Added disconnect handling to sinqMotor

README.md

@@ -331,6 +331,8 @@ available in the IOC shell.
 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.
+- `setMode`: This is an empty function which should be overwritten by concrete
+driver implementations.
 
 #### msgPrintControl.h
 In addition to the two extension classes this library also includes a mechanism

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
@@ -732,6 +741,11 @@ void sinqAxis::setTargetPosition(double targetPosition) {
     pSinqA_->targetPosition = targetPosition;
 }
 
+asynStatus sinqAxis::setMode(int mode) {
+    (void)mode;
+    return asynSuccess;
+}
+
 // =============================================================================
 // IOC shell functions
 extern "C" {

src/sinqAxis.h

@@ -434,6 +434,18 @@ class HIDDEN sinqAxis : public asynMotorAxis {
      */
     asynStatus assertConnected();
 
+    /**
+     * @brief Set the operation mode (position or velocity) of the axis. It
+     * should be implemented by a child class of sinqAxis.
+     *
+     * This function is called from within sinqController::writeInt32 if a new
+     * operation mode has been set.
+     *
+     * @param mode: New operation mode. 0 is position mode, 1 is velocity mode.
+     * @return asynStatus
+     */
+    virtual asynStatus setMode(int mode);
+
     /**
      * @brief Return a pointer to the axis controller.
      *

src/sinqController.cpp

@@ -510,7 +510,7 @@ asynStatus sinqController::writeInt32(asynUser *pasynUser, epicsInt32 value) {
             // for velocity mode):
             if (value == 0 || value == 1) {
                 setAxisParamChecked(axis, motorMode, value);
-                return asynMotorController::writeInt32(pasynUser, value);
+                return axis->setMode(value);
             } else {
                 int axisNo;
                 getAddress(pasynUser, &axisNo);