Removed lock in reset and replaced it with wakeupPoller call

Trying to lock the controller from one of its axes may lead to
segfaults, hence it is not advisable.

src/sinqAxis.cpp

@@ -8,6 +8,17 @@
 #include <math.h>
 #include <unistd.h>
 
+// Generic fallback - if the compiler tries to compile this function, it fails.
+template <typename T>
+asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
+                        int (sinqController::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
+    static_assert(
+        sizeof(T) == 0,
+        "no specialization of setAxisParam exists for the given type");
+    return asynError;
+}
+
 template <>
 asynStatus setAxisParam<int>(sinqAxis *axis, const char *indexName,
                              int (sinqController::*func)(), int writeValue,
@@ -43,6 +54,20 @@ setAxisParam<double>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
+template <>
+asynStatus setAxisParam<char *>(sinqAxis *axis, const char *indexName,
+                                int (sinqController::*func)(), char *writeValue,
+                                const char *callerFunctionName,
+                                int lineNumber) {
+    int indexValue = (axis->pController()->*func)();
+    asynStatus status = axis->setStringParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return axis->pController()->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
 template <>
 asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
                                       int (sinqController::*func)(),
@@ -58,6 +83,17 @@ asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
+// Generic fallback - if the compiler tries to compile this function, it fails.
+template <typename T>
+asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
+                        int (sinqController::*func)(), T *readValue,
+                        const char *callerFunctionName, int lineNumber) {
+    static_assert(
+        sizeof(T) == 0,
+        "no specialization of getAxisParam exists for the given type");
+    return asynError;
+}
+
 template <>
 asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
                              int (sinqController::*func)(), int *readValue,
@@ -112,6 +148,16 @@ asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
     return asynSuccess;
 }
 
+template <size_t N>
+asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
+                        int (sinqController::*func)(), char (&readValue)[N],
+                        const char *callerFunctionName, int lineNumber) {
+    // Decay the array to char*
+    return getAxisParam<char>(axis, indexName, func,
+                              static_cast<char *>(readValue),
+                              callerFunctionName, lineNumber);
+}
+
 template <>
 asynStatus
 getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
@@ -159,6 +205,21 @@ sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
         exit(-1);
     }
 
+    /*
+    Initialize the parameter library entry for the motor message text, because
+    it is read during the first poll before it has been written to.
+    */
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     // Motor is assumed to be enabled
     status = setIntegerParam(pC_->motorEnableRBV(), 1);
     if (status != asynSuccess) {
@@ -309,7 +370,8 @@ asynStatus sinqAxis::poll(bool *moving) {
     "waitingMessage" is briefly put into the paramLib again, then the PVs are
     updated and then the message text is cleared again.
     */
-    getAxisParamChecked(this, motorMessageText, &waitingMessage);
+    getAxisParamChecked(this, motorMessageText,
+                        static_cast<char *>(waitingMessage));
 
     // Clear the communication
     setAxisParamChecked(this, motorStatusCommsError, false);
@@ -331,9 +393,11 @@ asynStatus sinqAxis::poll(bool *moving) {
         If doPoll cleared the error message paramLib entry, but an old message
         is still waiting, set the old message.
         */
-        getAxisParamChecked(this, motorMessageText, &newMessage);
+        getAxisParamChecked(this, motorMessageText,
+                            static_cast<char *>(newMessage));
         if (newMessage[0] == '\0') {
-            setAxisParamChecked(this, motorMessageText, waitingMessage);
+            setAxisParamChecked(this, motorMessageText,
+                                static_cast<char *>(waitingMessage));
         }
         setAxisParamChecked(this, motorStatusProblem, true);
     } else {
@@ -479,15 +543,7 @@ asynStatus sinqAxis::reset() {
 
     if (status == asynSuccess) {
         // Perform some fast polls
-        pC_->lock();
-        bool moving = false;
-        for (int i = 0; i < 5; i++) {
-            epicsThreadSleep(pC_->movingPollPeriod());
-            if (poll(&moving) == asynSuccess) {
-                break;
-            }
-        }
-        pC_->unlock();
+        pC_->wakeupPoller();
     }
 
     status = assertConnected();

src/sinqAxis.h

@@ -49,7 +49,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     the parameter library operation fails (in that case, returns the status of
     the failed operation.
      */
-    asynStatus poll(bool *moving);
+    virtual asynStatus poll(bool *moving);
 
     /**
      * @brief Implementation of the "proper", device-specific poll method. This
@@ -79,8 +79,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     the parameter library operation fails (in that case, returns the failed
     operation status).
      */
-    asynStatus move(double position, int relative, double minVelocity,
-                    double maxVelocity, double acceleration);
+    virtual asynStatus move(double position, int relative, double minVelocity,
+                            double maxVelocity, double acceleration);
 
     /**
      * @brief Implementation of the "proper", device-specific move method. This
@@ -143,8 +143,8 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     the parameter library operation fails (in that case, returns the failed
     operation status).
      */
-    asynStatus home(double minVelocity, double maxVelocity, double acceleration,
-                    int forwards);
+    virtual asynStatus home(double minVelocity, double maxVelocity,
+                            double acceleration, int forwards);
 
     /**
      * @brief Implementation of the "proper", device-specific home method. This
@@ -170,7 +170,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      *
      * @return asynStatus
      */
-    asynStatus reset();
+    virtual asynStatus reset();
 
     /**
      * @brief Implementation of the "proper", device-specific `reset` method.
@@ -240,7 +240,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     used to get the values for the timeout calculation failed, return that
     status, otherwise return asynSuccess.
      */
-    asynStatus startMovTimeoutWatchdog();
+    virtual asynStatus startMovTimeoutWatchdog();
 
     /**
      * @brief Check if the watchdog timed out
@@ -274,7 +274,7 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
      * @return asynStatus         Return asynError, if the watchdog timed out,
     and asynSuccess otherwise.
      */
-    asynStatus checkMovTimeoutWatchdog(bool moving);
+    virtual asynStatus checkMovTimeoutWatchdog(bool moving);
 
     /**
      * @brief Enable / disable the watchdog. Also available in the IOC shell