Fixed another calling signature bug

uniqe_ptr

LICENSE.txt

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  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
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    {project}  Copyright (C) {year}  {fullname}
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

README.md

@@ -17,9 +17,48 @@ The full inheritance chain for two different motor drivers "a" and "b" looks lik
 `asynController -> sinqController -> bController`
 `asynAxis -> sinqAxis -> bAxis`
 
-Those inheritance chains are created at runtime by loading shared libraries. Therefore, it is important to load compatible versions. At SINQ, the versioning numbers follow the SemVer standard (https://semver.org/lang/de/). For example, if driver "a" depends on version 2.1.0 of "sinqMotor", then it is safe to use "sinqMotor" 2.5.3 since 2.5.3 is backwards compatible to 2.1.0. However, it is not allowed to use e.g. version 1.9.0 or 2.0.0 or 3.0.1 instead. For more details on SemVer, please refer to the official documentation.
+Those inheritance chains are created at runtime by loading shared libraries. These libraries must be compatible to each other (see next section).
 
-To find out which version of sinqMotor is needed by driver "a", refer to its Makefile (line `sinqMotor_VERSION=x.x.x`, where x.x.x is the minimum required version).
+### 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
 
@@ -46,11 +85,11 @@ The script for controller 1 ("turboPmac1.cmd") for a Turbo PMAC (see https://git
 
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","actualDriver1")
-epicsEnvSet("ASYN_PORT","p$(NAME)")
+epicsEnvSet("DRIVER_PORT","actualDriver1")
+epicsEnvSet("IP_PORT","p$(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("$(ASYN_PORT)","172.28.101.24:1025")
+drvAsynIPPortConfigure("$(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:
@@ -58,25 +97,30 @@ drvAsynIPPortConfigure("$(ASYN_PORT)","172.28.101.24:1025")
 # 0.05: Busy poll period in seconds
 # 1: Idle poll period in seconds
 # 1: Socket communication timeout in seconds
-actualDriverController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
+actualDriverController("$(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("$(NAME)",1);
-actualDriverAxis("$(NAME)",2);
-actualDriverAxis("$(NAME)",5);
+actualDriverAxis("$(DRIVER_PORT)",1);
+actualDriverAxis("$(DRIVER_PORT)",2);
+actualDriverAxis("$(DRIVER_PORT)",5);
 
 # Set the number of subsequent timeouts 
-setMaxSubsequentTimeouts("$(NAME)", 20);
+setMaxSubsequentTimeouts("$(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("$(NAME)", 300, 10);
+setThresholdComTimeout("$(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)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
 epicsEnvSet("SINQDBPATH","$(actualDriver_DB)/turboPmac.db")
-dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadTemplate("$(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
@@ -99,7 +143,7 @@ The variable `SINQDBPATH` has been set in "mcu1.cmd" before calling `dbLoadTempl
 #### 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, NAME and M. For example, the PV of the first axis would be "SQ:SINQTEST:mcu1:lin1".
+- `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).
@@ -114,7 +158,7 @@ be further reduced by this offset in order to avoid errors due to slight oversho
 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. Defaults to 1.
+- `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
 
@@ -171,9 +215,10 @@ sinqMotor offers a variety of additional methods for children classes to standar
 - `paramLibAccessFailed`: Write a standardized message if accessing the parameter library failed.
 - `stringifyAsynStatus`: Convert the enum `asynStatus` into a human-readable string.
 - `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.
+- `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.
+- `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.h
 - `enable`: This function is called if the `$(INSTR)$(M):Enable` PV from db/sinqMotor.db is set. 
@@ -188,13 +233,14 @@ It calls `doReset` and performs some fast polls after `doReset` returns.
 - `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
 
   Before calling `doPoll`:
-  - Reset the status problem flag, the communication error flag and the error message.
+  - Check if the paramLib already contains an old error message. If so, put it into a temporary bufffer
 
   After calling `doPoll`:
   - Call `checkMovTimeoutWatchdog`. If the movement timed out, create an error message for the user
   - Update the readback-value for the axis enablement.
-  - Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
+  - 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`
 - `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")
@@ -215,7 +261,7 @@ The versioning is done via git tags. Git tags are recognized by the PSI build sy
 
 All existing tags can be listed with `git tag` in the sinqMotor directory. Detailed information (author, data, commit number, commit message) regarding a specific tag can be shown with `git show x.x.x`, where `x.x.x` is the name of your version. To create a new tag, use `git tag x.x.x`. If the tag `x.x.x` is already used by another commit, git will show a corresponding error.
 
-### How to build it
+### Dependencies
 
 This library is based on the PSI version of the EPICS motor record, which can be found here: `https://git.psi.ch/epics_driver_modules/motorBase`. We use a branch with a bugfix which is currently not merged into master due to resistance of the PSI userbase: `https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`. This library can be build with the following steps, assuming GCC and make are available:
 - `git clone https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`
@@ -223,6 +269,26 @@ This library is based on the PSI version of the EPICS motor record, which can be
 - `git tag 7.2.2`. The latest version on master is currently 7.2.1, hence we increment the bugfix version counter by one
 - `make install`
 
-To build sinqMotor itself, the makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
+### Usage as dynamic dependency
+
+The makefile in the top directory includes all necessary steps for compiling a shared library of sinqMotor together with the header files into `/ioc/modules` (using the PSI EPICS build system). Therefore it is sufficient to clone this repository to a suitable location (`git clone https://git.psi.ch/sinq-epics-modules/sinqmotor/-/tree/main`). Afterwards, switch to the directory (`cd sinqmotor`) and run `make install`.
 
 To use the library when writing a concrete motor driver, include it in the makefile of your application / library the same way as other libraries such as e.g. `asynMotor` by adding `REQUIRED+=sinqMotor` to your Makefile. The version can be specified with `sinqMotor_VERSION=x.x.x.`
+
+### Usage as static dependency
+
+This repository is included as a git submodule in some of the driver repositories depending upon sinqMotor. When installing via a Makefile (`make install`) using the PSI build system, the following git command is executed within `/ioc/tools/driver.makefile`:
+
+`git submodule update --init --recursive`
+
+This forces each submodule to be checked out at the latest commit hash stored in the remote repository. However, this is usually unwanted behaviour, since the higher-level drivers are usually designed to be compiled against a specific version of sinqMotor. In order to set the submodule to a specific version, the following steps need to be done BEFORE calling `make install`:
+
+- `cd sinqMotor`
+- `git checkout 0.1`
+- `cd ..`
+
+Then, the fixation of the version to 0.1 needs to be committed in the parent repository:
+
+- `git commit -m "Update sinqMotor to 0.1"`
+
+After this commit, running `make install` will use the correct driver version for compilation.

db/asynRecord.db

@@ -1,3 +1,5 @@
+# SPDX-License-Identifier: GPL-3.0-only
+
 record(asyn,"$(P)")
 {
     field(DTYP,"asynRecordDevice")

db/sinqMotor.db

@@ -1,3 +1,5 @@
+# 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:"
@@ -23,7 +25,10 @@
 # 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.
+# 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))")
@@ -38,7 +43,7 @@ record(motor,"$(INSTR)$(M)")
     field(DLLM, "$(DLLM=0)")
     field(TWV,"1")
     field(RTRY,"0")
-    field(RDBD,"0") 
+    field(RDBD, "$(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.
 }
@@ -51,6 +56,18 @@ record(calc, "$(INSTR)$(M):StatusProblem")
     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") {

src/msgPrintControl.cpp

@@ -1,12 +1,16 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 #include "msgPrintControl.h"
 #include <unordered_map>
 
 msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
-                                       const char *functionName, int line) {
+                                       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) {
@@ -16,9 +20,7 @@ void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
 
 // =============================================================================
 
-msgPrintControl::msgPrintControl(size_t maxRepetitions) {
-    maxRepetitions_ = maxRepetitions;
-}
+msgPrintControl::~msgPrintControl() = default;
 
 bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
                                       asynUser *pasynUser) {
@@ -34,12 +36,12 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
         */
         if (map_.find(key) != map_.end()) {
             size_t repetitions = map_[key];
-            if (repetitions < maxRepetitions_) {
+            if (repetitions < key.maxRepetitions_) {
                 // Number of allowed repetitions not exceeded -> Printing the
                 // message is ok.
                 map_[key] = repetitions + 1;
                 return true;
-            } else if (repetitions == maxRepetitions_) {
+            } else if (repetitions == key.maxRepetitions_) {
                 // Reached number of allowed repetitions -> Printing the message
                 // is ok, but further trys are rejected.
                 char formattedKey[100] = {0};
@@ -88,7 +90,8 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
 
 bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
                                       const char *functionName, int line,
-                                      bool wantToPrint, asynUser *pasynUser) {
+                                      bool wantToPrint, asynUser *pasynUser,
+                                      size_t maxRepetitions) {
     msgPrintControlKey key =
         msgPrintControlKey(portName, axisNo, functionName, __LINE__);
     return shouldBePrinted(key, wantToPrint, pasynUser);

src/msgPrintControl.h

@@ -1,6 +1,10 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 #ifndef msgPrintControl_H
 #define msgPrintControl_H
 
+#define DefaultMaxRepetitions 4
+
 #include <asynDriver.h>
 #include <string.h>
 #include <string>
@@ -21,8 +25,15 @@ class msgPrintControlKey {
     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);
+                       int line, size_t maxRepetitions = DefaultMaxRepetitions);
 
     bool operator==(const msgPrintControlKey &other) const {
         return axisNo_ == other.axisNo_ && line_ == other.line_ &&
@@ -73,7 +84,11 @@ template <> struct hash<msgPrintControlKey> {
  */
 class msgPrintControl {
   public:
-    msgPrintControl(size_t maxRepetitions);
+    /**
+     * @brief Destroy the msgPrintControl object
+     *
+     */
+    ~msgPrintControl();
 
     /**
      * @brief Checks if the error message associated with "key" has been printed
@@ -115,7 +130,8 @@ class msgPrintControl {
      * @param pasynUser
      */
     bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
-                         int line, bool wantToPrint, asynUser *pasynUser);
+                         int line, bool wantToPrint, asynUser *pasynUser,
+                         size_t maxRepetitions = DefaultMaxRepetitions);
 
     /**
      * @brief Reset the error message count incremented in `shouldBePrinted` for
@@ -129,13 +145,6 @@ class msgPrintControl {
      */
     void resetCount(msgPrintControlKey &key, asynUser *pasynUser);
 
-    /**
-     * @brief Maximum number of times a message is printed before it is
-     * suppressed.
-     *
-     */
-    size_t maxRepetitions_;
-
     char *getSuffix();
 
   private:

src/sinqAxis.cpp

@@ -1,27 +1,56 @@
+// 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>
 
+#define getControllerMethod pController
+
+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;
 
-    watchdogMovActive_ = false;
-    scaleMovTimeout_ = 2.0;
-    offsetMovTimeout_ = 30;
-    targetPosition_ = 0.0;
-    wasMoving_ = false;
+    epicsTimeStamp lastPollTime;
+    epicsTimeGetCurrent(&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.
+    /*
+    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 "
@@ -31,6 +60,21 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
         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) {
@@ -67,6 +111,18 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
         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) {
@@ -112,13 +168,17 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
 }
 
+sinqAxis::~sinqAxis() = default;
+
 asynStatus sinqAxis::poll(bool *moving) {
+
     // Local variable declaration
     asynStatus pl_status = asynSuccess;
     asynStatus poll_status = asynSuccess;
     int homing = 0;
-    int homed = 0;
     int adaptivePolling = 0;
+    char waitingMessage[pC_->MAXBUF_] = {0};
+    char newMessage[pC_->MAXBUF_] = {0};
 
     /*
     If adaptive polling is enabled:
@@ -128,13 +188,7 @@ asynStatus sinqAxis::poll(bool *moving) {
             - If yes, perform the poll
             - If no, skip it
     */
-
-    pl_status =
-        pC_->getIntegerParam(axisNo_, pC_->adaptivePolling(), &adaptivePolling);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "adaptivePolling", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    };
+    getAxisParamChecked(this, adaptivePolling, &adaptivePolling);
 
     // Using the EPICS timestamp here, see
     // https://docs.epics-controls.org/projects/base/en/latest/epicsTime_h.html#_CPPv414epicsTimeStamp
@@ -143,12 +197,16 @@ asynStatus sinqAxis::poll(bool *moving) {
     epicsTimeStamp ts;
     epicsTimeGetCurrent(&ts);
 
-    if (adaptivePolling != 0) {
+    /*
+    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 (!wasMoving_) {
+        if (!pSinqA_->wasMoving) {
 
             // Add the idle poll period
-            epicsTimeStamp earliestTimeNextPoll = lastPollTime_;
+            epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
             epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
 
             if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
@@ -157,85 +215,68 @@ asynStatus sinqAxis::poll(bool *moving) {
             }
         }
     }
+
     // Update the start time of the last poll
-    lastPollTime_ = ts;
+    pSinqA_->lastPollTime = ts;
 
     /*
-    At the beginning of the poll, it is assumed that the axis has no status
-    problems and therefore all error indicators are reset. This does not affect
-    the PVs until callParamCallbacks has been called!
-
-    The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
+    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.
     */
-    pl_status = setIntegerParam(pC_->motorStatusProblem(), false);
-    if (pl_status != asynSuccess) {
-        pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
-                                  __PRETTY_FUNCTION__, __LINE__);
-    }
-    pl_status = setIntegerParam(pC_->motorStatusCommsError(), false);
-    if (pl_status != asynSuccess) {
-        pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo_,
-                                  __PRETTY_FUNCTION__, __LINE__);
-    }
-    pl_status = setStringParam(pC_->motorMessageText(), "");
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorMessageText,
+                        static_cast<char *>(waitingMessage));
 
-    // 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.
+    // 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);
 
-    // Motor was moving during this poll
-    wasMoving_ = *moving;
-
-    // The poll did not succeed: Something went wrong and the motor has a status
-    // problem.
-    if (poll_status != asynSuccess) {
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
-                                      __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 = pC_->getIntegerParam(axisNo_, pC_->motorStatusHomed(), &homed);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHome(), &homing);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_", axisNo_,
-                                         __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);
     }
 
-    if (homing == 1 && !(*moving)) {
-
-        // Set the homing-related flags
-        pl_status = setIntegerParam(pC_->motorStatusHome(), 0);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        pl_status = setIntegerParam(pC_->motorStatusHomed(), 1);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        pl_status = setIntegerParam(pC_->motorStatusAtHome(), 1);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusAtHome_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+    // Update the wasMoving status
+    if (pC_->outstandingForcedFastPolls() == 0) {
+        pSinqA_->wasMoving = *moving;
     }
 
     // Check and update the watchdog
@@ -261,6 +302,12 @@ asynStatus sinqAxis::poll(bool *moving) {
         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;
 }
 
@@ -271,39 +318,31 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
 
     // Status of parameter library operations
     asynStatus status = asynSuccess;
-    double motorRecResolution = 0.0;
+    double motorRecRes = 0.0;
 
     // =========================================================================
 
     // Store the target position internally
-    targetPosition_ = position * motorRecResolution;
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    pSinqA_->targetPosition = position * motorRecRes;
 
     status = doMove(position, relative, minVelocity, maxVelocity, acceleration);
     if (status != asynSuccess) {
         return status;
     }
 
-    // Since the move command was successfull, we assume that the motor has
-    // started its movement.
-    status = setIntegerParam(pC_->motorStatusHomed(), 0);
+    status = assertConnected();
     if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusHomed_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    status = setIntegerParam(pC_->motorStatusAtHome(), 0);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusAtHome_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                 &motorRecResolution);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorRecResolution_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        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
-    wasMoving_ = true;
+    pSinqA_->wasMoving = true;
 
     return pC_->callParamCallbacks();
 }
@@ -322,45 +361,25 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
 
     if (status == asynSuccess) {
 
-        status = setStringParam(pC_->motorMessageText(), "Homing");
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorStatusHome, true);
+        setAxisParamChecked(this, motorStatusHomed, false);
+        setAxisParamChecked(this, motorStatusAtHome, false);
+        pSinqA_->wasMoving = true;
 
-        // Set the homing-related flags
-        status = setIntegerParam(pC_->motorStatusHome(), 1);
+        status = assertConnected();
         if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusHome_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
+            return status;
         }
-        // Set field ATHM to zero
-        status = setIntegerParam(pC_->motorStatusHomed(), 0);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusHomed_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        status = setIntegerParam(pC_->motorStatusAtHome(), 0);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusAtHome_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        // Update the motor record
-        return callParamCallbacks();
+        return pC_->wakeupPoller();
 
     } else if (status == asynError) {
         // asynError means that we tried to home an absolute encoder
-        status = setStringParam(pC_->motorMessageText(),
+        setAxisParamChecked(this, motorMessageText,
                             "Can't home a motor with absolute encoder");
+
+        status = assertConnected();
         if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
+            return status;
         }
 
         // Update the motor record
@@ -378,18 +397,17 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
 
 asynStatus sinqAxis::reset() {
     asynStatus status = doReset();
+
     if (status == asynSuccess) {
         // Perform some fast polls
-        pC_->lock();
-        bool moving = false;
-        for (int i = 0; i < 5; i++) {
-            epicsThreadSleep(pC_->movingPollPeriod());
-            if (poll(&moving) == asynSuccess) {
-                break;
+        pC_->wakeupPoller();
     }
+
+    status = assertConnected();
+    if (status != asynSuccess) {
+        return status;
     }
-        pC_->unlock();
-    }
+
     return status;
 }
 
@@ -397,63 +415,56 @@ asynStatus sinqAxis::doReset() { return asynError; }
 
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
 
-asynStatus sinqAxis::motorPosition(double *motorPosition) {
+asynStatus sinqAxis::motorPosition(double *motorPos) {
     asynStatus status = asynSuccess;
-    double motorRecResolution = 0.0;
+    double motorRecRes = 0.0;
 
-    status = pC_->getDoubleParam(axisNo(), pC_->motorRecResolution(),
-                                 &motorRecResolution);
+    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, "motorRecResolution_",
-                                         axisNo(), __PRETTY_FUNCTION__,
-                                         __LINE__);
+        return pC_->paramLibAccessFailed(status, "motorPosition", axisNo(),
+                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = pC_->getDoubleParam(axisNo(), pC_->motorPosition(), motorPosition);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo(),
-                                         __PRETTY_FUNCTION__,
-
-                                         __LINE__);
-    }
-    *motorPosition = *motorPosition * motorRecResolution;
+    *motorPos = *motorPos * motorRecRes;
     return status;
 }
 
-asynStatus sinqAxis::setMotorPosition(double motorPosition) {
+asynStatus sinqAxis::setMotorPosition(double motorPos) {
     asynStatus status = asynSuccess;
-    double motorRecResolution = 0.0;
+    double motorRecRes = 0.0;
 
-    status = pC_->getDoubleParam(axisNo(), pC_->motorRecResolution(),
-                                 &motorRecResolution);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorRecResolution_",
-                                         axisNo(), __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+    setAxisParamChecked(this, motorPosition, motorPos / motorRecRes);
 
-    status = setDoubleParam(pC_->motorPosition(),
-                            motorPosition / motorRecResolution);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo(),
-                                         __PRETTY_FUNCTION__,
-
-                                         __LINE__);
-    }
     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?
-    status =
-        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(), &variableSpeed);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorCanSetSpeed_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, motorCanSetSpeed, &variableSpeed);
+
     if (variableSpeed == 1) {
 
         // Check the inputs and create corresponding error messages
@@ -464,15 +475,9 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       "vmax=%lf.\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       vbas, vmax);
-
-            status = setStringParam(
-                pC_->motorMessageText(),
+            setAxisParamChecked(
+                this, motorMessageText,
                 "Lower speed limit must not be smaller than upper speed limit");
-            if (status != asynSuccess) {
-                return pC_->paramLibAccessFailed(status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
@@ -483,58 +488,19 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       velo, vbas, vmax);
 
-            status = setStringParam(pC_->motorMessageText(),
+            setAxisParamChecked(this, motorMessageText,
                                 "Speed is not inside limits");
-            if (status != asynSuccess) {
-                return pC_->paramLibAccessFailed(status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
             return asynError;
         }
 
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver(), vbas);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVeloFromDriver(), velo);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorVeloFromDriver_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver(), vmax);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorVbasFromDriver, vbas);
+        setAxisParamChecked(this, motorVeloFromDriver, velo);
+        setAxisParamChecked(this, motorVmaxFromDriver, vmax);
     } else {
         // Set minimum and maximum speed equal to the set speed
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver(), velo);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorVbasFromDriver_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVeloFromDriver(), velo);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorVeloFromDriver_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver(), velo);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorVbasFromDriver, velo);
+        setAxisParamChecked(this, motorVeloFromDriver, velo);
+        setAxisParamChecked(this, motorVmaxFromDriver, velo);
     }
     return status;
 }
@@ -545,30 +511,20 @@ asynStatus sinqAxis::setAcclField(double accl) {
         return asynError;
     }
 
-    asynStatus status = setDoubleParam(pC_->motorAcclFromDriver(), accl);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorAcclFromDriver_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    return status;
+    setAxisParamChecked(this, motorAcclFromDriver, accl);
+    return asynSuccess;
 }
 
 asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
-    return setIntegerParam(pC_->motorEnableMovWatchdog(), enable);
+    setAxisParamChecked(this, motorEnableMovWatchdog, enable);
+    return asynSuccess;
 }
 
 asynStatus sinqAxis::startMovTimeoutWatchdog() {
     asynStatus pl_status;
     int enableMovWatchdog = 0;
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog(),
-                                     &enableMovWatchdog);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorEnableMovWatchdog, &enableMovWatchdog);
 
     if (enableMovWatchdog == 1) {
         // These parameters are only needed in this branch
@@ -577,12 +533,12 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         double motorVelocityRec = 0.0;
         double motorAccel = 0.0;
         double motorAccelRec = 0.0;
-        double motorRecResolution = 0.0;
+        double motorRecRes = 0.0;
         time_t timeContSpeed = 0;
         time_t timeAccel = 0;
 
         // Activate the watchdog
-        watchdogMovActive_ = true;
+        pSinqA_->watchdogMovActive = true;
 
         /*
         NOTE: This function must not be called in the constructor (e.g. in order
@@ -606,32 +562,25 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         = VELO / MRES motorAccel = (motorVelocity - motorVelBase) / ACCL
         Therefore, we need to correct the values from the parameter library.
          */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                        &motorRecResolution);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
 
         // Read the velocity
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity(),
-                                        &motorVelocityRec);
+        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 * motorRecResolution;
+            motorVelocity = motorVelocityRec * motorRecRes;
             if (pl_status == asynSuccess) {
 
-                timeContSpeed = std::ceil(
-                    std::fabs(targetPosition_ - motorPos) / motorVelocity);
+                timeContSpeed =
+                    std::ceil(std::fabs(pSinqA_->targetPosition - motorPos) /
+                              motorVelocity);
             }
         }
 
-        pl_status =
-            pC_->getDoubleParam(axisNo_, pC_->motorAccel(), &motorAccelRec);
+        getAxisParamChecked(this, motorAccel, &motorAccelRec);
         if (pl_status == asynSuccess && motorVelocityRec > 0.0 &&
             motorAccelRec > 0.0) {
 
@@ -643,30 +592,23 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         }
 
         // Calculate the expected arrival time
-        expectedArrivalTime_ =
-            time(NULL) + offsetMovTimeout_ +
-            scaleMovTimeout_ * (timeContSpeed + 2 * timeAccel);
+        pSinqA_->expectedArrivalTime =
+            time(NULL) + pSinqA_->offsetMovTimeout +
+            pSinqA_->scaleMovTimeout * (timeContSpeed + 2 * timeAccel);
     } else {
-        watchdogMovActive_ = false;
+        pSinqA_->watchdogMovActive = false;
     }
     return asynSuccess;
 }
 
 asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
-    asynStatus pl_status;
     int enableMovWatchdog = 0;
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog(),
-                                     &enableMovWatchdog);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorEnableMovWatchdog, &enableMovWatchdog);
 
     // Not moving or watchdog not active / enabled
-    if (enableMovWatchdog == 0 || !moving || !watchdogMovActive_) {
-        watchdogMovActive_ = false;
+    if (enableMovWatchdog == 0 || !moving || !pSinqA_->watchdogMovActive) {
+        pSinqA_->watchdogMovActive = false;
         return asynSuccess;
     }
 
@@ -676,7 +618,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
                                                 __PRETTY_FUNCTION__, __LINE__);
 
     // Check if the expected time of arrival has been exceeded.
-    if (expectedArrivalTime_ < time(NULL)) {
+    if (pSinqA_->expectedArrivalTime < time(NULL)) {
         // Check the watchdog
         if (pC_->getMsgPrintControl().shouldBePrinted(key, true,
                                                       pC_->pasynUser())) {
@@ -684,23 +626,13 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
                       "Controller \"%s\", axis %d => %s, line %d:\nExceeded "
                       "expected arrival time %ld (current time is %ld).\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                      expectedArrivalTime_, time(NULL));
+                      pSinqA_->expectedArrivalTime, time(NULL));
         }
 
-        pl_status = setStringParam(
-            pC_->motorMessageText(),
+        setAxisParamChecked(
+            this, motorMessageText,
             "Exceeded expected arrival time. Check if the axis is blocked.");
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (pl_status != asynSuccess) {
-            pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
-                                      __PRETTY_FUNCTION__, __LINE__);
-        }
+        setAxisParamChecked(this, motorStatusProblem, true);
     } else {
         pC_->getMsgPrintControl().resetCount(key, pC_->pasynUser());
     }
@@ -709,6 +641,26 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
     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" {

src/sinqAxis.h

@@ -1,3 +1,5 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 /*
 This class extends asynMotorAxis by some features used in SINQ.
 
@@ -7,7 +9,10 @@ Stefan Mathis, November 2024
 #ifndef sinqAxis_H
 #define sinqAxis_H
 #include "asynMotorAxis.h"
-#include <epicsTime.h>
+#include <memory>
+#include <type_traits>
+
+struct sinqAxisImpl;
 
 class epicsShareClass sinqAxis : public asynMotorAxis {
   public:
@@ -19,6 +24,13 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     sinqAxis(class sinqController *pC_, int axisNo);
 
+    /**
+     * @brief Destroy the sinqAxis object
+     *
+     * This destructor is necessary in order to use the PIMPL idiom.
+     */
+    ~sinqAxis();
+
     /**
      * @brief Perform some standardized operations before and after the concrete
     `doPoll` implementation.
@@ -46,7 +58,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     the parameter library operation fails (in that case, returns the status of
     the failed operation.
      */
-    asynStatus poll(bool *moving);
+    virtual asynStatus poll(bool *moving);
 
     /**
      * @brief Implementation of the "proper", device-specific poll method. This
@@ -76,7 +88,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     the parameter library operation fails (in that case, returns the failed
     operation status).
      */
-    asynStatus move(double position, int relative, double minVelocity,
+    virtual asynStatus move(double position, int relative, double minVelocity,
                             double maxVelocity, double acceleration);
 
     /**
@@ -140,8 +152,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     the parameter library operation fails (in that case, returns the failed
     operation status).
      */
-    asynStatus home(double minVelocity, double maxVelocity, double acceleration,
-                    int forwards);
+    virtual asynStatus home(double minVelocity, double maxVelocity,
+                            double acceleration, int forwards);
 
     /**
      * @brief Implementation of the "proper", device-specific home method. This
@@ -167,7 +179,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      *
      * @return asynStatus
      */
-    asynStatus reset();
+    virtual asynStatus reset();
 
     /**
      * @brief Implementation of the "proper", device-specific `reset` method.
@@ -237,7 +249,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     used to get the values for the timeout calculation failed, return that
     status, otherwise return asynSuccess.
      */
-    asynStatus startMovTimeoutWatchdog();
+    virtual asynStatus startMovTimeoutWatchdog();
 
     /**
      * @brief Check if the watchdog timed out
@@ -271,7 +283,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @return asynStatus         Return asynError, if the watchdog timed out,
     and asynSuccess otherwise.
      */
-    asynStatus checkMovTimeoutWatchdog(bool moving);
+    virtual asynStatus checkMovTimeoutWatchdog(bool moving);
 
     /**
      * @brief Enable / disable the watchdog. Also available in the IOC shell
@@ -294,10 +306,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @param offsetMovTimeout    Offset (in seconds)
      * @return asynStatus
      */
-    virtual asynStatus setOffsetMovTimeout(time_t offsetMovTimeout) {
-        offsetMovTimeout_ = offsetMovTimeout;
-        return asynSuccess;
-    }
+    virtual asynStatus setOffsetMovTimeout(time_t offsetMovTimeout);
 
     /**
      * @brief Set the scaleMovTimeout. Also available in the IOC shell
@@ -308,10 +317,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @param scaleMovTimeout     Scaling factor (in seconds)
      * @return asynStatus
      */
-    virtual asynStatus setScaleMovTimeout(time_t scaleMovTimeout) {
-        scaleMovTimeout_ = scaleMovTimeout;
-        return asynSuccess;
-    }
+    virtual asynStatus setScaleMovTimeout(time_t scaleMovTimeout);
 
     /**
      * @brief Return the axis number of this axis
@@ -348,25 +354,405 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     asynStatus setMotorPosition(double motorPosition);
 
-  protected:
-    // 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
+    /**
+     * @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.
      */
-    epicsTimeStamp lastPollTime_;
+    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_;
 };
 
+// =============================================================================
+// 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, controller, indexName, func,
+                                         &readValueInt, callerFunctionName,
+                                         lineNumber, msgSize, TypeTag<int>{});
+    *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

@@ -1,10 +1,16 @@
+// 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>
 
 /*
@@ -32,6 +38,65 @@ void sinqController::epicsInithookFunction(initHookState iState) {
     }
 }
 
+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,
@@ -47,28 +112,21 @@ sinqController::sinqController(const char *portName,
           0, // No additional callback interfaces beyond those in base class
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
           1,    // autoconnect
-          0, 0), // Default priority and stack size
-      msgPrintControl_(4) {
+          0, 0) // Default priority and stack size
+{
 
     asynStatus status = asynSuccess;
 
-    // Handle to the asynUser of the IP port asyn driver
-    pasynOctetSyncIOipPort_ = nullptr;
-
-    // Initial values for the average timeout mechanism, can be overwritten
-    // later by a FFI function
-    comTimeoutWindow_ = 3600; // seconds
-
-    // Number of timeouts which may occur before an error is forwarded to the
-    // user
-    maxNumberTimeouts_ = 60;
-
-    // Queue holding the timeout event timestamps
-    timeoutEvents_ = {};
-
-    // Inform the user after 10 timeouts in a row (default value)
-    maxSubsequentTimeouts_ = 10;
-    maxSubsequentTimeoutsExceeded_ = false;
+    // 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)
@@ -81,9 +139,9 @@ sinqController::sinqController(const char *portName,
     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, &pasynOctetSyncIOipPort_,
-                              NULL);
-    if (status != asynSuccess || pasynOctetSyncIOipPort_ == nullptr) {
+    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",
@@ -96,8 +154,8 @@ sinqController::sinqController(const char *portName,
     // 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, &motorMessageText_);
+    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 "
@@ -107,7 +165,7 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("MOTOR_ENABLE", asynParamInt32, &motorEnable_);
+    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 "
@@ -117,7 +175,7 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("MOTOR_RESET", asynParamInt32, &motorReset_);
+    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 "
@@ -127,7 +185,8 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("MOTOR_ENABLE_RBV", asynParamInt32, &motorEnableRBV_);
+    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 "
@@ -137,8 +196,8 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status =
-        createParam("MOTOR_CAN_DISABLE", asynParamInt32, &motorCanDisable_);
+    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 "
@@ -148,8 +207,8 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status =
-        createParam("MOTOR_CAN_SET_SPEED", asynParamInt32, &motorCanSetSpeed_);
+    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 "
@@ -160,7 +219,18 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_LIMITS_OFFSET", asynParamFloat64,
-                         &motorLimitsOffset_);
+                         &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 "
@@ -176,7 +246,7 @@ sinqController::sinqController(const char *portName,
     the declaration of motorHighLimitFromDriver_.
     */
     status = createParam("MOTOR_HIGH_LIMIT_FROM_DRIVER", asynParamFloat64,
-                         &motorHighLimitFromDriver_);
+                         &pSinqC_->motorHighLimitFromDriver);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -187,7 +257,7 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_LOW_LIMIT_FROM_DRIVER", asynParamFloat64,
-                         &motorLowLimitFromDriver_);
+                         &pSinqC_->motorLowLimitFromDriver);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -198,7 +268,7 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_ENABLE_MOV_WATCHDOG", asynParamInt32,
-                         &motorEnableMovWatchdog_);
+                         &pSinqC_->motorEnableMovWatchdog);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -209,7 +279,7 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_VELO_FROM_DRIVER", asynParamFloat64,
-                         &motorVeloFromDriver_);
+                         &pSinqC_->motorVeloFromDriver);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -220,7 +290,7 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_VBAS_FROM_DRIVER", asynParamFloat64,
-                         &motorVbasFromDriver_);
+                         &pSinqC_->motorVbasFromDriver);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -231,7 +301,7 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_VMAX_FROM_DRIVER", asynParamFloat64,
-                         &motorVmaxFromDriver_);
+                         &pSinqC_->motorVmaxFromDriver);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -242,7 +312,7 @@ sinqController::sinqController(const char *portName,
     }
 
     status = createParam("MOTOR_ACCL_FROM_DRIVER", asynParamFloat64,
-                         &motorAcclFromDriver_);
+                         &pSinqC_->motorAcclFromDriver);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
@@ -252,7 +322,8 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("ADAPTIVE_POLLING", asynParamInt32, &adaptivePolling_);
+    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 "
@@ -262,7 +333,7 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("ENCODER_TYPE", asynParamOctet, &encoderType_);
+    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 "
@@ -272,7 +343,8 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("MOTOR_FORCE_STOP", asynParamInt32, &motorForceStop_);
+    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 "
@@ -304,8 +376,24 @@ sinqController::~sinqController(void) {
     free(this->pAxes_);
 }
 
-msgPrintControl &sinqController::getMsgPrintControl() {
-    return msgPrintControl_;
+/*
+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) {
@@ -313,9 +401,7 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
 
     // =====================================================================
 
-    asynMotorAxis *asynAxis = getAxis(pasynUser);
-    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
-
+    sinqAxis *axis = getSinqAxis(pasynUser);
     if (axis == nullptr) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
@@ -325,11 +411,11 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     }
 
     // Handle custom PVs
-    if (function == motorEnable_) {
+    if (function == motorEnable()) {
         return axis->enable(value != 0);
-    } else if (function == motorReset_) {
+    } else if (function == motorReset()) {
         return axis->reset();
-    } else if (function == motorForceStop_) {
+    } else if (function == motorForceStop()) {
         return axis->stop(0.0);
     } else {
         return asynMotorController::writeInt32(pasynUser, value);
@@ -338,22 +424,21 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
 
 asynStatus sinqController::readInt32(asynUser *pasynUser, epicsInt32 *value) {
 
-    // Casting into a sinqAxis is necessary to get access to the field axisNo()
-    asynMotorAxis *asynAxis = getAxis(pasynUser);
-    sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
-
+    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.\n",
+                  "instance of sinqAxis",
                   portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
         return asynError;
     }
 
-    if (pasynUser->reason == motorEnableRBV_) {
-        return getIntegerParam(axis->axisNo(), motorEnableRBV_, value);
-    } else if (pasynUser->reason == motorCanDisable_) {
-        return getIntegerParam(axis->axisNo(), motorCanDisable_, value);
+    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);
     }
@@ -364,26 +449,24 @@ asynStatus sinqController::couldNotParseResponse(const char *command,
                                                  int axisNo,
                                                  const char *functionName,
                                                  int line) {
-    asynStatus pl_status = asynSuccess;
-
-    asynPrint(pasynOctetSyncIOipPort_, ASYN_TRACE_ERROR,
+    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);
 
-    pl_status = setStringParam(
-        motorMessageText_,
-        "Could not interpret controller response. Please call the support");
-    if (pl_status != asynSuccess) {
-        return paramLibAccessFailed(pl_status, "motorMessageText_", axisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
+    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;
     }
 
-    pl_status = setIntegerParam(motorStatusCommsError_, 1);
-    if (pl_status != asynSuccess) {
-        return paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(
+        axis, motorMessageText,
+        "Could not interpret controller response. Please call the support");
+    setAxisParamChecked(axis, motorStatusCommsError, true);
 
     return asynError;
 }
@@ -395,7 +478,7 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
                                                 int line) {
 
     if (status != asynSuccess) {
-        asynPrint(pasynOctetSyncIOipPort_, ASYN_TRACE_ERROR,
+        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,
@@ -403,7 +486,7 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
 
         // Log the error message and try to propagate it. If propagating fails,
         // there is nothing we can do here anyway.
-        setStringParam(motorMessageText_,
+        setStringParam(motorMessageText(),
                        "Accessing paramLib failed. Please call the support.");
     }
 
@@ -417,40 +500,42 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
     asynStatus paramLibStatus = asynSuccess;
 
     // Add a new timeout event to the queue
-    timeoutEvents_.push_back(time(NULL));
+    pSinqC_->timeoutEvents.push_back(time(NULL));
 
     // Remove every event which is older than the time window from the deque
     while (1) {
-        if (timeoutEvents_.empty()) {
+        if (pSinqC_->timeoutEvents.empty()) {
             break;
         }
-        if (timeoutEvents_[0] + comTimeoutWindow_ <= time(NULL)) {
-            timeoutEvents_.pop_front();
+        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 = timeoutEvents_.size() > maxNumberTimeouts_;
+    bool wantToPrint =
+        pSinqC_->timeoutEvents.size() > pSinqC_->maxNumberTimeouts;
 
-    if (msgPrintControl_.shouldBePrinted(portName, axisNo, __PRETTY_FUNCTION__,
-                                         __LINE__, wantToPrint,
-                                         pasynUserSelf)) {
+    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__,
-                  maxNumberTimeouts_, comTimeoutWindow_,
-                  msgPrintControl_.getSuffix());
+                  pSinqC_->maxNumberTimeouts, pSinqC_->comTimeoutWindow,
+                  pSinqC_->msgPrintC.getSuffix());
     }
 
     if (wantToPrint) {
         snprintf(motorMessage, motorMessageSize,
                  "More than %ld communication timeouts in %ld seconds. Please "
                  "call the support.",
-                 maxNumberTimeouts_, comTimeoutWindow_);
+                 pSinqC_->maxNumberTimeouts, pSinqC_->comTimeoutWindow);
 
         paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
         if (paramLibStatus != asynSuccess) {
@@ -467,17 +552,12 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
 
 asynStatus sinqController::checkComTimeoutWatchdog(sinqAxis *axis) {
 
-    char motorMessage[200] = {0};
+    char errorMessage[MAXBUF_] = {0};
 
     asynStatus status =
-        checkComTimeoutWatchdog(axis->axisNo(), motorMessage, 200);
+        checkComTimeoutWatchdog(axis->axisNo(), errorMessage, MAXBUF_);
     if (status == asynError) {
-        status = axis->setStringParam(motorMessageText_, motorMessage);
-        if (status != asynSuccess) {
-            return paramLibAccessFailed(status, "motorMessageText_",
-                                        axis->axisNo(), __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
+        setAxisParamChecked(axis, motorMessageText, errorMessage);
     }
     return status;
 }
@@ -487,18 +567,18 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
                                                       size_t motorMessageSize) {
     asynStatus paramLibStatus = asynSuccess;
 
-    if (timeoutNo >= maxSubsequentTimeouts_) {
-        if (!maxSubsequentTimeoutsExceeded_) {
+    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\n",
+                "subsequent communication timeouts. Check whether the "
+                "controller is still running and connected to the network.\n",
                 this->portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                maxSubsequentTimeouts_);
+                pSinqC_->maxSubsequentTimeouts);
 
             paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
             if (paramLibStatus != asynSuccess) {
@@ -506,12 +586,12 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
                                             "motorStatusCommsError_", axisNo,
                                             __PRETTY_FUNCTION__, __LINE__);
             }
-            maxSubsequentTimeoutsExceeded_ = true;
+            pSinqC_->maxSubsequentTimeoutsExceeded = true;
         }
 
         return asynError;
     } else {
-        maxSubsequentTimeoutsExceeded_ = false;
+        pSinqC_->maxSubsequentTimeoutsExceeded = false;
         motorMessage[0] = '\0';
         return asynSuccess;
     }
@@ -520,21 +600,108 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo, int axisNo,
 asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,
                                                       sinqAxis *axis) {
 
-    char motorMessage[200] = {0};
+    char motorMessage[MAXBUF_] = {0};
 
-    asynStatus status = checkMaxSubsequentTimeouts(axis->axisNo(), timeoutNo,
-                                                   motorMessage, 200);
+    asynStatus status = checkMaxSubsequentTimeouts(timeoutNo, axis->axisNo(),
+                                                   motorMessage, MAXBUF_);
     if (status == asynError) {
-        status = axis->setStringParam(motorMessageText_, motorMessage);
-        if (status != asynSuccess) {
-            return paramLibAccessFailed(status, "motorMessageText_",
-                                        axis->axisNo(), __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
+        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)
@@ -608,6 +775,8 @@ 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.
@@ -651,11 +820,10 @@ static void setThresholdComTimeoutCallFunc(const iocshArgBuf *args) {
 /**
  * @brief Set the maximum number of subsequent timeouts (FFI implementation)
  *
- * @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.
+ * @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,
@@ -709,12 +877,73 @@ static void setMaxSubsequentTimeoutsCallFunc(const iocshArgBuf *args) {
 
 // =============================================================================
 
+/**
+ * @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);
 

src/sinqController.h

@@ -1,3 +1,5 @@
+// SPDX-License-Identifier: GPL-3.0-only
+
 /*
 This class extends asynMotorController by some features used in SINQ. See the
 README.md for details.
@@ -9,9 +11,8 @@ Stefan Mathis, November 2024
 #define sinqController_H
 #include "asynMotorController.h"
 #include "msgPrintControl.h"
-#include <deque>
 #include <initHooks.h>
-#include <unordered_map>
+#include <memory>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
@@ -19,6 +20,8 @@ Stefan Mathis, November 2024
 #define AbsoluteEncoder "absolute"
 #define NoEncoder "none"
 
+struct sinqControllerImpl;
+
 class epicsShareClass sinqController : public asynMotorController {
   public:
     /**
@@ -173,11 +176,7 @@ class epicsShareClass sinqController : public asynMotorController {
      * @return asynStatus
      */
     virtual asynStatus setThresholdComTimeout(time_t comTimeoutWindow,
-                                              size_t maxNumberTimeouts) {
-        comTimeoutWindow_ = comTimeoutWindow;
-        maxNumberTimeouts_ = maxNumberTimeouts;
-        return asynSuccess;
-    }
+                                              size_t maxNumberTimeouts);
 
     /**
      * @brief Inform the user, if the number of timeouts exceeds the threshold
@@ -209,10 +208,16 @@ class epicsShareClass sinqController : public asynMotorController {
      * @param maxSubsequentTimeouts
      * @return asynStatus
      */
-    asynStatus setMaxSubsequentTimeouts(int maxSubsequentTimeouts) {
-        maxSubsequentTimeouts_ = maxSubsequentTimeouts;
-        return asynSuccess;
-    }
+    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
@@ -221,6 +226,22 @@ class epicsShareClass sinqController : public asynMotorController {
      */
     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
 
@@ -275,24 +296,26 @@ class epicsShareClass sinqController : public asynMotorController {
     int motorRecDirection() { return motorRecDirection_; }
     int motorRecOffset() { return motorRecOffset_; }
 
-    // Accessors for additional PVs defined in sinqController
-    int motorMessageText() { return motorMessageText_; }
-    int motorReset() { return motorReset_; }
-    int motorEnable() { return motorEnable_; }
-    int motorEnableRBV() { return motorEnableRBV_; }
-    int motorCanDisable() { return motorCanDisable_; }
-    int motorEnableMovWatchdog() { return motorEnableMovWatchdog_; }
-    int motorCanSetSpeed() { return motorCanSetSpeed_; }
-    int motorLimitsOffset() { return motorLimitsOffset_; }
-    int motorForceStop() { return motorForceStop_; }
-    int motorVeloFromDriver() { return motorVeloFromDriver_; }
-    int motorVbasFromDriver() { return motorVbasFromDriver_; }
-    int motorVmaxFromDriver() { return motorVmaxFromDriver_; }
-    int motorAcclFromDriver() { return motorAcclFromDriver_; }
-    int motorHighLimitFromDriver() { return motorHighLimitFromDriver_; }
-    int motorLowLimitFromDriver() { return motorLowLimitFromDriver_; }
-    int adaptivePolling() { return adaptivePolling_; }
-    int encoderType() { return encoderType_; }
+    // Accessors for additional PVs defined in sinqController (which are hidden
+    // in pSinqC_)
+    int motorMessageText();
+    int motorReset();
+    int motorEnable();
+    int motorEnableRBV();
+    int motorCanDisable();
+    int motorEnableMovWatchdog();
+    int motorCanSetSpeed();
+    int motorLimitsOffset();
+    int motorForceStop();
+    int motorConnected();
+    int motorVeloFromDriver();
+    int motorVbasFromDriver();
+    int motorVmaxFromDriver();
+    int motorAcclFromDriver();
+    int motorHighLimitFromDriver();
+    int motorLowLimitFromDriver();
+    int adaptivePolling();
+    int encoderType();
 
     // Additional members
     int numAxes() { return numAxes_; }
@@ -311,61 +334,70 @@ class epicsShareClass sinqController : public asynMotorController {
      *
      * @return asynUser*
      */
-    asynUser *pasynOctetSyncIOipPort() { return pasynOctetSyncIOipPort_; }
+    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;
 
     // =========================================================================
 
-  protected:
-    // Pointer to the port user which is specified by the char array
-    // `ipPortConfigName` in the constructor
-    asynUser *pasynOctetSyncIOipPort_;
-    double movingPollPeriod_;
-    double idlePollPeriod_;
-    msgPrintControl msgPrintControl_;
-
-    // Internal variables used in the communication timeout frequency watchdog
-    time_t comTimeoutWindow_;  // Size of the time window
-    size_t maxNumberTimeouts_; // Maximum acceptable number of events within the
-                               // time window
-    std::deque<time_t>
-        timeoutEvents_; // Deque holding the timestamps of the individual events
-
-    // Communicate a timeout to the user after it has happened this many times
-    // in a row
-    int maxSubsequentTimeouts_;
-    bool maxSubsequentTimeoutsExceeded_;
-
-#define FIRST_SINQMOTOR_PARAM motorMessageText_
-    int motorMessageText_;
-    int motorReset_;
-    int motorEnable_;
-    int motorEnableRBV_;
-    int motorCanDisable_;
-    int motorEnableMovWatchdog_;
-    int motorCanSetSpeed_;
-    int motorLimitsOffset_;
-    int motorForceStop_;
-    /*
-    These parameters are here to write values from the hardware to the EPICS
-    motor record. Using motorHighLimit_ / motorLowLimit_ does not work:
-    https://epics.anl.gov/tech-talk/2023/msg00576.php. Therefore, some
-    additional records are introduced which read from these parameters and write
-    into the motor record.
-    */
-    int motorVeloFromDriver_;
-    int motorVbasFromDriver_;
-    int motorVmaxFromDriver_;
-    int motorAcclFromDriver_;
-    int motorHighLimitFromDriver_;
-    int motorLowLimitFromDriver_;
-    int adaptivePolling_;
-    int encoderType_;
-#define LAST_SINQMOTOR_PARAM encoderType_
-
   private:
+    std::unique_ptr<sinqControllerImpl> pSinqC_;
     static void epicsInithookFunction(initHookState iState);
 };
-#define NUM_SINQMOTOR_DRIVER_PARAMS                                            \
-    (&LAST_SINQMOTOR_PARAM - &FIRST_SINQMOTOR_PARAM + 1)
 
 #endif

src/sinqMotor.dbd

@@ -1,3 +1,5 @@
+# SPDX-License-Identifier: GPL-3.0-only
+
 #---------------------------------------------
 # SINQ specific DB definitions
 #---------------------------------------------