This library offers base classes for EPICS motor drivers (sinqAxis and sinqController) of PSI SINQ. These classes are extensions of the classes asynMotorAxis and asynMotorController from the asynMotor framework (https://github.com/epics-modules/motor/tree/master/motorApp/MotorSrc) and bundle some common functionalities.

Features

sinqMotor offers a variety of additional methods for children classes to standardize certain patterns (e.g. writing messages to the IOC shell and the motor message PV). For a detailed description, please see the respective function documentation in the .h-file. All of these functions can be overwritten manually if e.g. a completely different implementation of poll is required

sinqController

stringifyAsynStatus: Convert the enum asynStatus into a human-readable string.
errMsgCouldNotParseResponse: Write a standardized message if parsing a device response failed
paramLibAccessFailed: Write a standardized message if accessing the parameter library failed

sinqAxis

atFirstPoll: This function is executed once before the first poll. If it returns anything but asynSuccess, it retries.
poll: This is a wrapper around doPoll which performs some bookkeeping tasks before and after calling doPoll: Before calling doPoll:
- Try to execute atFirstPoll once (and retry, if that failed) After calling doPoll:
- Reset motorStatusProblem_, motorStatusCommsError_ and motorMessageText_ if doPoll returned asynSuccess
- Run callParamCallbacks
- Return the status of doPoll
doPoll: This is an empty function which should be overwritten by concrete driver implementations.

How to build it

The makefile in the top directory includes all necessary steps for compiling a shared library together with the header files into /ioc/modules (using the PSI EPICS build system).Therefore it is sufficient to run make install -f Makefile from the terminal. If you want to compile a new version, adjust the entry LIBVERSION accordingly.

To use the library when writing a concrete motor driver, include it in the makefile of your application /library the same way as other libraries such as e.g. asynMotor by adding REQUIRED+=sinqMotor to your Makefile.