProblem_, false)
+ * ```
+ * expands into the following code:
+ * ```
+ * {
+ * int indexValue = controller->motorStatusProblem_();
+ * asynStatus status = axis->setIntegerParam(indexValue, writeValue);
+ * if (status != asynSuccess) {
+ *     return controller->paramLibAccessFailed(
+ *         status, "motorStatusProblem_", axis->axisNo(), __PRETTY_FUNCTION__,
+ *         __LINE__);
+ * }
+ * return asynSuccess;
+ * }
+ * ```
+ * =============================================================================
+ */
+#define setAxisParamChecked(axis, indexSetterFunction, writeValue)             \
+    do {                                                                       \
+        auto *ctrlPtr = (axis)->pController();                                 \
+        using ControllerType =                                                 \
+            typename std::remove_pointer<decltype(ctrlPtr)>::type;             \
+        asynStatus setStatus =                                                 \
+            setAxisParam(axis, ctrlPtr, #indexSetterFunction,                  \
+                         static_cast<int (ControllerType::*)()>(               \
+                             &ControllerType::indexSetterFunction),            \
+                         writeValue, __PRETTY_FUNCTION__, __LINE__);           \
+        if (setStatus != asynSuccess)                                          \
+            return setStatus;                                                  \
+    } while (0)
+
+// =============================================================================
+// Helper functions and definitions for the macro getAxisParamChecked
+
+// Generic fallback - if the compiler tries to compile this function, it fails.
+template <typename A, typename C, typename T>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), T *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<void>) {
+    static_assert(
+        sizeof(T) == 0,
+        "no specialization of getAxisParam exists for the given type");
+    return asynError;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), int *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<int>) {
+    int indexValue = (controller->*func)();
+    asynStatus status =
+        controller->getIntegerParam(axis->axisNo(), indexValue, readValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), bool *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<bool>) {
+    int readValueInt = 0;
+    asynStatus status =
+        getAxisParamImpl(axis, indexName, func, &readValueInt,
+                         callerFunctionName, lineNumber, msgSize);
+    *readValue = readValueInt != 0;
+    return status;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), double *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<double>) {
+    int indexValue = (controller->*func)();
+    asynStatus status =
+        controller->getDoubleParam(axis->axisNo(), indexValue, readValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), char *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<char>) {
+
+    int indexValue = (controller->*func)();
+    asynStatus status = controller->getStringParam(axis->axisNo(), indexValue,
+                                                   msgSize, readValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), std::string *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<std::string>) {
+    int indexValue = (controller->*func)();
+
+    // Convert the pointer to a reference, since getStringParam expects the
+    // latter.
+    std::string &rReadValue = *readValue;
+
+    asynStatus status =
+        controller->getStringParam(axis->axisNo(), indexValue, rReadValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+/**
+ * @brief Helper function to get an integer / double / string parameter for an
+ * axis in the paramLib
+ *
+ * This function should not be used directly, but rather through its macro
+ * variant `getAxisParamChecked`.
+ *
+ * @tparam T
+ * @param axis
+ * @param controller
+ * @param indexName
+ * @param func
+ * @param readValue
+ * @param callerFunctionName
+ * @param lineNumber
+ * @param maxChars  Only used when readValue is a char*. Specifies the maximum
+ * number of characters which can be placed into the buffer the pointer points
+ * to.
+ * @return asynStatus
+ */
+template <typename A, typename C, typename T>
+asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T *readValue,
+                        const char *callerFunctionName, int lineNumber) {
+    return getAxisParamImpl(axis, controller, indexName, func, readValue,
+                            callerFunctionName, lineNumber,
+                            controller->msgSize(), TypeTag<T>{});
+}
+
+/**
+ * @brief Helper function to get a string parameter for an
+ * axis in the paramLib into a char array
+ *
+ * This function should not be used directly, but rather through its macro
+ * variant `getAxisParamChecked`. It is a specialized variant of the general
+ * getAxisParam defined above for char arrays.
+ *
+ * @tparam A
+ * @tparam C
+ * @tparam N
+ * @param axis
+ * @param controller
+ * @param indexName
+ * @param func
+ * @param callerFunctionName
+ * @param lineNumber
+ * @return asynStatus
+ */
+template <typename A, typename C, size_t N>
+asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), char (*readValue)[N],
+                        const char *callerFunctionName, int lineNumber) {
+    return getAxisParamImpl(axis, controller, indexName, func, *readValue,
+                            callerFunctionName, lineNumber, N, TypeTag<char>{});
+}
+
+/**
+ * @brief Macro to get an paramLib parameter and error checking the return value
+ *
+ * This macro is a wrapper around `getIntegerParam` / `getDoubleParam` /
+ * `getStringParam` which checks if the operation was successfull. If it wasn't,
+ * it returns by calling the paramLibAccessFailed function. In order
+ *
+ * For example, the following input:
+ * ```
+ * getAxisParamChecked(this, motorStatusProblem_, &readValue)
+ * ```
+ * expands into the following code:
+ * ```
+ * {
+ * int indexValue = controller->motorStatusProblem_();
+ * asynStatus status = controller->getIntegerParam(axis->axisNo(),
+ * indexValue, readValue); if (status != asynSuccess) { return
+ * controller->paramLibAccessFailed( status, "motorStatusProblem_",
+ * axis->axisNo(), __PRETTY_FUNCTION__,
+ *         __LINE__);
+ * }
+ * return asynSuccess;
+ * }
+ * ```
+ * =============================================================================
+ */
+#define getAxisParamChecked(axis, indexGetterFunction, readValue)              \
+    do {                                                                       \
+        auto *ctrlPtr = (axis)->pController();                                 \
+        using ControllerType =                                                 \
+            typename std::remove_pointer<decltype(ctrlPtr)>::type;             \
+        asynStatus getStatus =                                                 \
+            getAxisParam(axis, ctrlPtr, #indexGetterFunction,                  \
+                         static_cast<int (ControllerType::*)()>(               \
+                             &ControllerType::indexGetterFunction),            \
+                         readValue, __PRETTY_FUNCTION__, __LINE__);            \
+        if (getStatus != asynSuccess)                                          \
+            return getStatus;                                                  \
+    } while (0)
+
+#endif

src/sinqController.cpp

@@ -1,86 +1,725 @@
-/*
-  This class contains the necessary changes to have an additional text fields
-  for messages with each axis.
-
-  Code lifted from Torsten Boegershausen ESS code.
-
-  Mark Koennecke, March 2017
-
-  Added code to manage an interMessageSleep
-
-  Mark Koennecke, February 2024
-*/
+// SPDX-License-Identifier: GPL-3.0-only
 
 #include "sinqController.h"
 #include "asynMotorController.h"
+#include "asynOctetSyncIO.h"
 #include "epicsExport.h"
 #include "iocsh.h"
+#include "msgPrintControl.h"
+#include "sinqAxis.h"
+#include <deque>
 #include <errlog.h>
+#include <initHooks.h>
+#include <unordered_map>
+#include <vector>
 
-sinqController::sinqController(const char *portName, const char *SINQPortName,
-                               int numAxes, const int &extraParams)
+/*
+Contains all instances of turboPmacAxis which have been created and is used in
+the initialization hook function.
+ */
+static std::vector<sinqController *> controller;
+
+/**
+ * @brief Hook function to perform certain actions during the IOC initialization
+ *
+ * @param iState
+ */
+void sinqController::epicsInithookFunction(initHookState iState) {
+    if (iState == initHookAfterIocRunning) {
+        // Iterate through all axes of each and call the initialization method
+        // on each one of them.
+        for (std::vector<sinqController *>::iterator itC = controller.begin();
+             itC != controller.end(); ++itC) {
+
+            sinqController *controller = *itC;
+            controller->startPoller(controller->movingPollPeriod_,
+                                    controller->idlePollPeriod_, 1);
+        }
+    }
+}
+
+struct sinqControllerImpl {
+    // 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;
+
+    // Message print control
+    msgPrintControl msgPrintC;
+
+    // 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
+
+    // Deque holding the timestamps of the individual events
+    std::deque<time_t> timeoutEvents;
+
+    // Communicate a timeout to the user after it has happened this many times
+    // in a row
+    int maxSubsequentTimeouts;
+    bool maxSubsequentTimeoutsExceeded;
+
+    /*
+    These integers are indices to paramLib entries and are populated when the
+    parameters are created. See the documentation in db/sinqMotor.db.
+    */
+    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 NUM_SINQMOTOR_DRIVER_PARAMS 18
+
+sinqController::sinqController(const char *portName,
+                               const char *ipPortConfigName, int numAxes,
+                               double movingPollPeriod, double idlePollPeriod,
+                               int numExtraParams)
     : asynMotorController(
-          portName, numAxes + 1, NUM_MOTOR_DRIVER_PARAMS + extraParams,
+          portName,
+          // As described in the function documentation, an offset of 1 is
+          // added for better readability of the configuration.
+          numAxes + 1,
+          NUM_MOTOR_DRIVER_PARAMS + NUM_SINQMOTOR_DRIVER_PARAMS +
+              numExtraParams,
           0, // No additional interfaces beyond those in base class
           0, // No additional callback interfaces beyond those in base class
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
           1,    // autoconnect
           0, 0) // Default priority and stack size
 {
-    createParam(motorMessageTextString, asynParamOctet, &motorMessageText_);
+
+    asynStatus status = asynSuccess;
+
+    // The paramLib indices are populated with the calls to createParam
+    pSinqC_ = std::make_unique<sinqControllerImpl>(
+        (sinqControllerImpl){.outstandingForcedFastPolls = 0,
+                             .pasynOctetSyncIOipPort = nullptr,
+                             .msgPrintC = msgPrintControl(),
+                             .comTimeoutWindow = 3600,
+                             .maxNumberTimeouts = 60,
+                             .timeoutEvents = {},
+                             .maxSubsequentTimeouts = 10,
+                             .maxSubsequentTimeoutsExceeded = false});
+
+    // Store the poll period information. The poller itself will be started
+    // later (after the IOC is running in epicsInithookFunction)
+    movingPollPeriod_ = movingPollPeriod;
+    idlePollPeriod_ = idlePollPeriod;
+
+    // =========================================================================;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, the function is terminated via exit.
+    */
+    pasynOctetSyncIO->connect(ipPortConfigName, 0,
+                              &pSinqC_->pasynOctetSyncIOipPort, NULL);
+    if (status != asynSuccess || pSinqC_->pasynOctetSyncIOipPort == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
+                     "connect to MCU controller).\n"
+                     "Terminating IOC",
+                     portName, __PRETTY_FUNCTION__, __LINE__);
+        exit(-1);
+    }
+
+    // =========================================================================;
+
+    // MOTOR_MESSAGE_TEXT corresponds to the PV definition inside sinqMotor.db.
+    // This text is used to forward status messages to NICOS and in turn to the
+    // user.
+    status = createParam("MOTOR_MESSAGE_TEXT", asynParamOctet,
+                         &pSinqC_->motorMessageText);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_ENABLE", asynParamInt32, &pSinqC_->motorEnable);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_RESET", asynParamInt32, &pSinqC_->motorReset);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_ENABLE_RBV", asynParamInt32,
+                         &pSinqC_->motorEnableRBV);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_CAN_DISABLE", asynParamInt32,
+                         &pSinqC_->motorCanDisable);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_CAN_SET_SPEED", asynParamInt32,
+                         &pSinqC_->motorCanSetSpeed);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_LIMITS_OFFSET", asynParamFloat64,
+                         &pSinqC_->motorLimitsOffset);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_CONNECTED", asynParamInt32,
+                         &pSinqC_->motorConnected);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    /*
+    We need to introduce 2 new parameters in order to write the limits from the
+    driver to the EPICS record. See the comment in sinqController.h next to
+    the declaration of motorHighLimitFromDriver_.
+    */
+    status = createParam("MOTOR_HIGH_LIMIT_FROM_DRIVER", asynParamFloat64,
+                         &pSinqC_->motorHighLimitFromDriver);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_LOW_LIMIT_FROM_DRIVER", asynParamFloat64,
+                         &pSinqC_->motorLowLimitFromDriver);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_ENABLE_MOV_WATCHDOG", asynParamInt32,
+                         &pSinqC_->motorEnableMovWatchdog);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_VELO_FROM_DRIVER", asynParamFloat64,
+                         &pSinqC_->motorVeloFromDriver);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_VBAS_FROM_DRIVER", asynParamFloat64,
+                         &pSinqC_->motorVbasFromDriver);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_VMAX_FROM_DRIVER", asynParamFloat64,
+                         &pSinqC_->motorVmaxFromDriver);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_ACCL_FROM_DRIVER", asynParamFloat64,
+                         &pSinqC_->motorAcclFromDriver);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("ADAPTIVE_POLLING", asynParamInt32,
+                         &pSinqC_->adaptivePolling);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("ENCODER_TYPE", asynParamOctet, &pSinqC_->encoderType);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("MOTOR_FORCE_STOP", asynParamInt32,
+                         &pSinqC_->motorForceStop);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    // Register the hook function during construction of the first axis object
+    if (controller.empty()) {
+        initHookRegister(&epicsInithookFunction);
+    }
+
+    // Collect all axes into this list which will be used in the hook function
+    controller.push_back(this);
 }
 
-asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
-                                                       const char *response,
-                                                       int axisNo_,
-                                                       const char *functionName,
-                                                       int lineNumber) {
-    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
-              "%s => line %d:\n Could not interpret response %s for "
-              "command %s.\n",
-              functionName, lineNumber, response, command);
+sinqController::~sinqController(void) {
+
+    // Free all axes
+    for (int axisNo = 0; axisNo < numAxes_; axisNo++) {
+        if (pAxes_[axisNo] != nullptr) {
+            delete pAxes_[axisNo];
+        }
+    }
+
+    // Cleanup of the array allocated in the asynMotorController constructor
+    free(this->pAxes_);
+}
+
+/*
+Access one of the axes of the controller via the axis adress stored in asynUser.
+If the axis does not exist or is not an sinqAxis, the function returns a
+nullptr.
+*/
+sinqAxis *sinqController::getSinqAxis(asynUser *pasynUser) {
+    asynMotorAxis *asynAxis = sinqController::getAxis(pasynUser);
+    return dynamic_cast<sinqAxis *>(asynAxis);
+}
+
+/*
+Access one of the axes of the controller via the axis index.
+If the axis does not exist or is not an sinqAxis, the function returns a
+nullptr.
+*/
+sinqAxis *sinqController::getSinqAxis(int axisNo) {
+    asynMotorAxis *asynAxis = sinqController::getAxis(axisNo);
+    return dynamic_cast<sinqAxis *>(asynAxis);
+}
+
+asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
+    int function = pasynUser->reason;
+
+    // =====================================================================
+
+    sinqAxis *axis = getSinqAxis(pasynUser);
+    if (axis == nullptr) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
+                  "instance of sinqAxis",
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
+        return asynError;
+    }
+
+    // Handle custom PVs
+    if (function == motorEnable()) {
+        return axis->enable(value != 0);
+    } else if (function == motorReset()) {
+        return axis->reset();
+    } else if (function == motorForceStop()) {
+        return axis->stop(0.0);
+    } else {
+        return asynMotorController::writeInt32(pasynUser, value);
+    }
+}
+
+asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
+
+    sinqAxis *axis = getSinqAxis(pasynUser);
+    if (axis == nullptr) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
+                  "instance of sinqAxis",
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
+        return asynError;
+    }
+
+    if (pasynUser->reason == motorEnableRBV()) {
+        getAxisParamChecked(axis, motorEnableRBV, value);
+        return asynSuccess;
+    } else if (pasynUser->reason == motorCanDisable()) {
+        getAxisParamChecked(axis, motorCanDisable, value);
+        return asynSuccess;
+    } else {
+        return asynMotorController::readInt32(pasynUser, value);
+    }
+}
+
+asynStatus sinqController::couldNotParseResponse(const char *command,
+                                                 const char *response,
+                                                 int axisNo,
+                                                 const char *functionName,
+                                                 int line) {
+    asynPrint(pasynOctetSyncIOipPort(), ASYN_TRACE_ERROR,
+              "Controller \"%s\", axis %d => %s, line %d:\nCould not interpret "
+              "response \"%s\" for command \"%s\".\n",
+              portName, axisNo, functionName, line, response, command);
+
+    sinqAxis *axis = getSinqAxis(axisNo);
+    if (axis == nullptr) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
+                  "instance of sinqAxis",
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
+        return asynError;
+    }
+
+    setAxisParamChecked(
+        axis, motorMessageText,
+        "Could not interpret controller response. Please call the support");
+    setAxisParamChecked(axis, motorStatusCommsError, true);
 
-    setStringParam(motorMessageText_,
-                   "Could not interpret MCU response. Please "
-                   "call the software support");
-    setIntegerParam(motorStatusCommsError_, 1);
     return asynError;
 }
 
 asynStatus sinqController::paramLibAccessFailed(asynStatus status,
                                                 const char *parameter,
+                                                int axisNo,
                                                 const char *functionName,
-                                                int lineNumber) {
+                                                int line) {
 
     if (status != asynSuccess) {
-        // Log the error message and try to propagate it
-        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
-                  "%s => line %d:\n Accessing the parameter library failed for "
-                  "parameter %s",
-                  functionName, lineNumber, parameter);
-        setStringParam(
-            motorMessageText_,
-            "Accessing paramLib failed. Please call the software support.");
+        asynPrint(pasynOctetSyncIOipPort(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\n Accessing the "
+                  "parameter library failed for parameter %s with error %s.\n",
+                  portName, axisNo, functionName, line, parameter,
+                  stringifyAsynStatus(status));
+
+        // Log the error message and try to propagate it. If propagating fails,
+        // there is nothing we can do here anyway.
+        setStringParam(motorMessageText(),
+                       "Accessing paramLib failed. Please call the support.");
     }
 
     return status;
 }
 
+asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
+                                                   char *motorMessage,
+                                                   size_t motorMessageSize) {
+
+    asynStatus paramLibStatus = asynSuccess;
+
+    // Add a new timeout event to the queue
+    pSinqC_->timeoutEvents.push_back(time(NULL));
+
+    // Remove every event which is older than the time window from the deque
+    while (1) {
+        if (pSinqC_->timeoutEvents.empty()) {
+            break;
+        }
+        if (pSinqC_->timeoutEvents[0] + pSinqC_->comTimeoutWindow <=
+            time(NULL)) {
+            pSinqC_->timeoutEvents.pop_front();
+        } else {
+            break;
+        }
+    }
+
+    // Check if the maximum allowed number of events has been exceeded
+    bool wantToPrint =
+        pSinqC_->timeoutEvents.size() > pSinqC_->maxNumberTimeouts;
+
+    if (pSinqC_->msgPrintC.shouldBePrinted(portName, axisNo,
+                                           __PRETTY_FUNCTION__, __LINE__,
+                                           wantToPrint, pasynUserSelf)) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nMore than %ld "
+                  "communication timeouts in %ld "
+                  "seconds.%s\n",
+                  portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  pSinqC_->maxNumberTimeouts, pSinqC_->comTimeoutWindow,
+                  pSinqC_->msgPrintC.getSuffix());
+    }
+
+    if (wantToPrint) {
+        snprintf(motorMessage, motorMessageSize,
+                 "More than %ld communication timeouts in %ld seconds. Please "
+                 "call the support.",
+                 pSinqC_->maxNumberTimeouts, pSinqC_->comTimeoutWindow);
+
+        paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
+        if (paramLibStatus != asynSuccess) {
+            return paramLibAccessFailed(paramLibStatus,
+                                        "motorStatusCommsError_", axisNo,
+                                        __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        return asynError;
+    } else {
+        return asynSuccess;
+    }
+}
+
+asynStatus sinqController::checkComTimeoutWatchdog(sinqAxis *axis) {
+
+    char errorMessage[MAXBUF_] = {0};
+
+    asynStatus status =
+        checkComTimeoutWatchdog(axis->axisNo(), errorMessage, MAXBUF_);
+    if (status == asynError) {
+        setAxisParamChecked(axis, motorMessageText, errorMessage);
+    }
+    return status;
+}
+
+asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
+                                                      char *motorMessage,
+                                                      size_t motorMessageSize) {
+    asynStatus paramLibStatus = asynSuccess;
+
+    if (timeoutNo >= pSinqC_->maxSubsequentTimeouts) {
+        if (!pSinqC_->maxSubsequentTimeoutsExceeded) {
+            snprintf(motorMessage, motorMessageSize,
+                     "Communication timeout between IOC and motor controller. "
+                     "Trying to reconnect ...");
+            asynPrint(
+                this->pasynUserSelf, ASYN_TRACE_ERROR,
+                "Controller \"%s\", axis %d => %s, line %d:\nMore than %d "
+                "subsequent communication timeouts. Check whether the "
+                "controller is still running and connected to the network.\n",
+                this->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                pSinqC_->maxSubsequentTimeouts);
+
+            paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
+            if (paramLibStatus != asynSuccess) {
+                return paramLibAccessFailed(paramLibStatus,
+                                            "motorStatusCommsError_", axisNo,
+                                            __PRETTY_FUNCTION__, __LINE__);
+            }
+            pSinqC_->maxSubsequentTimeoutsExceeded = true;
+        }
+
+        return asynError;
+    } else {
+        pSinqC_->maxSubsequentTimeoutsExceeded = false;
+        motorMessage[0] = '\0';
+        return asynSuccess;
+    }
+}
+
+asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,
+                                                      sinqAxis *axis) {
+
+    char motorMessage[MAXBUF_] = {0};
+
+    asynStatus status = checkMaxSubsequentTimeouts(timeoutNo, axis->axisNo(),
+                                                   motorMessage, MAXBUF_);
+    if (status == asynError) {
+        setAxisParamChecked(axis, motorMessageText, motorMessage);
+    }
+    return status;
+}
+
+asynStatus sinqController::poll() {
+    // Decrement the number of outstanding forced fast polls, if they are not
+    // zero
+    if (pSinqC_->outstandingForcedFastPolls > 0) {
+        pSinqC_->outstandingForcedFastPolls--;
+    }
+    return asynMotorController::poll();
+}
+
+asynStatus sinqController::wakeupPoller() {
+    // + 1 since outstandingForcedFastPolls_ is reduced once at the start of
+    // a poll cycle
+    pSinqC_->outstandingForcedFastPolls = forcedFastPolls_ + 1;
+    return asynMotorController::wakeupPoller();
+}
+
+asynStatus sinqController::setMaxSubsequentTimeouts(int maxSubsequentTimeouts) {
+    pSinqC_->maxSubsequentTimeouts = maxSubsequentTimeouts;
+    return asynSuccess;
+}
+
+bool sinqController::maxSubsequentTimeoutsExceeded() {
+    return pSinqC_->maxSubsequentTimeoutsExceeded;
+}
+
+/**
+ * @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 &sinqController::getMsgPrintControl() {
+    return pSinqC_->msgPrintC;
+}
+
+/**
+ * @brief Read the number of outstanding forced fast polls currently
+ * specified
+ *
+ */
+int sinqController::outstandingForcedFastPolls() {
+    return pSinqC_->outstandingForcedFastPolls;
+}
+
+/**
+ * @brief Return a pointer to the low-level octet (string) IP Port
+ *
+ * @return asynUser*
+ */
+asynUser *sinqController::pasynOctetSyncIOipPort() {
+    return pSinqC_->pasynOctetSyncIOipPort;
+}
+
+asynStatus sinqController::setThresholdComTimeout(time_t comTimeoutWindow,
+                                                  size_t maxNumberTimeouts) {
+    pSinqC_->comTimeoutWindow = comTimeoutWindow;
+    pSinqC_->maxNumberTimeouts = maxNumberTimeouts;
+    return asynSuccess;
+}
+
+int sinqController::motorMessageText() { return pSinqC_->motorMessageText; }
+int sinqController::motorReset() { return pSinqC_->motorReset; }
+int sinqController::motorEnable() { return pSinqC_->motorEnable; }
+int sinqController::motorEnableRBV() { return pSinqC_->motorEnableRBV; }
+int sinqController::motorCanDisable() { return pSinqC_->motorCanDisable; }
+int sinqController::motorEnableMovWatchdog() {
+    return pSinqC_->motorEnableMovWatchdog;
+}
+int sinqController::motorCanSetSpeed() { return pSinqC_->motorCanSetSpeed; }
+int sinqController::motorLimitsOffset() { return pSinqC_->motorLimitsOffset; }
+int sinqController::motorForceStop() { return pSinqC_->motorForceStop; }
+int sinqController::motorConnected() { return pSinqC_->motorConnected; }
+int sinqController::motorVeloFromDriver() {
+    return pSinqC_->motorVeloFromDriver;
+}
+int sinqController::motorVbasFromDriver() {
+    return pSinqC_->motorVbasFromDriver;
+}
+int sinqController::motorVmaxFromDriver() {
+    return pSinqC_->motorVmaxFromDriver;
+}
+int sinqController::motorAcclFromDriver() {
+    return pSinqC_->motorAcclFromDriver;
+}
+int sinqController::motorHighLimitFromDriver() {
+    return pSinqC_->motorHighLimitFromDriver;
+}
+int sinqController::motorLowLimitFromDriver() {
+    return pSinqC_->motorLowLimitFromDriver;
+}
+int sinqController::adaptivePolling() { return pSinqC_->adaptivePolling; }
+int sinqController::encoderType() { return pSinqC_->encoderType; }
+
 // Static pointers (valid for the entire lifetime of the IOC). The number behind
 // the strings gives the integer number of each variant (see also method
 // stringifyAsynStatus)
-const char *asynSuccessStringified = "success";                             // 0
-const char *asynTimeoutStringified = "timeout";                             // 1
-const char *asynOverflowStringified = "overflow";                           // 2
-const char *asynErrorStringified = "error";                                 // 3
-const char *asynDisconnectedStringified = "disconnected";                   // 4
-const char *asynDisabledStringified = "disabled";                           // 5
-const char *asynParamAlreadyExistsStringified = "parameter already exists"; // 6
-const char *asynParamNotFoundStringified = "parameter not found";           // 7
-const char *asynParamWrongTypeStringified = "wrong type";                   // 8
-const char *asynParamBadIndexStringified = "bad index";                     // 9
-const char *asynParamUndefinedStringified = "parameter undefined"; // 10
-const char *asynParamInvalidListStringified = "invalid list";      // 11
+const char asynSuccessStringified[] = "success";           // 0
+const char asynTimeoutStringified[] = "timeout";           // 1
+const char asynOverflowStringified[] = "overflow";         // 2
+const char asynErrorStringified[] = "error";               // 3
+const char asynDisconnectedStringified[] = "disconnected"; // 4
+const char asynDisabledStringified[] = "disabled";         // 5
+const char asynParamAlreadyExistsStringified[] =
+    "parameter already exists";                                     // 6
+const char asynParamNotFoundStringified[] = "parameter not found";  // 7
+const char asynParamWrongTypeStringified[] = "wrong type";          // 8
+const char asynParamBadIndexStringified[] = "bad index";            // 9
+const char asynParamUndefinedStringified[] = "parameter undefined"; // 10
+const char asynParamInvalidListStringified[] = "invalid list";      // 11
+const char inputDidNotMatchAsynStatus[] =
+    "Input did not match any variant of asynStatus";
 
 const char *sinqController::stringifyAsynStatus(asynStatus status) {
     // See
@@ -88,6 +727,9 @@ const char *sinqController::stringifyAsynStatus(asynStatus status) {
     // and
     // https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/paramErrors.h
     // for the definition of the error codes
+    // The pragma is necessary since the param lib error codes are "tacked onto"
+    // the enum, which results in compiler warnings otherwise.
+#pragma GCC diagnostic ignored "-Wswitch"
     switch (status) {
     case asynSuccess:
         return asynSuccessStringified;
@@ -115,7 +757,194 @@ const char *sinqController::stringifyAsynStatus(asynStatus status) {
         return asynParamInvalidListStringified;
     }
 
-    errlogPrintf("%s => line %d:\nReached unreachable code.",
-                 __PRETTY_FUNCTION__, __LINE__);
-    return "unreachable code reached";
-}
+    asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
+              "%s, line %d:\nInput did not match any "
+              "variant of asynStatus.\n",
+              __PRETTY_FUNCTION__, __LINE__);
+
+    return inputDidNotMatchAsynStatus;
+}
+
+// =============================================================================
+// IOC shell functions
+extern "C" {
+
+// =============================================================================
+
+/**
+ * @brief Set the threshold for the communication timeout frequency (FFI
+ * implementation)
+ *
+ * @param portName        Name of the low-level asyn port the controller is
+ * using.
+ * @param comTimeoutWindow        Size of the time window used to calculate
+ * the moving average of timeout events in seconds. Set this value to 0 to
+ * deactivate the watchdog.
+ * @param maxNumberTimeouts       Maximum number of timeouts which may occur
+ * within the time window before the watchdog is triggered.
+ * @return asynStatus
+ */
+asynStatus setThresholdComTimeout(const char *portName, int comTimeoutWindow,
+                                  int maxNumberTimeouts) {
+
+    sinqController *pC;
+    pC = (sinqController *)findAsynPortDriver(portName);
+    if (pC == nullptr) {
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    return pC->setThresholdComTimeout(comTimeoutWindow, maxNumberTimeouts);
+}
+
+static const iocshArg setThresholdComTimeoutArg0 = {"Controller port name",
+                                                    iocshArgString};
+static const iocshArg setThresholdComTimeoutArg1 = {
+    "Time window communication timeout frequency", iocshArgInt};
+static const iocshArg setThresholdComTimeoutArg2 = {
+    "Maximum allowed number of communication timeouts within the window",
+    iocshArgInt};
+static const iocshArg *const setThresholdComTimeoutArgs[] = {
+    &setThresholdComTimeoutArg0, &setThresholdComTimeoutArg1,
+    &setThresholdComTimeoutArg2};
+static const iocshFuncDef setThresholdComTimeoutDef = {
+    "setThresholdComTimeout", 3, setThresholdComTimeoutArgs};
+
+static void setThresholdComTimeoutCallFunc(const iocshArgBuf *args) {
+    setThresholdComTimeout(args[0].sval, args[1].ival, args[2].ival);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the maximum number of subsequent timeouts (FFI implementation)
+ *
+ * @param portName        Name of the low-level asyn port the controller is
+ * using.
+ * @param maxSubsequentTimeouts       Maximum number of timeouts which may occur
+ * subsequently before an error is reported.
+ * @return asynStatus
+ */
+asynStatus setMaxSubsequentTimeouts(const char *portName,
+                                    int maxSubsequentTimeouts) {
+    void *ptr = findAsynPortDriver(portName);
+    if (ptr == nullptr) {
+        /*
+        We can't use asynPrint here since this macro would require us
+        to get a pasynOctetSyncIOipPort_ from a pointer to an asynPortDriver.
+        However, the given pointer is a nullptr and therefore doesn't
+        have a pasynOctetSyncIOipPort_! printf is an EPICS alternative which
+        works w/o that, but doesn't offer the comfort provided
+        by the asynTrace-facility
+        */
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+    // Unsafe cast of the pointer to an asynPortDriver
+    asynPortDriver *apd = (asynPortDriver *)(ptr);
+
+    // Safe downcast
+    sinqController *pC = dynamic_cast<sinqController *>(apd);
+    if (pC == nullptr) {
+        errlogPrintf(
+            "Controller \"%s\" => %s, line %d:\ncontroller on port %s is not a "
+            "turboPmacController.",
+            portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    // Set the new value
+    pC->setMaxSubsequentTimeouts(maxSubsequentTimeouts);
+
+    return asynSuccess;
+}
+
+static const iocshArg SetMaxSubsequentTimeoutsArg0 = {
+    "Controller name (e.g. mcu1)", iocshArgString};
+static const iocshArg SetMaxSubsequentTimeoutsArg1 = {
+    "Maximum number of subsequent timeouts before the user receives an error "
+    "message",
+    iocshArgInt};
+static const iocshArg *const SetMaxSubsequentTimeoutsArgs[] = {
+    &SetMaxSubsequentTimeoutsArg0, &SetMaxSubsequentTimeoutsArg1};
+static const iocshFuncDef setMaxSubsequentTimeoutsDef = {
+    "setMaxSubsequentTimeouts", 2, SetMaxSubsequentTimeoutsArgs};
+static void setMaxSubsequentTimeoutsCallFunc(const iocshArgBuf *args) {
+    setMaxSubsequentTimeouts(args[0].sval, args[1].ival);
+}
+
+// =============================================================================
+
+/**
+ * @brief Set the number of forced fast polls which happen after a call to
+ * `wakePoller`.
+ *
+ * @param portName        Name of the low-level asyn port the controller is
+ * using.
+ * @param forcedFastPolls        Number of fast polls done after calling
+ * `wakePoller`.
+ * @return asynStatus
+ */
+asynStatus setForcedFastPolls(const char *portName, int forcedFastPolls) {
+    void *ptr = findAsynPortDriver(portName);
+    if (ptr == nullptr) {
+        /*
+        We can't use asynPrint here since this macro would require us
+        to get a pasynOctetSyncIOipPort_ from a pointer to an asynPortDriver.
+        However, the given pointer is a nullptr and therefore doesn't
+        have a pasynOctetSyncIOipPort_! printf is an EPICS alternative which
+        works w/o that, but doesn't offer the comfort provided
+        by the asynTrace-facility
+        */
+        errlogPrintf("Controller \"%s\" => %s, line %d:\nPort %s not found.",
+                     portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+    // Unsafe cast of the pointer to an asynPortDriver
+    asynPortDriver *apd = (asynPortDriver *)(ptr);
+
+    // Safe downcast
+    sinqController *pC = dynamic_cast<sinqController *>(apd);
+    if (pC == nullptr) {
+        errlogPrintf(
+            "Controller \"%s\" => %s, line %d:\ncontroller on port %s is not a "
+            "turboPmacController.",
+            portName, __PRETTY_FUNCTION__, __LINE__, portName);
+        return asynError;
+    }
+
+    // Set the new value
+    pC->setForcedFastPolls(forcedFastPolls);
+
+    return asynSuccess;
+}
+
+static const iocshArg SetForcedFastPollsArg0 = {"Controller name (e.g. mcu1)",
+                                                iocshArgString};
+static const iocshArg SetForcedFastPollsArg1 = {
+    "Number of fast polls after \"waking\" the poller (e.g. after issueing a "
+    "move command).",
+    iocshArgInt};
+static const iocshArg *const SetForcedFastPollsArgs[] = {
+    &SetForcedFastPollsArg0, &SetForcedFastPollsArg1};
+static const iocshFuncDef setForcedFastPollsDef = {"setForcedFastPolls", 2,
+                                                   SetForcedFastPollsArgs};
+static void setForcedFastPollsCallFunc(const iocshArgBuf *args) {
+    setForcedFastPolls(args[0].sval, args[1].ival);
+}
+
+// =============================================================================
+
+// This function is made known to EPICS in sinqMotor.dbd and is called by EPICS
+// in order to register all functions in the IOC shell
+static void sinqControllerRegister(void) {
+    iocshRegister(&setThresholdComTimeoutDef, setThresholdComTimeoutCallFunc);
+    iocshRegister(&setMaxSubsequentTimeoutsDef,
+                  setMaxSubsequentTimeoutsCallFunc);
+    iocshRegister(&setForcedFastPollsDef, setForcedFastPollsCallFunc);
+}
+epicsExportRegistrar(sinqControllerRegister);
+
+} // extern C

src/sinqController.h

@@ -1,53 +1,403 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 /*
-  This class contains the necessary changes to have an additional text fields
-  for messages with each axis.
+This class extends asynMotorController by some features used in SINQ. See the
+README.md for details.
 
-  Code lifted from Torsten Boegershausens ESS code.
-
-  Mark Koennecke, March 2017
+Stefan Mathis, November 2024
 */
 
-#ifndef __sinqController
-#define __sinqController
+#ifndef sinqController_H
+#define sinqController_H
 #include "asynMotorController.h"
+#include "msgPrintControl.h"
+#include <initHooks.h>
+#include <memory>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
+#define IncrementalEncoder "incremental"
+#define AbsoluteEncoder "absolute"
+#define NoEncoder "none"
+
+struct sinqControllerImpl;
 
 class epicsShareClass sinqController : public asynMotorController {
   public:
-    sinqController(const char *portName, const char *SINQPortName, int numAxes,
-                   const int &extraParams = 2);
-
-    friend class sinqAxis;
+    /**
+   * @brief Construct a new sinqController object
+   *
+   * @param portName              Controller can be found by findAsynPortDriver
+   * with this name
+   * @param ipPortConfigName      IP adress and port configuration of the
+   * controller unit, used to connect via pasynOctetSyncIO->connect
+   * @param numAxes               Pointers to the axes are stored in the array
+   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 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)
+   * @param extraParams           Number of extra parameter library entries
+   * created in a concrete driver implementation
+   */
+    sinqController(const char *portName, const char *ipPortConfigName,
+                   int numAxes, double movingPollPeriod, double idlePollPeriod,
+                   int numExtraParams);
 
     /**
-    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 status.
+     * @brief Destroy the sinqController object
+     *
+     * In general, there is no real memory cleanup strategy in asynMotor,
+     * because objects are expected to be alive for the entire lifetime of the
+     * IOC. We just clean up the allocated axes array here.
+     */
+    virtual ~sinqController(void);
+
+    /**
+     * @brief Overloaded function of asynMotorController
+     *
+     * The function is overloaded to allow enabling / disabling the motor.
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               New value
+     * @return asynStatus
+     */
+    virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
+    /**
+     * @brief Overloaded function of asynMotorController
+     *
+     * The function is overloaded to get readback values for the enabling /
+     * disabling status.
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @param value               Read-out value
+     * @return asynStatus
+     */
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
+    /**
+     * @brief Error handling in case accessing the parameter library failed.
+     *
+     * If accessing the parameter library failed (return status !=
+    asynSuccess), calling this function writes a standardized message to both
+    the IOC shell and the motorMessageText PV. It then returns the input
+    status.
+     *
+     * @param status              Status of the failed parameter library access
+     * @param parameter           Name of the parameter, used to create the
+    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
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns input status.
      */
     asynStatus paramLibAccessFailed(asynStatus status, const char *parameter,
-                                    const char *functionName, int lineNumber);
+                                    int axisNo, const char *functionName,
+                                    int line);
 
     /**
-    This function writes a standardized message to both the IOC shell and
+     * @brief Error handling in case parsing a command response failed.
+     *
+     * This function writes a standardized message to both the IOC shell and
     the motor message text PV in case parsing a response (e.g. via sscanf)
-    failed. It always returns asynError.
+    failed. It always returns asynError. This is convenience feature so the
+    function call can be used as a return value in an error handling branch.
+     *
+     * @param command             Command which led to the unparseable message
+     * @param response            Response which wasn't parseable
+     * @param axisNo_             Axis where the problem occurred
+     * @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
+    called. It is recommended to use a macro, e.g. __LINE__.
+     * @return asynStatus         Returns asynError.
      */
-    asynStatus errMsgCouldNotParseResponse(const char *command,
-                                           const char *response, int axisNo_,
-                                           const char *functionName,
-                                           int lineNumber);
+    asynStatus couldNotParseResponse(const char *command, const char *response,
+                                     int axisNo, const char *functionName,
+                                     int line);
 
     /**
-    Convert an asynStatus into a descriptive string. This string can then e.g.
-    be used to create debugging messages.
+     * @brief Convert an asynStatus into a descriptive string.
+     *
+     * @param status              Status which should be converted to a string.
+     * @return const char*
      */
     const char *stringifyAsynStatus(asynStatus status);
 
-  protected:
-    asynUser *lowLevelPortUser_;
-    int motorMessageText_;
+    /**
+     * @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
+    happens very often, this may indicate a network problem and must therefore
+    be forwarded to the user. This is checked by calculating the moving average
+    of events and comparing it to a threshhold. Both the threshold and the time
+    window for the moving average can be configured in the IOC via the function
+    setThresholdCom.
+
+    This function exists in two variants: Either the error message can be
+    written into a buffer provided by the caller or it written directly into the
+    parameter library of the provided axis.
+
+     * @param axis                    Axis to which the error message is sent
+     *
+     * @return asynStatus             asynError, if the threshold has been
+    exceeded, asynSuccess otherwise
+     */
+    virtual asynStatus checkComTimeoutWatchdog(class sinqAxis *axis);
+
+    /**
+     * @brief See documentation of checkComTimeoutWatchdog(sinqAxis * axis)
+     *
+     * @param userMessage             Buffer for the user message
+     * @param userMessageSize         Buffer size in chars
+     * @return asynStatus
+     */
+    virtual asynStatus checkComTimeoutWatchdog(int axisNo, char *motorMessage,
+                                               size_t motorMessageSize);
+
+    /**
+     * @brief Set the threshold for the communication timeout mechanism
+     *
+     * @param comTimeoutWindow        Size of the time window used to calculate
+     * the moving average of timeout events. Set this value to 0 to deactivate
+     * the watchdog.
+     * @param maxNumberTimeouts       Maximum number of timeouts which may occur
+     * within the time window before the watchdog is triggered.
+     * @return asynStatus
+     */
+    virtual asynStatus setThresholdComTimeout(time_t comTimeoutWindow,
+                                              size_t maxNumberTimeouts);
+
+    /**
+     * @brief Inform the user, if the number of timeouts exceeds the threshold
+     * specified with `setMaxSubsequentTimeouts`.
+     *
+     * @param timeoutNo             Number of subsequent timeouts which already
+     * happened.
+     * @param axis
+     * @return asynStatus
+     */
+    virtual asynStatus checkMaxSubsequentTimeouts(int timeoutNo,
+                                                  class sinqAxis *axis);
+
+    /**
+     * @brief See documentation of `checkMaxSubsequentTimeouts(sinqAxis * axis)`
+     *
+     * @param userMessage           Buffer for the user message
+     * @param userMessageSize       Buffer size in chars
+     * @return asynStatus
+     */
+    virtual asynStatus checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
+                                                  char *motorMessage,
+                                                  size_t motorMessageSize);
+
+    /**
+     * @brief Set the maximum number of subsequent timeouts before the user is
+     * informed.
+     *
+     * @param maxSubsequentTimeouts
+     * @return asynStatus
+     */
+    asynStatus setMaxSubsequentTimeouts(int maxSubsequentTimeouts);
+
+    /**
+     * @brief If true, the maximum number of subsequent communication timeouts
+     * set in `setMaxSubsequentTimeouts` has been exceeded
+     *
+     * @return true
+     * @return false
+     */
+    bool maxSubsequentTimeoutsExceeded();
+
+    /**
+     * @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();
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param pasynUser           Specify the axis via the asynUser
+     * @return sinqAxis*        If no axis could be found, this is a nullptr
+     */
+    sinqAxis *getSinqAxis(asynUser *pasynUser);
+
+    /**
+     * @brief Get the axis object
+     *
+     * @param axisNo              Specify the axis via its index
+     * @return sinqAxis*        If no axis could be found, this is a nullptr
+     */
+    sinqAxis *getSinqAxis(int axisNo);
+
+    // =========================================================================
+    // Public getters for protected members
+
+    // Accessors for double parameters
+    int motorMoveRel() { return motorMoveRel_; }
+    int motorMoveAbs() { return motorMoveAbs_; }
+    int motorMoveVel() { return motorMoveVel_; }
+    int motorHome() { return motorHome_; }
+    int motorStop() { return motorStop_; }
+    int motorVelocity() { return motorVelocity_; }
+    int motorVelBase() { return motorVelBase_; }
+    int motorAccel() { return motorAccel_; }
+    int motorPosition() { return motorPosition_; }
+    int motorEncoderPosition() { return motorEncoderPosition_; }
+    int motorDeferMoves() { return motorDeferMoves_; }
+    int motorMoveToHome() { return motorMoveToHome_; }
+    int motorResolution() { return motorResolution_; }
+    int motorEncoderRatio() { return motorEncoderRatio_; }
+    int motorPGain() { return motorPGain_; }
+    int motorIGain() { return motorIGain_; }
+    int motorDGain() { return motorDGain_; }
+    int motorHighLimit() { return motorHighLimit_; }
+    int motorLowLimit() { return motorLowLimit_; }
+    int motorClosedLoop() { return motorClosedLoop_; }
+    int motorPowerAutoOnOff() { return motorPowerAutoOnOff_; }
+    int motorPowerOnDelay() { return motorPowerOnDelay_; }
+    int motorPowerOffDelay() { return motorPowerOffDelay_; }
+    int motorPowerOffFraction() { return motorPowerOffFraction_; }
+    int motorPostMoveDelay() { return motorPostMoveDelay_; }
+    int motorStatus() { return motorStatus_; }
+    int motorUpdateStatus() { return motorUpdateStatus_; }
+
+    // Accessors for status bits (integers)
+    int motorStatusDirection() { return motorStatusDirection_; }
+    int motorStatusDone() { return motorStatusDone_; }
+    int motorStatusHighLimit() { return motorStatusHighLimit_; }
+    int motorStatusAtHome() { return motorStatusAtHome_; }
+    int motorStatusSlip() { return motorStatusSlip_; }
+    int motorStatusPowerOn() { return motorStatusPowerOn_; }
+    int motorStatusFollowingError() { return motorStatusFollowingError_; }
+    int motorStatusHome() { return motorStatusHome_; }
+    int motorStatusHasEncoder() { return motorStatusHasEncoder_; }
+    int motorStatusProblem() { return motorStatusProblem_; }
+    int motorStatusMoving() { return motorStatusMoving_; }
+    int motorStatusGainSupport() { return motorStatusGainSupport_; }
+    int motorStatusCommsError() { return motorStatusCommsError_; }
+    int motorStatusLowLimit() { return motorStatusLowLimit_; }
+    int motorStatusHomed() { return motorStatusHomed_; }
+
+    // Parameters for passing additional motor record information to the driver
+    int motorRecResolution() { return motorRecResolution_; }
+    int motorRecDirection() { return motorRecDirection_; }
+    int motorRecOffset() { return motorRecOffset_; }
+
+    // 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_; }
+    double idlePollPeriod() { return idlePollPeriod_; }
+    double movingPollPeriod() { return movingPollPeriod_; }
+
+    /**
+     * @brief Return a pointer to the asynUser of the controller
+     *
+     * @return asynUser*
+     */
+    asynUser *pasynUser() { return pasynUserSelf; }
+
+    /**
+     * @brief Return a pointer to the low-level octet (string) IP Port
+     *
+     * @return asynUser*
+     */
+    asynUser *pasynOctetSyncIOipPort();
+
+    /**
+     * @brief Overloaded version of `asynController::poll` which decreases
+     * `outstandingForcedFastPolls` and then defers to the base method
+     */
+    asynStatus poll();
+
+    /**
+     * @brief Overloaded version of `asynController::wakeupPoller` which
+     * initializes the `outstandingForcedFastPolls` variable and then defers to
+     * the base class method.
+     *
+     * The `wakePoller` function of the base class `asynController` sends a
+     * signal to the poller thread which forces the latter to perform a number
+     * of fast / busy polls with the busy poll period regardless of whether the
+     * motor is moving or not. The number of polls is specified by
+     * "forcedFastPolls()" and can be set with `setForcedFastPolls()`.
+     *
+     * @return asynStatus
+     */
+    asynStatus wakeupPoller();
+
+    /**
+     * @brief Set the number of forced fast polls which should be performed when
+     * `wakeupPoller` is called.
+     *
+     * @param forcedFastPolls
+     */
+    void setForcedFastPolls(int forcedFastPolls) {
+        forcedFastPolls_ = forcedFastPolls;
+    }
+
+    /**
+     * @brief Read the number of forced fast polls currently specified
+     *
+     */
+    int forcedFastPolls() { return forcedFastPolls_; }
+
+    /**
+     * @brief Read the number of outstanding forced fast polls currently
+     * specified
+     *
+     */
+    int outstandingForcedFastPolls();
+
+    /**
+     * @brief Return the maximum error message buffer size
+     *
+     * This is an empirical value which must be large enough to avoid overflows
+     * for all commands to the device / responses from it.
+     *
+     * @return uint32_t
+     */
+    uint32_t msgSize() { return MAXBUF_; }
+
+    // Maximum message size
+    static const uint32_t MAXBUF_ = 200;
+
+    // =========================================================================
+
+  private:
+    std::unique_ptr<sinqControllerImpl> pSinqC_;
+    static void epicsInithookFunction(initHookState iState);
 };
 
 #endif

src/sinqMotor.dbd

@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: GPL-3.0-only
+
+#---------------------------------------------
+# SINQ specific DB definitions
+#---------------------------------------------
+registrar(sinqControllerRegister) 
+registrar(sinqAxisRegister)