Exempt EPICS libraries from -Weffc++

The field SPDB can now be populated via either the substitutions file or
from inside the driver (using the motorPositionDeadband paramLib entry).

Makefile

@@ -26,6 +26,7 @@ TEMPLATES += db/sinqMotor.db
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += src/sinqMotor.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result # -Werror
+USR_CFLAGS += -Wall -Wextra -Wunused-result # -Werror
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result
 
 # MISCS would be the place to keep the stream device template files

README.md

@@ -257,7 +257,7 @@ This method should not be called in the driver code itself if a poll is needed -
 - `startMovTimeoutWatchdog`: Starts a watchdog for the movement time. This watchdog compares the actual time spent in a movement operation with an expected time, which is calculated based on the distance of the current and the target position.
 - `checkMovTimeoutWatchdog`: Check if the watchdog timed out.
 - `setWatchdogEnabled`: Enables / disables the watchdog. This function is also available in the IOC shell.
-- `setOffsetMovTimeout`: Set a linear offset for the expected movement time. This function is also available in the IOC shell.
+- `setOffsetMovTimeout`: Set a constant 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

db/sinqMotor.db

@@ -41,6 +41,7 @@ record(motor,"$(INSTR)$(M)")
     field(PINI,"NO")
     field(DHLM, "$(DHLM=0)")
     field(DLLM, "$(DLLM=0)")
+    field(SPDB, "$(SPDB=0)")
     field(TWV,"1")
     field(RTRY,"0")
     field(RDBD, "$(RDBD=10e300)") # Suppress retries and overshoot stop commands
@@ -238,6 +239,27 @@ record(ao, "$(INSTR)$(M):PushDLLM2Field") {
     field(PINI, "NO")
 }
 
+# This record pair reads the parameter library value for "motorPositionDeadband"
+# and pushes it to the motor record field "SPDP". This can be used to the position
+# deadband from the hardware
+# The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.
+# This record is coupled to the parameter library via motorPositionDeadband -> MOTOR_POSITION_DEADBAND.
+record(ai, "$(INSTR)$(M):SPDB_RBV")
+{
+    field(DTYP, "asynFloat64")
+    field(VAL, "$(SPDP=0)")
+    field(INP,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_POSITION_DEADBAND")
+    field(SCAN, "I/O Intr")
+    field(FLNK, "$(INSTR)$(M):PushSPDB2Field")
+    field(PINI, "NO")
+}
+record(ao, "$(INSTR)$(M):PushSPDB2Field") {
+    field(DOL,  "$(INSTR)$(M):SPDB_RBV NPP")
+    field(OUT,  "$(INSTR)$(M).SPDB")
+    field(OMSL, "closed_loop")
+    field(PINI, "NO")
+}
+
 # This record pair reads the parameter library value for "motorVeloFromDriver_"
 # and pushes it to the motor record field "VELO". This can be used to read the speed value
 # from the hardware and correspondingly update the motor record from the driver.

src/msgPrintControl.cpp

@@ -5,21 +5,19 @@
 
 msgPrintControlKey::msgPrintControlKey(char *controller, int axisNo,
                                        const char *functionName, int line,
-                                       size_t maxRepetitions) {
-    controller_ = controller;
-    axisNo_ = axisNo;
-    line_ = line;
-    functionName_ = functionName;
-    maxRepetitions_ = maxRepetitions;
-}
+                                       size_t maxRepetitions)
+    : controller_(controller), axisNo_(axisNo), functionName_(functionName),
+      line_(line), maxRepetitions_(maxRepetitions) {}
 
 void msgPrintControlKey::format(char *buffer, size_t bufferSize) {
     snprintf(buffer, bufferSize, "controller %s, axis %d, function %s, line %d",
-             controller_.c_str(), axisNo_, functionName_, line_);
+             controller_.c_str(), axisNo_, functionName_.c_str(), line_);
 }
 
 // =============================================================================
 
+msgPrintControl::msgPrintControl() : map_(), suffix_{} {}
+
 msgPrintControl::~msgPrintControl() = default;
 
 bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
@@ -78,8 +76,8 @@ bool msgPrintControl::shouldBePrinted(msgPrintControlKey &key, bool wantToPrint,
                         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);
+                        key.controller_.c_str(), key.axisNo_,
+                        key.functionName_.c_str(), key.line_, formattedKey);
                 }
                 map_[key] = 0;
             }
@@ -92,8 +90,8 @@ bool msgPrintControl::shouldBePrinted(char *portName, int axisNo,
                                       const char *functionName, int line,
                                       bool wantToPrint, asynUser *pasynUser,
                                       size_t maxRepetitions) {
-    msgPrintControlKey key =
-        msgPrintControlKey(portName, axisNo, functionName, __LINE__);
+    msgPrintControlKey key = msgPrintControlKey(portName, axisNo, functionName,
+                                                line, maxRepetitions);
     return shouldBePrinted(key, wantToPrint, pasynUser);
 }
 
@@ -107,7 +105,7 @@ void msgPrintControl::resetCount(msgPrintControlKey &key, asynUser *pasynUser) {
                           "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);
+                          key.functionName_.c_str(), key.line_, formattedKey);
             }
             map_[key] = 0;
         }

src/msgPrintControl.h

@@ -5,8 +5,15 @@
 
 #define DefaultMaxRepetitions 4
 
-#include <asynDriver.h>
-#include <macros.h>
+// The EPICS libaries do not follow -Weffc++
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Weffc++"
+
+#include "asynDriver.h"
+#include "macros.h"
+
+#pragma GCC diagnostic pop
+
 #include <string.h>
 #include <string>
 #include <unordered_map>
@@ -18,12 +25,23 @@
  */
 class HIDDEN msgPrintControlKey {
   public:
+    msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
+                       int line, size_t maxRepetitions = DefaultMaxRepetitions);
+
+    bool operator==(const msgPrintControlKey &other) const {
+        return axisNo_ == other.axisNo_ && line_ == other.line_ &&
+               functionName_ == other.functionName_ &&
+               controller_ == other.controller_;
+    }
+
+    void format(char *buffer, size_t bufferSize);
+
     std::string controller_;
 
     // -1 indicates a non-axis specific message
     int axisNo_;
 
-    const char *functionName_;
+    std::string functionName_;
     int line_;
 
     /**
@@ -32,17 +50,6 @@ class HIDDEN msgPrintControlKey {
      *
      */
     size_t maxRepetitions_;
-
-    msgPrintControlKey(char *controller_, int axisNo, const char *fileName,
-                       int line, size_t maxRepetitions = DefaultMaxRepetitions);
-
-    bool operator==(const msgPrintControlKey &other) const {
-        return axisNo_ == other.axisNo_ && line_ == other.line_ &&
-               strcmp(functionName_, other.functionName_) == 0 &&
-               controller_ == other.controller_;
-    }
-
-    void format(char *buffer, size_t bufferSize);
 };
 
 /**
@@ -55,7 +62,7 @@ template <> struct hash<msgPrintControlKey> {
         // 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 h3 = std::hash<std::string>{}(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);
@@ -85,6 +92,12 @@ template <> struct hash<msgPrintControlKey> {
  */
 class HIDDEN msgPrintControl {
   public:
+    /**
+     * @brief Construct a new msgPrintControl object
+     *
+     */
+    msgPrintControl();
+
     /**
      * @brief Destroy the msgPrintControl object
      *

src/sinqAxis.cpp

@@ -1,12 +1,19 @@
 // SPDX-License-Identifier: GPL-3.0-only
 
-#include "sinqAxis.h"
+// The EPICS libaries do not follow -Weffc++
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Weffc++"
+
 #include "epicsExport.h"
 #include "iocsh.h"
-#include "msgPrintControl.h"
-#include "sinqController.h"
 #include <epicsTime.h>
 #include <errlog.h>
+
+#pragma GCC diagnostic pop
+
+#include "msgPrintControl.h"
+#include "sinqAxis.h"
+#include "sinqController.h"
 #include <math.h>
 #include <unistd.h>
 
@@ -31,21 +38,22 @@ struct sinqAxisImpl {
 };
 
 sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
-    : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
+    : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC), pSinqA_([] {
+          epicsTimeStamp lastPollTime;
+          epicsTimeGetCurrent(&lastPollTime);
+          return std::make_unique<sinqAxisImpl>(sinqAxisImpl{
+              .expectedArrivalTime = 0,
+              .offsetMovTimeout = 30,
+              .scaleMovTimeout = 2.0,
+              .watchdogMovActive = false,
+              .targetPosition = 0.0,
+              .wasMoving = false,
+              .lastPollTime = lastPollTime,
+          });
+      }()) {
+
     asynStatus status = asynSuccess;
 
-    epicsTimeStamp lastPollTime;
-    epicsTimeGetCurrent(&lastPollTime);
-
-    pSinqA_ = std::make_unique<sinqAxisImpl>(
-        (sinqAxisImpl){.expectedArrivalTime = 0,
-                       .offsetMovTimeout = 30,
-                       .scaleMovTimeout = 2.0,
-                       .watchdogMovActive = false,
-                       .targetPosition = 0.0,
-                       .wasMoving = false,
-                       .lastPollTime = lastPollTime});
-
     /*
     This check is also done in asynMotorAxis, but there the IOC continues
     running even though the configuration is incorrect. When failing this check,
@@ -283,9 +291,12 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
         pSinqA_->wasMoving = *moving;
     }
 
-    // Check and update the watchdog
-    if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
-        return asynError;
+    // Check and update the watchdog as well as the general poll status IF the
+    // poll did not fail already.
+    if (poll_status == asynSuccess) {
+        if (checkMovTimeoutWatchdog(*moving) != asynSuccess) {
+            poll_status = asynError;
+        }
     }
 
     // According to the function documentation of asynMotorAxis::poll, this
@@ -315,7 +326,12 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
     return poll_status;
 }
 
-asynStatus sinqAxis::doPoll(bool *moving) { return asynSuccess; }
+asynStatus sinqAxis::doPoll(bool *moving) {
+    // Suppress unused variable warning - this is just a default fallback
+    // function.
+    (void)moving;
+    return asynSuccess;
+}
 
 asynStatus sinqAxis::move(double position, int relative, double minVelocity,
                           double maxVelocity, double acceleration) {
@@ -353,6 +369,13 @@ asynStatus sinqAxis::move(double position, int relative, double minVelocity,
 
 asynStatus sinqAxis::doMove(double position, int relative, double minVelocity,
                             double maxVelocity, double acceleration) {
+    // Suppress unused variable warning - this is just a default fallback
+    // function.
+    (void)position;
+    (void)relative;
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
     return asynSuccess;
 }
 
@@ -396,6 +419,12 @@ asynStatus sinqAxis::home(double minVelocity, double maxVelocity,
 
 asynStatus sinqAxis::doHome(double minVelocity, double maxVelocity,
                             double acceleration, int forwards) {
+    // Suppress unused variable warning - this is just a default fallback
+    // function.
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    (void)forwards;
     return asynSuccess;
 }
 
@@ -417,7 +446,12 @@ asynStatus sinqAxis::reset() {
 
 asynStatus sinqAxis::doReset() { return asynError; }
 
-asynStatus sinqAxis::enable(bool on) { return asynSuccess; }
+asynStatus sinqAxis::enable(bool on) {
+    // Suppress unused variable warning - this is just a default fallback
+    // function.
+    (void)on;
+    return asynSuccess;
+}
 
 asynStatus sinqAxis::motorPosition(double *motorPos) {
     asynStatus status = asynSuccess;
@@ -479,9 +513,9 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       "vmax=%lf.\n",
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       vbas, vmax);
-            setAxisParamChecked(
-                this, motorMessageText,
-                "Lower speed limit must not be smaller than upper speed limit");
+            setAxisParamChecked(this, motorMessageText,
+                                "Lower speed limit must not be smaller than "
+                                "upper speed limit. Please call the support.");
             return asynError;
         }
         if (velo < vbas || velo > vmax) {
@@ -492,8 +526,10 @@ asynStatus sinqAxis::setVeloFields(double velo, double vbas, double vmax) {
                       pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                       velo, vbas, vmax);
 
-            setAxisParamChecked(this, motorMessageText,
-                                "Speed is not inside limits");
+            setAxisParamChecked(
+                this, motorMessageText,
+                "Speed is not inside limits. Set a new valid speed and try "
+                "to move the motor. Otherwise, please call the support.");
             return asynError;
         }
 
@@ -706,8 +742,9 @@ static const iocshArg setWatchdogEnabledArg2 = {
     "Enabling / disabling the watchdog", iocshArgInt};
 static const iocshArg *const setWatchdogEnabledArgs[] = {
     &setWatchdogEnabledArg0, &setWatchdogEnabledArg1, &setWatchdogEnabledArg2};
-static const iocshFuncDef setWatchdogEnabledDef = {"setWatchdogEnabled", 3,
-                                                   setWatchdogEnabledArgs};
+static const iocshFuncDef setWatchdogEnabledDef = {
+    "setWatchdogEnabled", 3, setWatchdogEnabledArgs,
+    "Set to 0 to disable the watchdog and to any other value to enable it."};
 
 static void setWatchdogEnabledCallFunc(const iocshArgBuf *args) {
     setWatchdogEnabled(args[0].sval, args[1].ival, args[2].ival);
@@ -753,8 +790,9 @@ static const iocshArg setOffsetMovTimeoutArg2 = {"Offset timeout for movement",
 static const iocshArg *const setOffsetMovTimeoutArgs[] = {
     &setOffsetMovTimeoutArg0, &setOffsetMovTimeoutArg1,
     &setOffsetMovTimeoutArg2};
-static const iocshFuncDef setOffsetMovTimeoutDef = {"setOffsetMovTimeout", 3,
-                                                    setOffsetMovTimeoutArgs};
+static const iocshFuncDef setOffsetMovTimeoutDef = {
+    "setOffsetMovTimeout", 3, setOffsetMovTimeoutArgs,
+    "Specify an offset (in seconds) for the movement timeout watchdog"};
 
 static void setOffsetMovTimeoutCallFunc(const iocshArgBuf *args) {
     setOffsetMovTimeout(args[0].sval, args[1].ival, args[2].dval);
@@ -800,8 +838,9 @@ static const iocshArg setScaleMovTimeoutArg2 = {
     "Multiplier for calculated move time", iocshArgDouble};
 static const iocshArg *const setScaleMovTimeoutArgs[] = {
     &setScaleMovTimeoutArg0, &setScaleMovTimeoutArg1, &setScaleMovTimeoutArg2};
-static const iocshFuncDef setScaleMovTimeoutDef = {"setScaleMovTimeout", 3,
-                                                   setScaleMovTimeoutArgs};
+static const iocshFuncDef setScaleMovTimeoutDef = {
+    "setScaleMovTimeout", 3, setScaleMovTimeoutArgs,
+    "Set a scaling factor for the maximum expected movement time."};
 
 static void setScaleMovTimeoutCallFunc(const iocshArgBuf *args) {
     setScaleMovTimeout(args[0].sval, args[1].ival, args[2].dval);

src/sinqAxis.h

@@ -8,8 +8,16 @@ Stefan Mathis, November 2024
 
 #ifndef sinqAxis_H
 #define sinqAxis_H
+
+// The EPICS libaries do not follow -Weffc++
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Weffc++"
+
 #include "asynMotorAxis.h"
-#include <macros.h>
+#include "macros.h"
+
+#pragma GCC diagnostic pop
+
 #include <memory>
 #include <type_traits>
 
@@ -32,6 +40,13 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     ~sinqAxis();
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    sinqAxis(const sinqAxis &) = delete;
+    sinqAxis &operator=(const sinqAxis &) = delete;
+
     /**
      * @brief Check if a poll should be performed. If yes, call `forcedPoll`.
      *
@@ -606,7 +621,7 @@ 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>) {
+                            size_t /*msgSize*/, TypeTag<int>) {
     int indexValue = (controller->*func)();
     asynStatus status =
         controller->getIntegerParam(axis->axisNo(), indexValue, readValue);
@@ -634,7 +649,7 @@ 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>) {
+                            size_t /*msgSize*/, TypeTag<double>) {
     int indexValue = (controller->*func)();
     asynStatus status =
         controller->getDoubleParam(axis->axisNo(), indexValue, readValue);
@@ -665,7 +680,7 @@ 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>) {
+                            size_t /*msgSize*/, TypeTag<std::string>) {
     int indexValue = (controller->*func)();
 
     // Convert the pointer to a reference, since getStringParam expects the

src/sinqController.cpp

@@ -1,15 +1,22 @@
 // SPDX-License-Identifier: GPL-3.0-only
 
-#include "sinqController.h"
+// The EPICS libaries do not follow -Weffc++
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Weffc++"
+
 #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>
+
+#pragma GCC diagnostic pop
+
+#include "msgPrintControl.h"
+#include "sinqAxis.h"
+#include "sinqController.h"
+#include <deque>
 #include <unordered_map>
 #include <vector>
 
@@ -92,6 +99,7 @@ struct sinqControllerImpl {
     int motorAcclFromDriver;
     int motorHighLimitFromDriver;
     int motorLowLimitFromDriver;
+    int motorPositionDeadband;
     int adaptivePolling;
     int encoderType;
 };
@@ -111,23 +119,40 @@ sinqController::sinqController(const char *portName,
           0, // No additional interfaces beyond those in base class
           0, // No additional callback interfaces beyond those in base class
           ASYN_CANBLOCK | ASYN_MULTIDEVICE,
-          1,    // autoconnect
-          0, 0) // Default priority and stack size
-{
+          1,     // autoconnect
+          0, 0), // Default priority and stack size
+      pSinqC_(std::make_unique<sinqControllerImpl>((sinqControllerImpl){
+          .outstandingForcedFastPolls = 0,
+          .pasynOctetSyncIOipPort = nullptr,
+          .msgPrintC = msgPrintControl(),
+          .comTimeoutWindow = 3600,
+          .maxNumberTimeouts = 60,
+          .timeoutEvents = {},
+          .maxSubsequentTimeouts = 10,
+          .maxSubsequentTimeoutsExceeded = false,
+          .motorMessageText = 0,
+          .motorReset = 0,
+          .motorEnable = 0,
+          .motorEnableRBV = 0,
+          .motorCanDisable = 0,
+          .motorEnableMovWatchdog = 0,
+          .motorCanSetSpeed = 0,
+          .motorLimitsOffset = 0,
+          .motorForceStop = 0,
+          .motorConnected = 0,
+          .motorVeloFromDriver = 0,
+          .motorVbasFromDriver = 0,
+          .motorVmaxFromDriver = 0,
+          .motorAcclFromDriver = 0,
+          .motorHighLimitFromDriver = 0,
+          .motorLowLimitFromDriver = 0,
+          .motorPositionDeadband = 0,
+          .adaptivePolling = 0,
+          .encoderType = 0,
+      })) {
 
     asynStatus status = asynSuccess;
 
-    // The paramLib indices are populated with the calls to createParam
-    pSinqC_ = std::make_unique<sinqControllerImpl>(
-        (sinqControllerImpl){.outstandingForcedFastPolls = 0,
-                             .pasynOctetSyncIOipPort = nullptr,
-                             .msgPrintC = msgPrintControl(),
-                             .comTimeoutWindow = 3600,
-                             .maxNumberTimeouts = 60,
-                             .timeoutEvents = {},
-                             .maxSubsequentTimeouts = 10,
-                             .maxSubsequentTimeoutsExceeded = false});
-
     // Store the poll period information. The poller itself will be started
     // later (after the IOC is running in epicsInithookFunction)
     movingPollPeriod_ = movingPollPeriod;
@@ -267,6 +292,17 @@ sinqController::sinqController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("MOTOR_POSITION_DEADBAND", asynParamFloat64,
+                         &pSinqC_->motorPositionDeadband);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     status = createParam("MOTOR_ENABLE_MOV_WATCHDOG", asynParamInt32,
                          &pSinqC_->motorEnableMovWatchdog);
     if (status != asynSuccess) {
@@ -699,6 +735,9 @@ int sinqController::motorHighLimitFromDriver() {
 int sinqController::motorLowLimitFromDriver() {
     return pSinqC_->motorLowLimitFromDriver;
 }
+int sinqController::motorPositionDeadband() {
+    return pSinqC_->motorPositionDeadband;
+}
 int sinqController::adaptivePolling() { return pSinqC_->adaptivePolling; }
 int sinqController::encoderType() { return pSinqC_->encoderType; }
 
@@ -809,7 +848,8 @@ static const iocshArg *const setThresholdComTimeoutArgs[] = {
     &setThresholdComTimeoutArg0, &setThresholdComTimeoutArg1,
     &setThresholdComTimeoutArg2};
 static const iocshFuncDef setThresholdComTimeoutDef = {
-    "setThresholdComTimeout", 3, setThresholdComTimeoutArgs};
+    "setThresholdComTimeout", 3, setThresholdComTimeoutArgs,
+    "Set the communication timeout threshold in seconds"};
 
 static void setThresholdComTimeoutCallFunc(const iocshArgBuf *args) {
     setThresholdComTimeout(args[0].sval, args[1].ival, args[2].ival);
@@ -870,7 +910,9 @@ static const iocshArg SetMaxSubsequentTimeoutsArg1 = {
 static const iocshArg *const SetMaxSubsequentTimeoutsArgs[] = {
     &SetMaxSubsequentTimeoutsArg0, &SetMaxSubsequentTimeoutsArg1};
 static const iocshFuncDef setMaxSubsequentTimeoutsDef = {
-    "setMaxSubsequentTimeouts", 2, SetMaxSubsequentTimeoutsArgs};
+    "setMaxSubsequentTimeouts", 2, SetMaxSubsequentTimeoutsArgs,
+    "Set the maximum number of subsequent timeouts before the user receives an "
+    "error message"};
 static void setMaxSubsequentTimeoutsCallFunc(const iocshArgBuf *args) {
     setMaxSubsequentTimeouts(args[0].sval, args[1].ival);
 }
@@ -924,13 +966,15 @@ asynStatus setForcedFastPolls(const char *portName, int forcedFastPolls) {
 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 "
+    "Number of fast polls after \"waking\" the poller (e.g. after issuing a "
     "move command).",
     iocshArgInt};
 static const iocshArg *const SetForcedFastPollsArgs[] = {
     &SetForcedFastPollsArg0, &SetForcedFastPollsArg1};
-static const iocshFuncDef setForcedFastPollsDef = {"setForcedFastPolls", 2,
-                                                   SetForcedFastPollsArgs};
+static const iocshFuncDef setForcedFastPollsDef = {
+    "setForcedFastPolls", 2, SetForcedFastPollsArgs,
+    "Set the number of fast polls after \"waking\" the poller (e.g. after "
+    "issuing a move command)."};
 static void setForcedFastPollsCallFunc(const iocshArgBuf *args) {
     setForcedFastPolls(args[0].sval, args[1].ival);
 }

src/sinqController.h

@@ -9,10 +9,18 @@ Stefan Mathis, November 2024
 
 #ifndef sinqController_H
 #define sinqController_H
+
+// The EPICS libaries do not follow -Weffc++
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Weffc++"
+
 #include "asynMotorController.h"
 #include "msgPrintControl.h"
 #include <initHooks.h>
 #include <macros.h>
+
+#pragma GCC diagnostic pop
+
 #include <memory>
 
 #define motorMessageIsFromDriverString "MOTOR_MESSAGE_DRIVER"
@@ -58,6 +66,13 @@ class HIDDEN sinqController : public asynMotorController {
      */
     virtual ~sinqController(void);
 
+    /**
+     * @brief Delete the copy and copy assignment constructors, because this
+     * class should not be copied (it is tied to hardware!)
+     */
+    sinqController(const sinqController &) = delete;
+    sinqController &operator=(const sinqController &) = delete;
+
     /**
      * @brief Overloaded function of asynMotorController
      *
@@ -315,6 +330,7 @@ class HIDDEN sinqController : public asynMotorController {
     int motorAcclFromDriver();
     int motorHighLimitFromDriver();
     int motorLowLimitFromDriver();
+    int motorPositionDeadband();
     int adaptivePolling();
     int encoderType();