Added safe limit setter

Added records to support detection of the current operation mode
(position or velocity), whether one is allowed to change between the two
and a record to actually change between the two. Also added a
doMoveVelocity method which should be implemented by derived drivers if
they support velocity mode.

.gitignore

@@ -0,0 +1,125 @@
+# Took these from the https://github.com/github/gitignore project on October 21, 2011
+
+# **** 'Personal' entries don't belong in here - put them in your .git/info/exclude file ****
+
+# Ignore text editor (e.g. emacs) autosave files
+*~
+
+# Build Artifacts
+O.*_Common/
+O.*_RHEL8-x86_64/
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+*.d
+SICServer*
+
+# Compiled Dynamic libraries
+*.so
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+
+# Compiled python files
+*.py[co]
+
+# Eclipse-generated files
+*.pydevproject
+.project
+.metadata
+bin/**
+tmp/**
+tmp/**/*
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.classpath
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+*.sln
+*.vcproj
+*.exe
+*.vcxproj
+*.filters
+
+# User-specific files
+*.suo
+*.user
+*.sln.docstates
+*.sdf
+.cvsignore
+
+#Test results
+*.log
+
+# Build results
+[Dd]ebug/
+[Rr]elease/
+*_i.c
+*_p.c
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.vspscc
+.builds
+
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opensdf
+*.sdf
+
+# Visual Studio profiler
+*.psess
+*.vsp
+
+# ReSharper is a .NET coding add-in
+_ReSharper*
+
+
+
+# Others
+*.autosave
+
+
+# Windows image file caches
+Thumbs.db
+
+
+# Mac OS X Finder
+.DS_Store
+._*

src/sinqAxis.cpp

@@ -245,6 +245,10 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
     // Clear the communication
     setAxisParamChecked(this, motorStatusCommsError, false);
 
+    // Assume the motor is initially connected. During the poll, this value will
+    // be set to false if the motor is not connected.
+    setAxisParamChecked(this, motorConnected, true);
+
     /*
     The poll function is just a wrapper around doPoll and handles mainly the
     callParamCallbacks() function. This wrapper is used to make sure
@@ -252,6 +256,11 @@ asynStatus sinqAxis::forcedPoll(bool *moving) {
     */
     poll_status = doPoll(moving);
 
+    // Motor is not connected
+    if (poll_status == asynDisconnected) {
+        setAxisParamChecked(this, motorConnected, false);
+    }
+
     /*
     If the poll did not succeed OR if an error message is waiting, something
     went wrong and the motor has a status problem. Otherwise, delete the error
@@ -484,6 +493,31 @@ asynStatus sinqAxis::setMotorPosition(double motorPos) {
     return status;
 }
 
+asynStatus sinqAxis::setLimits(double highLimit, double lowLimit) {
+    asynStatus status = asynSuccess;
+
+    if (highLimit < lowLimit) {
+        double motorPos;
+        double motorRecRes;
+        status = motorPosition(&motorPos);
+        if (status != asynSuccess) {
+            return status;
+        }
+        getAxisParamChecked(this, motorRecResolution, &motorRecRes);
+
+        // This is a safe fallback
+        setAxisParamChecked(this, motorHighLimitFromDriver,
+                            motorPos + motorRecRes);
+        setAxisParamChecked(this, motorLowLimitFromDriver,
+                            motorPos - motorRecRes);
+    } else {
+        setAxisParamChecked(this, motorHighLimitFromDriver, highLimit);
+        setAxisParamChecked(this, motorLowLimitFromDriver, lowLimit);
+    }
+
+    return status;
+}
+
 asynStatus sinqAxis::assertConnected() {
     int connected = 0;
     getAxisParamChecked(this, motorConnected, &connected);

src/sinqAxis.h

@@ -391,6 +391,20 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     asynStatus setMotorPosition(double motorPosition);
 
+    /**
+     * @brief Sanity-check the limits and write them into the database
+     *
+     * If the given `highLimit` is smaller than the `lowLimit`, the limits are
+     * set to `highLimit = motorPosition + motorRecResolution`,
+     * `lowLimit = motorPosition - motorRecResolution` and a warning is
+     * displayed in the IOC shell. This is not an error
+     *
+     * @param highLimit
+     * @param lowLimit
+     * @return asynStatus
+     */
+    asynStatus setLimits(double highLimit, double lowLimit);
+
     /**
      * @brief Check if the axis is not connected and print a corresponding error
      * message