Made forcedPoll non-virtual so it doesn't break the ABI

The poll method does various tasks. One of them is skipping the poll if
adaptive polling is enabled and certain conditions are fulfilled (see
docs). However, sometimes it is needed to force a poll regardless.
Therefore, a new method forcedPoll was added which is wrapped by poll
now and does all tasks of the previous poll function except for the skip
check.

.gitea/workflows/action.yaml

@@ -0,0 +1,23 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          make install

.gitlab-ci.yml

@@ -1,41 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-build_module:
-  stage: build
-  script:
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/sinqMotor/$(ls -U /ioc/modules/sinqMotor/ | head -1)" "./sinqMotor-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "sinqMotor-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "sinqMotor-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

README.md

@@ -230,7 +230,15 @@ It calls `doReset` and performs some fast polls after `doReset` returns.
 - `doMove`: This is an empty function which should be overwritten by concrete driver implementations.
 - `home`: This function sets the internal status flags for the homing process and then calls doHome.
 - `doHome`: This is an empty function which should be overwritten by concrete driver implementations.
-- `poll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
+- `poll`: This is a wrapper around `forcedPoll` which does the following checks before calling `forcedPoll`:
+  - Are there any outstanding fast polls (method `outstandingForcedFastPolls` of the controller returns a value greater zero)?
+  - Was the axis moving last time its status was polled?
+  - Is adaptive polling disabled?
+  - Did an idle period pass since the last poll?
+If all of these conditions are false, no poll is performed. Otherwise, the `forcedPoll` method is called.
+This method should not be called in the driver code itself if a poll is needed - use `forcedPoll` instead!
+
+- `forcedPoll`: This is a wrapper around `doPoll` which performs some bookkeeping tasks before and after calling `doPoll`:
 
   Before calling `doPoll`:
   - Check if the paramLib already contains an old error message. If so, put it into a temporary bufffer
@@ -277,18 +285,28 @@ To use the library when writing a concrete motor driver, include it in the makef
 
 ### 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`:
+This repository is included as a git submodule in 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`
+- `git checkout 1.0`
 - `cd ..`
 
-Then, the fixation of the version to 0.1 needs to be committed in the parent repository:
+Then, the fixation of the version to 1.0 needs to be committed in the parent repository:
 
-- `git commit -m "Update sinqMotor to 0.1"`
+- `git commit -m "Update sinqMotor to 1.0"`
 
-After this commit, running `make install` will use the correct driver version for compilation.
+After this commit, running `make install` will use the correct driver version for compilation. 
+
+If your driver uses another driver as a static dependency via git submodule which in turn includes a sinqMotor submodule, it is not necessary to specify the version of sinqMotor. Instead, specify the desired commit of the direct dependency, commit this change and then update all submodules:
+
+- `cd turboPmac`
+- `git checkout 1.0`
+- `cd ..`
+- `git commit -m "Update turboPmac to 1.0"`
+- `git submodule update --init --recursive`
+
+This will update sinqMotor to the version specified in the 1.0 commit of turboPmac.

src/sinqAxis.cpp

@@ -171,14 +171,7 @@ 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 adaptivePolling = 0;
-    char waitingMessage[pC_->MAXBUF_] = {0};
-    char newMessage[pC_->MAXBUF_] = {0};
 
     /*
     If adaptive polling is enabled:
@@ -201,22 +194,33 @@ asynStatus sinqAxis::poll(bool *moving) {
     Check if both adaptive polling is enabled and no forced fast polls are still
     required.
      */
-    if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0) {
-        // Motor wasn't moving during the last poll
-        if (!pSinqA_->wasMoving) {
+    if (adaptivePolling != 0 && pC_->outstandingForcedFastPolls() == 0 &&
+        !pSinqA_->wasMoving) {
 
-            // Add the idle poll period
-            epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
-            epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
+        // Add the idle poll period
+        epicsTimeStamp earliestTimeNextPoll = pSinqA_->lastPollTime;
+        epicsTimeAddSeconds(&earliestTimeNextPoll, pC_->idlePollPeriod());
 
-            if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
-                *moving = false;
-                return asynSuccess;
-            }
+        if (epicsTimeLessThanEqual(&earliestTimeNextPoll, &ts) == 0) {
+            *moving = false;
+            return asynSuccess;
         }
     }
+    return forcedPoll(moving);
+}
+
+asynStatus sinqAxis::forcedPoll(bool *moving) {
+
+    // Local variable declaration
+    asynStatus pl_status = asynSuccess;
+    asynStatus poll_status = asynSuccess;
+    int homing = 0;
+    char waitingMessage[pC_->MAXBUF_] = {0};
+    char newMessage[pC_->MAXBUF_] = {0};
 
     // Update the start time of the last poll
+    epicsTimeStamp ts;
+    epicsTimeGetCurrent(&ts);
     pSinqA_->lastPollTime = ts;
 
     /*

src/sinqAxis.h

@@ -31,6 +31,27 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      */
     ~sinqAxis();
 
+    /**
+     * @brief Check if a poll should be performed. If yes, call `forcedPoll`.
+     *
+    This is a wrapper around `forcedPoll` which does the following checks before
+    calling `forcedPoll`:
+    - Are there any outstanding fast polls (method `outstandingForcedFastPolls`
+    of the controller returns a value greater zero)?
+    - Was the axis moving last time its status was polled?
+    - Is adaptive polling disabled?
+    - Did an idle period pass since the last poll?
+    If all of these conditions are false, no poll is performed. Otherwise, the
+    `forcedPoll` method is called. This method should not be called in the
+    driver code itself if a poll is needed - use `forcedPoll` instead!
+    *
+    * @param moving              Forwarded to `forcedPoll` or set to false
+    (depending on whether `forcedPoll was called`).
+    * @return asynStatus         Forward the status of `forcedPoll` or set to
+    asynSuccess (depending on whether `forcedPoll was called`).
+     */
+    virtual asynStatus poll(bool *moving);
+
     /**
      * @brief Perform some standardized operations before and after the concrete
     `doPoll` implementation.
@@ -46,7 +67,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
 
     - The flags `motorStatusHome_`, `motorStatusHomed_` and
     `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
-    in the `poll()` method once the homing procedure is finished. See the
+    in the `forcedPoll()` method once the homing procedure is finished. See the
     documentation of the `home()` method for more details.
 
     - Run `callParamCallbacks()`
@@ -56,9 +77,9 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @param moving              Forwarded to `doPoll`.
      * @return asynStatus         Forward the status of `doPoll`, unless one of
     the parameter library operation fails (in that case, returns the status of
-    the failed operation.
+    the failed operation).
      */
-    virtual asynStatus poll(bool *moving);
+    asynStatus forcedPoll(bool *moving);
 
     /**
      * @brief Implementation of the "proper", device-specific poll method. This
@@ -142,7 +163,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      *
      * The flags `motorStatusHome_`, `motorStatusHomed_` and
     `motorStatusAtHome_` are set to their idle values (0, 1 and 1 respectively)
-    in the `poll()` method once the homing procedure is finished.
+    in the `forcedPoll())` method once the homing procedure is finished.
      *
      * @param minVelocity         Forwarded to `doHome`.
      * @param maxVelocity         Forwarded to `doHome`.