Fixed a bug in msgPrintControl

properties. This also enabled the removal of "friend classes".

.gitlab-ci.yml

@@ -24,16 +24,6 @@ formatting:
   tags:
     - sinq
 
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
 build_module:
   stage: build
   script:

Makefile

@@ -10,10 +10,12 @@ ARCH_FILTER=RHEL%
 asynMotor_VERSION=7.2.2
 
 # Source files to build
+SOURCES += src/msgPrintControl.cpp
 SOURCES += src/sinqAxis.cpp
 SOURCES += src/sinqController.cpp
 
 # Headers which allow using this library in concrete driver implementations
+HEADERS += src/msgPrintControl.h
 HEADERS += src/sinqAxis.h
 HEADERS += src/sinqController.h
 

README.md

@@ -42,34 +42,41 @@ epicsEnvSet("INSTR","SQ:SINQTEST:")
 iocInit()
 ```
 The first line is a so-called shebang which instructs Linux to execute the file with the executable located at the given path - the IOC shell in this case. The controller script "mcu1.cmd" looks like this:
+The script for controller 1 ("mcu1.cmd") for a Turbo PMAC (see https://git.psi.ch/sinq-epics-modules/turboPmac) has the following structure. The scripts for other controller types can be found in the README.md of their respective repositories.
+
 ```
-# Define some needed parameters (they can be safely overwritten in e.g. mcu2.cmd)
+# Define the name of the controller and the corresponding port
 epicsEnvSet("NAME","mcu1")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
-# Define the IP adress of the controller
+# 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")
 
-# Create the controller object in EPICS. The function "pmacv3Controller" is 
+# Create the controller object with the defined name and connect it to the socket via the port name.
-# provided by loading the shared library turboPmac.
+# The other parameters are as follows:
-pmacv3Controller("$(NAME)","$(ASYN_PORT)",8,0.05,1,0.05);
+# 8: Maximum number of axes
+# 0.05: Busy poll period in seconds
+# 1: Idle poll period in seconds
+# 1: Socket communication timeout in seconds
+turboPmacController("$(NAME)", "$(ASYN_PORT)", 8, 0.05, 1, 1);
 
-# Create four axes objects on slots 1, 2, 3 and 5 of the controller.
+# Define some axes for the specified MCU at the given slot (1, 2 and 5). No slot may be used twice!
-pmacv3Axis("$(NAME)",1);
+turboPmacAxis("$(NAME)",1);
-pmacv3Axis("$(NAME)",2);
+turboPmacAxis("$(NAME)",2);
-pmacv3Axis("$(NAME)",3);
+turboPmacAxis("$(NAME)",5);
-pmacv3Axis("$(NAME)",5);
 
-# Create some general PVs of an asynRecord, substituting the macro P by concatenating INSTR and NAME and PORT by ASYN_PORT.
+# Set the number of subsequent timeouts 
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+setMaxSubsequentTimeouts("$(NAME)", 20);
 
-# Create PVs provided by the sinqMotor database template. This template is parametrized by the substitution file "mcu1.substitutions" (see below)
+# Configure the timeout frequency watchdog:
+setThresholdComTimeout("$(NAME)", 100, 1);
+
+# Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
-dbLoadTemplate("$(TOP)/mcu1.substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
-# Create PVs specific for pmacv3. Again, we load a database template and parametrize it with the substitution file "mcu1.substitutions"
+dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-epicsEnvSet("SINQDBPATH","$(pmacv3_DB)/pmacv3.db")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
-dbLoadTemplate("$(TOP)/mcu1.substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
 ```
 
 ### Substitution file
@@ -164,7 +171,10 @@ sinqMotor offers a variety of additional methods for children classes to standar
 - `setMaxSubsequentTimeouts`: Set the limit for the number of subsequent timeouts before the user is informed.
 
 #### sinqAxis.h
-- `enable`: This function is called if the "Enable" PV from db/sinqMotor.db is set. This is an empty function which should be overwritten by concrete driver implementations.
+- `enable`: This function is called if the `$(INSTR)$(M):Enable` PV from db/sinqMotor.db is set. 
+This is an empty function which should be overwritten by concrete driver implementations.
+- `reset`: This function is called when the `$(INSTR)$(M):Reset` PV from db/sinqMotor.db is set. 
+This is an empty function which should be overwritten by concrete driver implementations.
 - `move`: This function sets the absolute target position in the parameter library and then calls `doMove`.
 - `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
 - `home`: This function sets the internal status flags for the homing process and then calls doHome.
@@ -180,7 +190,6 @@ sinqMotor offers a variety of additional methods for children classes to standar
   - Reset `motorStatusProblem_`, `motorStatusCommsError_` and `motorMessageText_` if `doPoll` returned `asynSuccess`
   - Run `callParamCallbacks`
   - Return the status of `doPoll`
-- `doPoll`: This is an empty function which should be overwritten by concrete driver implementations.
 - `setVeloFields`: Populates the motor record fields VELO (actual velocity), VBAS (minimum allowed velocity) and VMAX (maximum allowed velocity) from the driver.
 - `setAcclField`: Populates the motor record field ACCL from the driver.
 - `startMovTimeoutWatchdog`: Starts a watchdog for the movement time. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.
@@ -189,6 +198,9 @@ sinqMotor offers a variety of additional methods for children classes to standar
 - `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
 - `setScaleMovTimeout`: Set a scaling factor for the expected movement time. This function is also available in the IOC shell.
 
+#### msgPrintControl.h
+In addition to the two extension classes this library also includes a mechanism which prevents excessive repetitions of the same error message to the IOC shell via the classes `msgPrintControl` and `msgPrintControlKey`. A detailed description of the mechanism can be found in the docstring of `msgPrintControl`. The implementation of the `poll` function of `sinqAxis` also contains an example how to use it. Using this feature in derived drivers is entirely optional.
+
 ### Versioning
 
 The versioning is done via git tags. Git tags are recognized by the PSI build system: If you tag a version as 1.0, it will be built into the directory /ioc/modules/sinqMotor/1.0. The tag is directly coupled to a commit so that it is always clear which source code was used to build which binary.
@@ -197,6 +209,12 @@ All existing tags can be listed with `git tag` in the sinqMotor directory. Detai
 
 ### How to build it
 
-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`.
+This library is based on the PSI version of the EPICS motor record, which can be found here: `https://git.psi.ch/epics_driver_modules/motorBase`. We use a branch with a bugfix which is currently not merged into master due to resistance of the PSI userbase: `https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`. This library can be build with the following steps, assuming GCC and make are available:
+- `git clone https://git.psi.ch/epics_driver_modules/motorBase/-/tree/pick_fix-lockup-VAL-HOMF-VAL`
+- `cd motorBase`
+- `git tag 7.2.2`. The latest version on master is currently 7.2.1, hence we increment the bugfix version counter by one
+- `make install`
+
+To 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`.
 
 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.`

db/sinqMotor.db

@@ -41,11 +41,29 @@ record(motor,"$(INSTR)$(M)")
     field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
 }
 
+# This PV reads out the 10th bit of the MSTA field of the motor record, which
+# is the "motorStatusProblem_" bit. The 10th bit is adressed by 0x0200. If the 
+# bit is 0, the .VAL field is 0 as well. If the bit is 1, we need to divide by 
+# 512 (=2^9) in order to set the .VAL field to 1 (and not to 512).
+record(calc, "$(INSTR)$(M):StatusProblem")
+{
+    field(INPA,  "$(INSTR)$(M).MSTA CP")
+    field(CALC, "(A&0x200)/512")
+}
+
+# Call the reset function of the corresponding sinqAxis
+# This record is coupled to the parameter library via motorReset_ -> MOTOR_RESET.
+record(longout, "$(INSTR)$(M):Reset") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) MOTOR_RESET")
+    field(PINI, "NO")
+}
+
 # This PV allows force-stopping the motor record from within the driver by setting
 # the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
 # This record is coupled to the parameter library via motorForceStop_ -> MOTOR_FORCE_STOP.
-record(longin, "$(INSTR)$(M):STOP_RBV")
+record(longin, "$(INSTR)$(M):StopRBV")
 {
     field(DTYP, "asynInt32")
     field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_FORCE_STOP")
@@ -53,7 +71,7 @@ record(longin, "$(INSTR)$(M):STOP_RBV")
     field(FLNK, "$(INSTR)$(M):Stop2Field")
 }
 record(longout, "$(INSTR)$(M):Stop2Field") {
-    field(DOL,  "$(INSTR)$(M):STOP_RBV CP")
+    field(DOL,  "$(INSTR)$(M):StopRBV CP")
     field(OUT,  "$(INSTR)$(M).STOP")
     field(OMSL, "closed_loop")
 }

src/msgPrintControl.cpp

@@ -0,0 +1,114 @@
+#include "msgPrintControl.h"
+#include <unordered_map>
+
+msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
+                                       const char *functionName, int line) {
+    controller_ = controller;
+    axisNo_ = axisNo;
+    line_ = line;
+    functionName_ = functionName;
+}
+
+void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
+    snprintf(buffer, bufferSize, "controller %s, axis %d, function %s, line %d",
+             controller_.c_str(), axisNo_, functionName_, line_);
+}
+
+// =============================================================================
+
+msgPrintControl::msgPrintControl(size_t maxRepetitions) {
+    maxRepetitions_ = maxRepetitions;
+}
+
+bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                                      asynUser *pasynUser) {
+
+    // Reset the suffix
+    suffix_[0] = 0;
+
+    if (wantToPrint) {
+        /*
+        We want to print the message associated with key -> Check if the number
+        of allowed repetitions is exceeded. If true, inform the user that
+        further output is suppressed.
+        */
+        if (map_.find(key) != map_.end()) {
+            size_t repetitions = map_[key];
+            if (repetitions < maxRepetitions_) {
+                // Number of allowed repetitions not exceeded -> Printing the
+                // message is ok.
+                map_[key] = repetitions + 1;
+                return true;
+            } else if (repetitions == maxRepetitions_) {
+                // Reached number of allowed repetitions -> Printing the message
+                // is ok, but further trys are rejected.
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                snprintf(suffix_, sizeof(suffix_),
+                         " Further repetition of this error message (key "
+                         "\"%s\") is suppressed.",
+                         formattedKey);
+                map_[key] = repetitions + 1;
+                return true;
+            } else {
+                // Exceeded number of allowed repetitions -> Do not print the
+                // message
+                return false;
+            }
+        } else {
+            // Message is not yet in map -> create an entry so it is watched in
+            // the future.
+            map_[key] = 1;
+            return true;
+        }
+
+    } else {
+        /*
+        We do not want to print the message associated with key -> If the key is
+        part of the map, set the counter back to zero.
+         */
+        if (map_.find(key) != map_.end()) {
+            if (map_[key] != 0) {
+                if (pasynUser != nullptr) {
+                    char formattedKey[100] = {0};
+                    key.format(formattedKey, sizeof(formattedKey));
+                    asynPrint(
+                        pasynUser, ASYN_TRACE_ERROR,
+                        "Controller \"%s\", axis %d  => %s, line %d\nError "
+                        "associated with key \"%s\" has been resolved.\n",
+                        key.controller_.c_str(), key.axisNo_, key.functionName_,
+                        key.line_, formattedKey);
+                }
+                map_[key] = 0;
+            }
+        }
+        return false;
+    }
+}
+
+bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
+                                      const char *functionName, int line,
+                                      bool wantToPrint, asynUser *pasynUser) {
+    msgPrintControlKey key =
+        msgPrintControlKey(portName, axisNo, functionName, __LINE__);
+    return shouldBePrinted(key, wantToPrint, pasynUser);
+}
+
+void msgPrintControl::resetCount(msgPrintControlKey &key, asynUser *pasynUser) {
+    if (map_.find(key) != map_.end()) {
+        if (map_[key] != 0) {
+            if (pasynUser != nullptr) {
+                char formattedKey[100] = {0};
+                key.format(formattedKey, sizeof(formattedKey));
+                asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                          "Controller \"%s\", axis %d  => %s, line %d\nError "
+                          "associated with key \"%s\" has been resolved.\n",
+                          key.controller_.c_str(), key.axisNo_,
+                          key.functionName_, key.line_, formattedKey);
+            }
+            map_[key] = 0;
+        }
+    }
+}
+
+char *msgPrintControl::getSuffix() { return suffix_; }

src/msgPrintControl.h

@@ -0,0 +1,145 @@
+#ifndef msgPrintControl_H
+#define msgPrintControl_H
+
+#include <asynDriver.h>
+#include <string.h>
+#include <string>
+#include <unordered_map>
+
+/**
+ * @brief Class to identify a message print location. See the docstring of
+ * `msgPrintControl` on how to use this key.
+ *
+ */
+class msgPrintControlKey {
+  public:
+    std::string controller_;
+    // -1 is a non-axis specific message
+    int axisNo_;
+    const char *functionName_;
+    int line_;
+
+    msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
+                       int line);
+
+    bool operator==(const msgPrintControlKey &other) const {
+        return axisNo_ == other.axisNo_ && line_ == other.line_ &&
+               strcmp(functionName_, other.functionName_) == 0 &&
+               controller_ == other.controller_;
+    }
+
+    void format(char *buffer, size_t bufferSize);
+};
+
+/**
+ * @brief Implementation of the hash functionality for msgPrintControlKey
+ *
+ */
+namespace std {
+template <> struct hash<msgPrintControlKey> {
+    size_t operator()(const msgPrintControlKey &obj) const {
+        // Combine the hashes of the members (x and y)
+        size_t h1 = std::hash<std::string>{}(obj.controller_);
+        size_t h2 = hash<int>{}(obj.axisNo_);
+        size_t h3 = std::hash<const char *>{}(obj.functionName_);
+        size_t h4 = hash<int>{}(obj.line_);
+        // Combine the hashes (simple XOR and shifting technique)
+        return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+};
+} // namespace std
+
+/**
+ * @brief Class to control the number of repetitions of error messages
+ *
+ * This class is used to prevent excessive repetitions of identical error
+ * messages. For example, if the communication between a controller and an
+ * axis fails, a corresponding error message is created in each poll. This
+ * could "flood" the IOC shell with noise. To prevent this, this class keeps
+ * track of the number of subsequent error message repetition. Each message is
+ * uniquely identified by "msgPrintControlKey". The function shouldBePrinted
+ * can be used in order to see if a message should be printed or not:
+ *
+ * ```
+ * const char* controller = "MCU" // Name of the controller
+ * int axisNo = 0; // Number of the axis
+ * bool wantToPrint = evaluateConditions(...); *
+ * if (msgPrintControl.shouldBePrinted(controller, axisNo, __PRETTY_FUNCTION__,
+ * __LINE__, wantToPrint)) { asynPrint(...)
+ * }
+ *
+ * ```
+ */
+class msgPrintControl {
+  public:
+    msgPrintControl(size_t maxRepetitions);
+
+    /**
+     * @brief Checks if the error message associated with "key" has been printed
+     * more than "maxRepetitions_" times in a row. If yes, returns false,
+     * otherwise true. Counter is reset if wantToPrint is false.
+     *
+     * If the conditions for printing a message are met, "wantToPrint" must be
+     * set to true. The function then checks if "maxRepetitions_" has been
+     * exceeded. If yes, the function returns no, indicating that the message
+     * should not be printed. If no, the number of repetitions stored in the map
+     * is incremented and the function returns true, indicating that the message
+     * should be printed.
+     *
+     * If the conditions for printing a message are not met, "wantToPrint" must
+     * be set to false. This resets the map entry.
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param wantToPrint       If the message associated with key should be
+     * printed, this value should be true, otherwise false.
+     * @param pasynUser         If the problem has been resolved (wantToPrint =
+     * false), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
+     * @return bool             If true, the message should be printed, if
+     * false, it should not.
+     */
+    bool shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
+                         asynUser *pasynUser);
+
+    /**
+     * @brief Like `shouldBePrinted(msgPrintControlKey key, bool wantToPrint)`,
+     * but constructs the key from the first four arguments.
+     *
+     * @param controller_
+     * @param axisNo
+     * @param fileName
+     * @param line
+     * @param wantToPrint
+     * @param pasynUser
+     */
+    bool shouldBePrinted(char *controller, int axisNo, const char *functionName,
+                         int line, bool wantToPrint, asynUser *pasynUser);
+
+    /**
+     * @brief Reset the error message count incremented in shouldBePrinted for
+     * the given key
+     *
+     * @param key               Key associated with the message, used to
+     * identify individual messages
+     * @param pasynUser         If the problem has been resolved (wantToPrint =
+     * false), a corresponding status message is printed using the given
+     * asynUser. If this pointer is a nullptr, no message is printed.
+     */
+    void resetCount(msgPrintControlKey &key, asynUser *pasynUser);
+
+    /**
+     * @brief Maximum number of times a message is printed before it is
+     * suppressed.
+     *
+     */
+    size_t maxRepetitions_;
+
+    char *getSuffix();
+
+  private:
+    std::unordered_map<msgPrintControlKey, size_t> map_;
+    char suffix_[300] = {0};
+};
+
+#endif

src/sinqAxis.cpp

@@ -10,17 +10,28 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
     asynStatus status = asynSuccess;
 
-    initial_poll_ = true;
     watchdogMovActive_ = false;
-    init_poll_counter_ = 0;
     scaleMovTimeout_ = 2.0;
     offsetMovTimeout_ = 30;
     targetPosition_ = 0.0;
 
+    // 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_->asynUserSelf(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(axis index %d is not in range 0 to %d)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, axisNo,
+                  pC->numAxes() - 1);
+        exit(-1);
+    }
+
     // Motor is assumed to be enabled
-    status = setIntegerParam(pC_->motorEnableRBV_, 1);
+    status = setIntegerParam(pC_->motorEnableRBV(), 1);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -30,9 +41,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
 
     // By default, motors cannot be disabled
-    status = setIntegerParam(pC_->motorCanDisable_, 0);
+    status = setIntegerParam(pC_->motorCanDisable(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -42,9 +53,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
 
     // Provide a default value for the motor position.
-    status = setDoubleParam(pC_->motorPosition_, 0.0);
+    status = setDoubleParam(pC_->motorPosition(), 0.0);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -54,9 +65,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
 
     // We assume that the motor has no status problems initially
-    status = setIntegerParam(pC_->motorStatusProblem_, 0);
+    status = setIntegerParam(pC_->motorStatusProblem(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -66,9 +77,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     }
 
     // Set the homing-related flags
-    status = setIntegerParam(pC_->motorStatusHome_, 0);
+    status = setIntegerParam(pC_->motorStatusHome(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -76,9 +87,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
                   pC_->stringifyAsynStatus(status));
         exit(-1);
     }
-    status = setIntegerParam(pC_->motorStatusHomed_, 0);
+    status = setIntegerParam(pC_->motorStatusHomed(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -86,9 +97,9 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
                   pC_->stringifyAsynStatus(status));
         exit(-1);
     }
-    status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+    status = setIntegerParam(pC_->motorStatusAtHome(), 0);
     if (status != asynSuccess) {
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
                   "(setting a parameter value failed "
                   "with %s)\n. Terminating IOC",
@@ -112,17 +123,17 @@ asynStatus sinqAxis::poll(bool *moving) {
 
     The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
     */
-    pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+    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);
+    pl_status = setIntegerParam(pC_->motorStatusCommsError(), false);
     if (pl_status != asynSuccess) {
         pC_->paramLibAccessFailed(pl_status, "motorStatusCommsError_", axisNo_,
                                   __PRETTY_FUNCTION__, __LINE__);
     }
-    pl_status = setStringParam(pC_->motorMessageText_, "");
+    pl_status = setStringParam(pC_->motorMessageText(), "");
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -138,20 +149,20 @@ asynStatus sinqAxis::poll(bool *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);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
                                       __PRETTY_FUNCTION__, __LINE__);
         }
     }
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHomed_, &homed);
+    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);
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusHome(), &homing);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusHome_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -160,19 +171,19 @@ asynStatus sinqAxis::poll(bool *moving) {
     if (homing == 1 && !(*moving)) {
 
         // Set the homing-related flags
-        pl_status = setIntegerParam(pC_->motorStatusHome_, 0);
+        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);
+        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);
+        pl_status = setIntegerParam(pC_->motorStatusAtHome(), 1);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorStatusAtHome_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -188,14 +199,18 @@ asynStatus sinqAxis::poll(bool *moving) {
     // According to the function documentation of asynMotorAxis::poll, this
     // function should be called at the end of a poll implementation.
     pl_status = callParamCallbacks();
-    if (pl_status != asynSuccess) {
+    bool wantToPrint = pl_status != asynSuccess;
-        // If we can't communicate with the parameter library, it doesn't make
+    if (pC_->getMsgPrintControl().shouldBePrinted(
-        // sense to try and upstream this to the user -> Just log the error
+            pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, wantToPrint,
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            pC_->asynUserSelf())) {
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line "
-                  "%d:\ncallParamCallbacks failed with %s.\n",
+                  "%d:\ncallParamCallbacks failed with %s.%s\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  pC_->stringifyAsynStatus(poll_status));
+                  pC_->stringifyAsynStatus(poll_status),
+                  pC_->getMsgPrintControl().getSuffix());
+    }
+    if (wantToPrint) {
         poll_status = pl_status;
     }
 
@@ -214,19 +229,19 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
     // =========================================================================
 
     // When a new move is done, the motor is not homed anymore
-    pl_status = setIntegerParam(pC_->motorStatusHomed_, 0);
+    pl_status = setIntegerParam(pC_->motorStatusHomed(), 0);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusHomed_",
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
-    pl_status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+    pl_status = setIntegerParam(pC_->motorStatusAtHome(), 0);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorStatusAtHome_",
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                     &motorRecResolution);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -254,7 +269,7 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
 
     if (status == asynSuccess) {
 
-        status = setStringParam(pC_->motorMessageText_, "Homing");
+        status = setStringParam(pC_->motorMessageText(), "Homing");
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -262,19 +277,19 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
         }
 
         // Set the homing-related flags
-        status = setIntegerParam(pC_->motorStatusHome_, 1);
+        status = setIntegerParam(pC_->motorStatusHome(), 1);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorStatusHome_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-        status = setIntegerParam(pC_->motorStatusHomed_, 0);
+        status = setIntegerParam(pC_->motorStatusHomed(), 0);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorStatusHomed_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-        status = setIntegerParam(pC_->motorStatusAtHome_, 0);
+        status = setIntegerParam(pC_->motorStatusAtHome(), 0);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorStatusAtHome_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -286,7 +301,7 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
 
     } else if (status == asynError) {
         // asynError means that we tried to home an absolute encoder
-        status = setStringParam(pC_->motorMessageText_,
+        status = setStringParam(pC_->motorMessageText(),
                                 "Can't home a motor with absolute encoder");
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorMessageText_",
@@ -307,6 +322,8 @@ asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
     return asynSuccess;
 }
 
+asynStatus sinqAxis::reset() { return asynSuccess; }
+
 asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
 
 asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
@@ -315,7 +332,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
 
     // Can the speed of the motor be varied?
     status =
-        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed_, &variableSpeed);
+        pC_->getIntegerParam(axisNo_, pC_->motorCanSetSpeed(), &variableSpeed);
     if (status != asynSuccess) {
         return pC_->paramLibAccessFailed(status, "motorCanSetSpeed_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
@@ -324,7 +341,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
 
         // Check the inputs and create corresponding error messages
         if (vbas > vmax) {
-            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d:\nLower speed "
                       "limit vbas=%lf must not be smaller than upper limit "
                       "vmax=%lf.\n",
@@ -332,7 +349,7 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       vbas, vmax);
 
             status = setStringParam(
-                pC_->motorMessageText_,
+                pC_->motorMessageText(),
                 "Lower speed limit must not be smaller than upper speed limit");
             if (status != asynSuccess) {
                 return pC_->paramLibAccessFailed(status, "motorMessageText_",
@@ -342,14 +359,14 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
-            asynPrint(pC_->lowLevelPortUser_, ASYN_TRACE_ERROR,
+            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d:\nActual "
                       "speed velo=%lf must be between lower limit vbas=%lf and "
                       "upper limit vmax=%lf.\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       velo, vbas, vmax);
 
-            status = setStringParam(pC_->motorMessageText_,
+            status = setStringParam(pC_->motorMessageText(),
                                     "Speed is not inside limits");
             if (status != asynSuccess) {
                 return pC_->paramLibAccessFailed(status, "motorMessageText_",
@@ -359,21 +376,21 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
             return asynError;
         }
 
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, vbas);
+        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);
+        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);
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver(), vmax);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -381,21 +398,21 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
         }
     } else {
         // Set minimum and maximum speed equal to the set speed
-        status = pC_->setDoubleParam(axisNo_, pC_->motorVbasFromDriver_, velo);
+        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);
+        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);
+        status = pC_->setDoubleParam(axisNo_, pC_->motorVmaxFromDriver(), velo);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorVmaxFromDriver_",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -411,7 +428,7 @@ asynStatus sinqAxis::setAcclField(double accl) {
         return asynError;
     }
 
-    asynStatus status = setDoubleParam(pC_->motorAcclFromDriver_, accl);
+    asynStatus status = setDoubleParam(pC_->motorAcclFromDriver(), accl);
     if (status != asynSuccess) {
         return pC_->paramLibAccessFailed(status, "motorAcclFromDriver_",
                                          axisNo_, __PRETTY_FUNCTION__,
@@ -421,14 +438,14 @@ asynStatus sinqAxis::setAcclField(double accl) {
 }
 
 asynStatus sinqAxis::setWatchdogEnabled(bool enable) {
-    return setIntegerParam(pC_->motorEnableMovWatchdog_, enable);
+    return setIntegerParam(pC_->motorEnableMovWatchdog(), enable);
 }
 
 asynStatus sinqAxis::startMovTimeoutWatchdog() {
     asynStatus pl_status;
     int enableMovWatchdog = 0;
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog(),
                                      &enableMovWatchdog);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
@@ -456,7 +473,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         to save the read result to the member variable earlier), since the
         parameter library is updated at a later stage!
         */
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
                                         &motorRecResolution);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
@@ -464,7 +481,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
                                              __LINE__);
         }
 
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition_,
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition(),
                                         &motorPositionRec);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorPosition",
@@ -488,7 +505,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
          */
 
         // Read the velocity
-        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity_,
+        pl_status = pC_->getDoubleParam(axisNo_, pC_->motorVelocity(),
                                         &motorVelocityRec);
 
         // Only calculate timeContSpeed if the motorVelocity has been populated
@@ -504,7 +521,7 @@ asynStatus sinqAxis::startMovTimeoutWatchdog() {
         }
 
         pl_status =
-            pC_->getDoubleParam(axisNo_, pC_->motorAccel_, &motorAccelRec);
+            pC_->getDoubleParam(axisNo_, pC_->motorAccel(), &motorAccelRec);
         if (pl_status == asynSuccess && motorVelocityRec > 0.0 &&
             motorAccelRec > 0.0) {
 
@@ -529,7 +546,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
     asynStatus pl_status;
     int enableMovWatchdog = 0;
 
-    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog_,
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnableMovWatchdog(),
                                      &enableMovWatchdog);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorEnableMovWatchdog_",
@@ -546,14 +563,14 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
     // Check if the expected time of arrival has been exceeded.
     if (expectedArrivalTime_ < time(NULL)) {
         // Check the watchdog
-        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+        asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nExceeded "
                   "expected arrival time %ld (current time is %ld).\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   expectedArrivalTime_, time(NULL));
 
         pl_status = setStringParam(
-            pC_->motorMessageText_,
+            pC_->motorMessageText(),
             "Exceeded expected arrival time. Check if the axis is blocked.");
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
@@ -561,7 +578,7 @@ asynStatus sinqAxis::checkMovTimeoutWatchdog(bool moving) {
                                              __LINE__);
         }
 
-        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (pl_status != asynSuccess) {
             pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_", axisNo_,
                                       __PRETTY_FUNCTION__, __LINE__);
@@ -695,9 +712,9 @@ asynStatus setScaleMovTimeout(const char *portName, int axisNo,
     sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
     if (axis == nullptr) {
         errlogPrintf("Controller \"%s\" => %s, line %d:\nAxis %d does not "
-                     "exist or is not an "
+                     "exist or is not an instance of sinqAxis.",
-                     "instance of sinqAxis.",
                      portName, __PRETTY_FUNCTION__, __LINE__, axisNo);
+        return asynError;
     }
 
     return axis->setScaleMovTimeout(scaleMovTimeout);

src/sinqAxis.h

@@ -4,8 +4,8 @@ This class extends asynMotorAxis by some features used in SINQ.
 Stefan Mathis, November 2024
 */
 
-#ifndef __SINQDRIVER
+#ifndef sinqAxis_H
-#define __SINQDRIVER
+#define sinqAxis_H
 #include "asynMotorAxis.h"
 
 class epicsShareClass sinqAxis : public asynMotorAxis {
@@ -160,10 +160,23 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     virtual asynStatus doHome(double minVelocity, double maxVelocity,
                               double acceleration, int forwards);
 
+    /**
+     * @brief This function is called when the PV "$(INSTR)$(M):Reset" is set to
+     * any value. This method should be implemented by a child class of
+     * sinqAxis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus reset();
+
     /**
      * @brief This function enables / disables an axis. It should be implemented
      * by a child class of sinqAxis.
      *
+     * The concrete implementation should (but doesn't need to) follow the
+     * convetion that a value of 0 disables the axis and any other value enables
+     * it.
+     *
      * @param on
      * @return asynStatus
      */
@@ -291,12 +304,14 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
         return asynSuccess;
     }
 
-    friend class sinqController;
+    /**
+     * @brief Return the axis number of this axis
+     *
+     * @return int
+     */
+    int axisNo() { return axisNo_; }
 
   protected:
-    bool initial_poll_;
-    int init_poll_counter_;
-
     // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime_;
     time_t offsetMovTimeout_;

src/sinqController.cpp

@@ -47,15 +47,11 @@ sinqController::sinqController(const char *portName,
           0, // No additional callback interfaces beyond those in base class
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
           1,     // autoconnect
-          0,
+          0, 0), // Default priority and stack size
-          0) // Default priority and stack size
+      msgPrintControl_(4) {
-{
 
-    // Initialization of local variables
     asynStatus status = asynSuccess;
-
+    ipPortUser_ = nullptr;
-    // Initialization of all member variables
-    lowLevelPortUser_ = nullptr;
 
     // Initial values for the average timeout mechanism, can be overwritten
     // later by a FFI function
@@ -78,8 +74,8 @@ 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, &lowLevelPortUser_, NULL);
+    pasynOctetSyncIO->connect(ipPortConfigName, 0, &ipPortUser_, NULL);
-    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
+    if (status != asynSuccess || ipPortUser_ == nullptr) {
         errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
                      "connect to MCU controller).\n"
                      "Terminating IOC",
@@ -113,6 +109,16 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("MOTOR_RESET", asynParamInt32, &motorReset_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d:\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     status = createParam("MOTOR_ENABLE_RBV", asynParamInt32, &motorEnableRBV_);
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -268,12 +274,22 @@ sinqController::sinqController(const char *portName,
 }
 
 sinqController::~sinqController(void) {
-    /*
+
-    Cleanup of the memory allocated in the asynMotorController constructor
+    // Free all axes
-    */
+    for (int axisNo = 0; axisNo < numAxes_; axisNo++) {
+        if (pAxes_[axisNo] != nullptr) {
+            delete pAxes_[axisNo];
+        }
+    }
+
+    // Cleanup of the array allocated in the asynMotorController constructor
     free(this->pAxes_);
 }
 
+msgPrintControl &sinqController::getMsgPrintControl() {
+    return msgPrintControl_;
+}
+
 asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
     int function = pasynUser->reason;
 
@@ -281,17 +297,22 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
 
     asynMotorAxis *asynAxis = getAxis(pasynUser);
     sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+
     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__);
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
         return asynError;
     }
 
     // Handle custom PVs
     if (function == motorEnable_) {
         return axis->enable(value != 0);
+    } else if (function == motorReset_) {
+        return axis->reset();
+    } else if (function == motorForceStop_) {
+        return axis->stop(0.0);
     } else {
         return asynMotorController::writeInt32(pasynUser, value);
     }
@@ -299,21 +320,22 @@ 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_
+    // Casting into a sinqAxis is necessary to get access to the field axisNo()
     asynMotorAxis *asynAxis = getAxis(pasynUser);
     sinqAxis *axis = dynamic_cast<sinqAxis *>(asynAxis);
+
     if (axis == nullptr) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\", axis %d => %s, line %d:\nAxis is not an "
-                  "instance of sinqAxis",
+                  "instance of sinqAxis.\n",
-                  portName, axis->axisNo_, __PRETTY_FUNCTION__, __LINE__);
+                  portName, axis->axisNo(), __PRETTY_FUNCTION__, __LINE__);
         return asynError;
     }
 
     if (pasynUser->reason == motorEnableRBV_) {
-        return getIntegerParam(axis->axisNo_, motorEnableRBV_, value);
+        return getIntegerParam(axis->axisNo(), motorEnableRBV_, value);
     } else if (pasynUser->reason == motorCanDisable_) {
-        return getIntegerParam(axis->axisNo_, motorCanDisable_, value);
+        return getIntegerParam(axis->axisNo(), motorCanDisable_, value);
     } else {
         return asynMotorController::readInt32(pasynUser, value);
     }
@@ -323,13 +345,13 @@ asynStatus sinqController::errMsgCouldNotParseResponse(const char *command,
                                                        const char *response,
                                                        int axisNo,
                                                        const char *functionName,
-                                                       int lineNumber) {
+                                                       int line) {
     asynStatus pl_status = asynSuccess;
 
-    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+    asynPrint(ipPortUser_, ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d => %s, line %d:\nCould not interpret "
               "response \"%s\" for command \"%s\".\n",
-              portName, axisNo, functionName, lineNumber, response, command);
+              portName, axisNo, functionName, line, response, command);
 
     pl_status = setStringParam(
         motorMessageText_,
@@ -352,16 +374,17 @@ asynStatus sinqController::paramLibAccessFailed(asynStatus status,
                                                 const char *parameter,
                                                 int axisNo,
                                                 const char *functionName,
-                                                int lineNumber) {
+                                                int line) {
 
     if (status != asynSuccess) {
-        // Log the error message and try to propagate it. If propagating fails,
+        asynPrint(ipPortUser_, ASYN_TRACE_ERROR,
-        // there is nothing we can do here anyway.
-        asynPrint(lowLevelPortUser_, 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, lineNumber, parameter,
+                  portName, axisNo, functionName, line, parameter,
                   stringifyAsynStatus(status));
+
+        // Log the error message and try to propagate it. If propagating fails,
+        // there is nothing we can do here anyway.
         setStringParam(motorMessageText_,
                        "Accessing paramLib failed. Please call the support.");
     }
@@ -391,18 +414,24 @@ asynStatus sinqController::checkComTimeoutWatchdog(int axisNo,
     }
 
     // Check if the maximum allowed number of events has been exceeded
-    if (timeoutEvents_.size() > maxNumberTimeouts_) {
+    bool wantToPrint = timeoutEvents_.size() > maxNumberTimeouts_;
-
-        snprintf(motorMessage, motorMessageSize,
-                 "More than %ld communication timeouts in %ld seconds. Please "
-                 "call the support.",
-                 maxNumberTimeouts_, comTimeoutWindow_);
 
+    if (msgPrintControl_.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\n",
+                  "seconds.%s\n",
                   portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
+                  maxNumberTimeouts_, comTimeoutWindow_,
+                  msgPrintControl_.getSuffix());
+    }
+
+    if (wantToPrint) {
+        snprintf(motorMessage, motorMessageSize,
+                 "More than %ld communication timeouts in %ld seconds. Please "
+                 "call the support.",
                  maxNumberTimeouts_, comTimeoutWindow_);
 
         paramLibStatus = setIntegerParam(motorStatusCommsError_, 1);
@@ -423,12 +452,12 @@ asynStatus sinqController::checkComTimeoutWatchdog(sinqAxis *axis) {
     char motorMessage[200] = {0};
 
     asynStatus status =
-        checkComTimeoutWatchdog(axis->axisNo_, motorMessage, 200);
+        checkComTimeoutWatchdog(axis->axisNo(), motorMessage, 200);
     if (status == asynError) {
         status = axis->setStringParam(motorMessageText_, motorMessage);
         if (status != asynSuccess) {
             return paramLibAccessFailed(status, "motorMessageText_",
-                                        axis->axisNo_, __PRETTY_FUNCTION__,
+                                        axis->axisNo(), __PRETTY_FUNCTION__,
                                         __LINE__);
         }
     }
@@ -475,13 +504,13 @@ asynStatus sinqController::checkMaxSubsequentTimeouts(int timeoutNo,
 
     char motorMessage[200] = {0};
 
-    asynStatus status =
+    asynStatus status = checkMaxSubsequentTimeouts(axis->axisNo(), timeoutNo,
-        checkMaxSubsequentTimeouts(axis->axisNo_, timeoutNo, motorMessage, 200);
+                                                   motorMessage, 200);
     if (status == asynError) {
         status = axis->setStringParam(motorMessageText_, motorMessage);
         if (status != asynSuccess) {
             return paramLibAccessFailed(status, "motorMessageText_",
-                                        axis->axisNo_, __PRETTY_FUNCTION__,
+                                        axis->axisNo(), __PRETTY_FUNCTION__,
                                         __LINE__);
         }
     }
@@ -617,9 +646,9 @@ asynStatus setMaxSubsequentTimeouts(const char *portName,
     if (ptr == nullptr) {
         /*
         We can't use asynPrint here since this macro would require us
-        to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
+        to get a ipPortUser_ from a pointer to an asynPortDriver.
         However, the given pointer is a nullptr and therefore doesn't
-        have a lowLevelPortUser_! printf is an EPICS alternative which
+        have a ipPortUser_! printf is an EPICS alternative which
         works w/o that, but doesn't offer the comfort provided
         by the asynTrace-facility
         */

src/sinqController.h

@@ -5,11 +5,13 @@ README.md for details.
 Stefan Mathis, November 2024
 */
 
-#ifndef __sinqController
+#ifndef sinqController_H
-#define __sinqController
+#define sinqController_H
 #include "asynMotorController.h"
+#include "msgPrintControl.h"
 #include <deque>
 #include <initHooks.h>
+#include <unordered_map>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
 #define motorMessageTextString "MOTOR_MESSAGE_TEXT"
@@ -88,13 +90,13 @@ class epicsShareClass sinqController : public asynMotorController {
     error messages.
      * @param functionName        Name of the caller function. It is recommended
     to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
-     * @param lineNumber          Source code line where this function is
+     * @param line          Source code line where this function is
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns input status.
      */
     asynStatus paramLibAccessFailed(asynStatus status, const char *parameter,
                                     int axisNo, const char *functionName,
-                                    int lineNumber);
+                                    int line);
 
     /**
      * @brief Error handling in case parsing a command response failed.
@@ -109,14 +111,13 @@ class epicsShareClass sinqController : public asynMotorController {
      * @param axisNo_             Axis where the problem occurred
      * @param functionName        Name of the caller function. It is recommended
     to use a macro, e.g. __func__ or __PRETTY_FUNCTION__.
-     * @param lineNumber          Source code line where this function is
+     * @param line          Source code line where this function is
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
     asynStatus errMsgCouldNotParseResponse(const char *command,
                                            const char *response, int axisNo,
-                                           const char *functionName,
+                                           const char *functionName, int line);
-                                           int lineNumber);
 
     /**
      * @brief Convert an asynStatus into a descriptive string.
@@ -213,13 +214,99 @@ class epicsShareClass sinqController : public asynMotorController {
         return asynSuccess;
     }
 
-    friend class sinqAxis;
+    /**
+     * @brief Get a reference to the map used to control the maximum number of
+     * message repetitions. See the documentation of printRepetitionWatchdog in
+     * msgPrintControl.h for details.
+     */
+    msgPrintControl &getMsgPrintControl();
+
+    // =========================================================================
+    // Public getters for protected members
+
+    // Accessors for double parameters
+    int motorMoveRel() { return motorMoveRel_; }
+    int motorMoveAbs() { return motorMoveAbs_; }
+    int motorMoveVel() { return motorMoveVel_; }
+    int motorHome() { return motorHome_; }
+    int motorStop() { return motorStop_; }
+    int motorVelocity() { return motorVelocity_; }
+    int motorVelBase() { return motorVelBase_; }
+    int motorAccel() { return motorAccel_; }
+    int motorPosition() { return motorPosition_; }
+    int motorEncoderPosition() { return motorEncoderPosition_; }
+    int motorDeferMoves() { return motorDeferMoves_; }
+    int motorMoveToHome() { return motorMoveToHome_; }
+    int motorResolution() { return motorResolution_; }
+    int motorEncoderRatio() { return motorEncoderRatio_; }
+    int motorPGain() { return motorPGain_; }
+    int motorIGain() { return motorIGain_; }
+    int motorDGain() { return motorDGain_; }
+    int motorHighLimit() { return motorHighLimit_; }
+    int motorLowLimit() { return motorLowLimit_; }
+    int motorClosedLoop() { return motorClosedLoop_; }
+    int motorPowerAutoOnOff() { return motorPowerAutoOnOff_; }
+    int motorPowerOnDelay() { return motorPowerOnDelay_; }
+    int motorPowerOffDelay() { return motorPowerOffDelay_; }
+    int motorPowerOffFraction() { return motorPowerOffFraction_; }
+    int motorPostMoveDelay() { return motorPostMoveDelay_; }
+    int motorStatus() { return motorStatus_; }
+    int motorUpdateStatus() { return motorUpdateStatus_; }
+
+    // Accessors for sztatus bits (integers)
+    int motorStatusDirection() { return motorStatusDirection_; }
+    int motorStatusDone() { return motorStatusDone_; }
+    int motorStatusHighLimit() { return motorStatusHighLimit_; }
+    int motorStatusAtHome() { return motorStatusAtHome_; }
+    int motorStatusSlip() { return motorStatusSlip_; }
+    int motorStatusPowerOn() { return motorStatusPowerOn_; }
+    int motorStatusFollowingError() { return motorStatusFollowingError_; }
+    int motorStatusHome() { return motorStatusHome_; }
+    int motorStatusHasEncoder() { return motorStatusHasEncoder_; }
+    int motorStatusProblem() { return motorStatusProblem_; }
+    int motorStatusMoving() { return motorStatusMoving_; }
+    int motorStatusGainSupport() { return motorStatusGainSupport_; }
+    int motorStatusCommsError() { return motorStatusCommsError_; }
+    int motorStatusLowLimit() { return motorStatusLowLimit_; }
+    int motorStatusHomed() { return motorStatusHomed_; }
+
+    // Parameters for passing additional motor record information to the driver
+    int motorRecResolution() { return motorRecResolution_; }
+    int motorRecDirection() { return motorRecDirection_; }
+    int motorRecOffset() { return motorRecOffset_; }
+
+    // Accessors for additional PVs defined in sinqController
+    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 encoderType() { return encoderType_; }
+
+    // Additional members
+    int numAxes() { return numAxes_; }
+    asynUser *asynUserSelf() { return pasynUserSelf; }
+    asynUser *ipPortUser() { return ipPortUser_; }
+
+    // =========================================================================
 
   protected:
-    asynUser *lowLevelPortUser_;
+    // Pointer to the port user which is specified by the char array
-
+    // ipPortConfigName in the constructor
+    asynUser *ipPortUser_;
     double movingPollPeriod_;
     double idlePollPeriod_;
+    msgPrintControl msgPrintControl_;
 
     // Internal variables used in the communication timeout frequency watchdog
     time_t comTimeoutWindow_;  // Size of the time window
@@ -235,6 +322,7 @@ class epicsShareClass sinqController : public asynMotorController {
 
 #define FIRST_SINQMOTOR_PARAM motorMessageText_
     int motorMessageText_;
+    int motorReset_;
     int motorEnable_;
     int motorEnableRBV_;
     int motorCanDisable_;