Initial driver version for the C804 controller

sinqEPICSApp/src/C804Axis.h

@@ -0,0 +1,40 @@
+#ifndef C804Axis_H
+#define C804Axis_H
+
+#include "SINQController.h"
+#include "SINQAxis.h"
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between C804Controller.h and C804Axis.h. See https://en.cppreference.com/w/cpp/language/class.
+class C804Controller;
+
+class C804Axis : public SINQAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  C804Axis(C804Controller *pController, int axisNo);
+  virtual ~C804Axis();
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus stop(double acceleration);
+  asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards);
+  asynStatus poll(bool *moving);
+  asynStatus poll_inner(bool *moving);
+  asynStatus enable(int on);
+
+protected:
+  C804Controller *pC_;
+
+  void checkBounds(C804Controller *pController, int axisNo);
+  int last_position_steps_;
+  double motorRecResolution_;
+  time_t estimatedArrivalTime_;
+  time_t last_poll_;
+  int errorReported_;
+  bool enabled_;
+
+private:
+  friend class C804Controller;
+};
+
+#endif