Commit first working version of the new PMAC-V3 driver. This version has

been tested on the SINQTEST instrument. However, some important
improvements (such as central polling in the controller) are still
missing. They will be implemented in the next commit.

Makefile.RHEL8

@@ -13,7 +13,7 @@ REQUIRED+=scaler
 REQUIRED+=asynMotor
 
 # Release version
-LIBVERSION=2024-v2
+LIBVERSION=2024-newPmacV3
 
 # DB files to include in the release
 TEMPLATES += sinqEPICSApp/Db/dimetix.db
@@ -36,6 +36,11 @@ SOURCES += sinqEPICSApp/src/pmacAsynIPPort.c
 SOURCES += sinqEPICSApp/src/pmacAxis.cpp
 SOURCES += sinqEPICSApp/src/pmacController.cpp
 SOURCES += sinqEPICSApp/src/MasterMACSDriver.cpp
+SOURCES += sinqEPICSApp/src/C804Axis.cpp
+SOURCES += sinqEPICSApp/src/C804Controller.cpp
+SOURCES += sinqEPICSApp/src/newPmacV3Axis.cpp
+SOURCES += sinqEPICSApp/src/newPmacV3Controller.cpp
+SOURCES += sinqEPICSApp/src/pmacController.cpp
 
 USR_CFLAGS += -Wall -Wextra # -Werror
 

sinqEPICSApp/Db/sinq_asyn_motor.db

@@ -50,14 +50,5 @@ record(longin, "$(P)$(M):Enable_RBV") {
 record(longout, "$(P)$(M):Reread_Encoder") {
     field(DTYP, "asynInt32")
     field(OUT, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION")
-    field(PINI, "YES")
-}
-
-# reread encoder
-record(longin, "$(P)$(M):Reread_Encoder_RBV") {
-    field(DTYP, "asynInt32")
-    field(INP, "@asyn($(PORT),$(N),1) REREAD_ENCODER_POSITION_RBV")
     field(PINI, "NO")
-    field(SCAN, "1 second")
 }
-

sinqEPICSApp/src/C804Axis.cpp

@@ -0,0 +1,478 @@
+#include "C804Axis.h"
+#include "C804Controller.h"
+#include <cmath>
+#include <errlog.h>
+#include <limits>
+#include <math.h>
+#include <string.h>
+#include <unistd.h>
+
+C804Axis::C804Axis(C804Controller *pC, int axisNo)
+    : SINQAxis(pC, axisNo), pC_(pC) {
+    /*
+    The superclass constructor SINQAxis calls in turn its superclass constructor
+    asynMotorAxis. In the latter, a pointer to the constructed object this is
+    stored inside the array pAxes_:
+
+        pC->pAxes_[axisNo] = this;
+
+    Therefore, the axes are managed by the controller pC. See C804Controller.cpp
+    for further explanation. If axisNo is out of bounds, asynMotorAxis prints an
+    error (see
+    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp,
+    line 40). However, we want the IOC creation to stop completely, since this
+    is a configuration error.
+    */
+    if (axisNo >= pC->numAxes_) {
+        exit(-1);
+    }
+    last_position_steps_ = 0;
+
+    last_poll_ = 0.0;
+}
+
+C804Axis::~C804Axis(void) {
+    // Since the controller memory is managed somewhere else, we don't need to
+    // clean up the pointer pC here.
+}
+
+/*
+The polling function informs us about the state of the axis, in particular if it
+is currently moving. It is called periodically, with the period defined by
+the controller constructor arguments idlePollPeriod and movingPollPeriod
+depending on the current axis state.
+*/
+asynStatus C804Axis::poll(bool *moving) {
+    // Local variable declaration
+    static const char *functionName = "C804Axis::poll";
+
+    // The poll function is just a wrapper around pollNoUpdate and
+    // handles mainly the callParamCallbacks() function
+    asynStatus status_poll = C804Axis::pollNoUpdate(moving);
+
+    // According to the function documentation of asynMotorAxis::poll, this
+    // function should be called at the end of a poll implementation.
+    asynStatus status_callback = callParamCallbacks();
+    if (status_callback != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Updating the parameter library failed for axis %d\n",
+                  functionName, axisNo_);
+        return status_callback;
+    } else {
+        return status_poll;
+    }
+}
+
+// Perform the actual poll
+asynStatus C804Axis::pollNoUpdate(bool *moving) {
+    // Local variable declaration
+    static const char *functionName = "C804Axis::poll";
+    asynStatus status;
+    int axis_status = 0;
+
+    // The controller returns the position and velocity in encoder steps.
+    // This value needs to be converted in user units (engineering units EGU)
+    // via the record field MRES of the motor record. This field has already
+    // been read by the constructor into the member variable
+    // motorRecResolution_. To go from steps to user units, multiply with
+    // motorRecResolution_ Example: If 10 steps correspond to 1 mm, MRES should
+    // be 0.1.
+    int position_error_steps = 0;
+    int motor_position_steps = 0;
+    int motor_velocity_steps = 0;
+    int programmed_motor_velocity_steps = 0;
+    double position_error = .0;
+    double motor_position = .0;
+    double motor_velocity = .0;
+    double programmed_motor_velocity = .0;
+
+    // The buffer sizes for command and response are defined in the controller
+    // (see the corresponding source code files)
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    /*
+    Cancel the poll if the last poll has "just" happened.
+    */
+    if (time(NULL) < last_poll_ + 0.5 * pC_->movingPollPeriod_) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+                  "%s: Aborted poll since the last poll for axis %d happened a "
+                  "short time ago\n",
+                  functionName, axisNo_);
+        return asynSuccess;
+    } else {
+        last_poll_ = time(NULL);
+    }
+
+    /*
+    The parameter motorRecResolution_ is coupled to the field MRES of the motor
+    record in the following manner:
+    - In sinq_asyn_motor.db, the PV (motor_record_pv_name)MOTOR_REC_RESOLUTION
+    is defined as a copy of the field (motor_record_pv_name).MRES:
+
+        record(ao,"$(P)$(M):Resolution") {
+            field(DESC, "$(M) resolution")
+            field(DOL,  "$(P)$(M).MRES CP MS")
+            field(OMSL, "closed_loop")
+            field(DTYP, "asynFloat64")
+            field(OUT,  "@asyn($(PORT),$(ADDR))MOTOR_REC_RESOLUTION")
+            field(PREC, "$(PREC)")
+        }
+
+    - The PV name MOTOR_REC_RESOLUTION is coupled in asynMotorController.h to
+    the constant motorRecResolutionString
+    - ... which in turn is assigned to motorRecResolution_ in
+    asynMotorController.cpp This way of making the field visible to the driver
+    is described here: https://epics.anl.gov/tech-talk/2020/msg00378.php This is
+    a one-way coupling, changes to the parameter library via setDoubleParam are
+    NOT transferred to (motor_record_pv_name).MRES or to
+    (motor_record_pv_name):Resolution.
+
+    NOTE: This function must not be called in the constructor (e.g. in order to
+    save the read result to the member variable earlier), since the parameter
+    library is updated at a later stage!
+    */
+    pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                        &motorRecResolution_);
+
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW, "Polling axis %d\n",
+              axisNo_);
+
+    /*
+    We know that the motor resolution must not be zero. During the startup of
+    the IOC, polls can happen before the record is fully initialized. In that
+    case, all values are zero.
+    */
+    if (motorRecResolution_ == 0) {
+        return asynError;
+    }
+
+    /*
+    Assume that the axis does not have a status problem. If it does have a
+    problem, this value will be overwritten further below. Setting this value
+    in itself does not trigger a callback immediately, any callbacks
+    (such as e.g. updating camonitor) are done in callParamCallbacks() at the
+    end of this function.
+    */
+    setIntegerParam(pC_->motorStatusProblem_, false);
+
+    // Read out the position error of the axis (delta of target position to
+    // actual position)
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dTE", axisNo_);
+    status = pC_->lowLevelWriteRead(axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dE%10d", &parsed_axis, &position_error_steps);
+
+        // Scale from the encoder resultion to user units
+        position_error = double(position_error_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, position error %f\n", functionName,
+                  axisNo_, response, position_error);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the position error failed for axis %d\n",
+                  functionName, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        // Stop the evaluation prematurely
+        return status;
+    }
+
+    // Read the current position.
+    snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTP", this->axisNo_);
+    status =
+        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dP%10d", &parsed_axis, &motor_position_steps);
+
+        // Scale from the encoder resultion to user units
+        motor_position = double(motor_position_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, position %f\n", functionName,
+                  axisNo_, response, motor_position);
+        setDoubleParam(pC_->motorPosition_, motor_position);
+        setDoubleParam(pC_->motorEncoderPosition_, motor_position);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the position failed for axis %d\n", functionName,
+                  axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        return status;
+    }
+
+    // Read the current velocity
+    snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTV", this->axisNo_);
+    status =
+        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dV%10d", &parsed_axis, &motor_velocity_steps);
+
+        // Scale from the encoder resultion to user units
+        motor_velocity = double(motor_velocity_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, velocity %f\n", functionName,
+                  axisNo_, response, motor_velocity);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the velocity failed for axis %d\n", functionName,
+                  axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        return status;
+    }
+
+    // Read the programmed velocity
+    snprintf(command, this->pC_->C804_MAXBUF_ - 1, "%dTY", this->axisNo_);
+    status =
+        this->pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+
+        int parsed_axis;
+        sscanf(response, "%2dY%10d", &parsed_axis,
+               &programmed_motor_velocity_steps);
+
+        // Scale from the encoder resultion to user units
+        programmed_motor_velocity =
+            double(programmed_motor_velocity_steps) * motorRecResolution_;
+
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, programmed velocity %f\n",
+                  functionName, axisNo_, response, programmed_motor_velocity);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the programmed velocity failed for axis %d\n",
+                  functionName, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        return status;
+    }
+
+    // Read the motor status
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dTS", axisNo_);
+    status = pC_->lowLevelWriteRead(this->axisNo_, command, response, true);
+    if (status == asynSuccess) {
+        int parsed_axis;
+        sscanf(response, "%2dS%10d", &parsed_axis, &axis_status);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d, response %s, status %d\n", functionName,
+                  axisNo_, response, axis_status);
+    } else {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reading the motor status %d\n", functionName, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+
+        // Stop prematurely
+        return status;
+    }
+
+    // Check if the axis is enabled by reading out bit 2 (see
+    // https://stackoverflow.com/questions/2249731/how-do-i-get-bit-by-bit-data-from-an-integer-value-in-c)
+    int mask = 1 << 2;
+    int masked_n = axis_status & mask;
+    // Is 1 if the axis is disabled
+    int disabled = masked_n >> 2;
+    if (disabled) {
+        enabled_ = false;
+    } else {
+        enabled_ = true;
+    }
+
+    /*
+    Determine if the motor is moving. This is determined by the following
+    criteria: 1) The motor position changes from poll to poll 2) The motor is
+    enabled
+    */
+    *moving = enabled_ && motor_position_steps != this->last_position_steps_;
+
+    // Update the cached_position
+    this->last_position_steps_ = motor_position_steps;
+
+    /*
+    Calculate the time the motor should need to reach its target, based on the
+    programmed velocity and compare this to the actual time the motor has spent
+    moving. If it has spent too much time in a moving state without reaching
+    the target, stop the motor and return an error.
+    */
+    if (*moving) {
+
+        int motorStatusMoving = 0;
+        pC_->getIntegerParam(axisNo_, pC_->motorStatusMoving_,
+                             &motorStatusMoving);
+
+        // motor is moving, but didn't move in the last poll
+        if (motorStatusMoving == 0) {
+            time_t current_time = time(NULL);
+
+            // Factor 2 of the calculated moving time
+            estimatedArrivalTime_ =
+                current_time + std::ceil(2 * std::fabs(position_error) /
+                                         programmed_motor_velocity);
+        } else {
+            // /*
+            // Motor is moving for a longer time than it should: Stop it
+            // */
+            // if (time(NULL) > estimatedArrivalTime_)
+            // {
+            //     snprintf(command, pC_->C804_MAXBUF_ - 1, "%dST", axisNo_);
+            //     status = pC_->lowLevelWriteRead(axisNo_, command, response);
+            //     asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Stopped
+            //     axis %d since it moved for double the time it should to reach
+            //     its target\n", functionName, axisNo_);
+            // }
+        }
+    }
+
+    /*
+    One of these parameters (or both) are used to set (PV-name).DMOV.
+    This PV tells EPICS whether the axis / motor is currently moving or not.
+    */
+    setIntegerParam(pC_->motorStatusMoving_, *moving);
+    setIntegerParam(pC_->motorStatusDone_, !(*moving));
+    callParamCallbacks();
+
+    return status;
+}
+
+asynStatus C804Axis::move(double position, int relative, double minVelocity,
+                          double maxVelocity, double acceleration) {
+    asynStatus status;
+    static const char *functionName = "C804Axis::move";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+    double position_c_units = 0.0; // Controller units
+    int position_steps = 0;
+
+    // Convert from user coordinates (EGU) to controller coordinates (steps).
+    // Check for overflow
+    if (motorRecResolution_ == 0.0) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: MRES must not be zero. Movement is aborted",
+                  functionName);
+        return asynError;
+    }
+    position_c_units = position / motorRecResolution_;
+
+    // Check for overflow during the division
+    if (position_c_units * motorRecResolution_ != position) {
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s: could not convert from user units (%f) to controller units "
+            "(user units divided by resolution MRES %f) due to overflow.",
+            functionName, position, motorRecResolution_);
+        return asynError;
+    }
+
+    // Steps can only be integer values => cast to integer while checking for
+    // overflow
+    if (std::numeric_limits<int>::max() < position_c_units ||
+        std::numeric_limits<int>::min() > position_c_units) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: target position %f cannot be converted to int "
+                  "(overflow). Check target value %f and MRES %f",
+                  functionName, position_c_units, position_c_units,
+                  motorRecResolution_);
+        return asynError;
+    }
+    position_steps = static_cast<int>(position_c_units);
+
+    // Convert from relative to absolute values
+    if (relative) {
+        position_steps += last_position_steps_;
+    }
+
+    // If the axis is currently disabled, enable it
+    if (!enabled_) {
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dGO", axisNo_);
+        status =
+            pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
+        if (status != asynSuccess) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s: Enabling axis %d\n failed", functionName, axisNo_);
+            return status;
+        }
+    }
+
+    // Start movement
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMA%d", axisNo_, position_steps);
+    status = pC_->lowLevelWriteRead(this->axisNo_, command, response, false);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Setting the target position %d failed for axis %d\n",
+                  functionName, position_steps, axisNo_);
+        setIntegerParam(pC_->motorStatusProblem_, true);
+        return status;
+    }
+    setIntegerParam(pC_->motorStatusProblem_, false);
+
+    // Reset the error flag
+    errorReported_ = 0;
+
+    return status;
+}
+
+asynStatus C804Axis::moveVelocity(double min_velocity, double max_velocity,
+                                  double acceleration) {
+    static const char *functionName = "C804Axis::moveVelocity";
+    return asynError;
+}
+
+asynStatus C804Axis::stop(double acceleration) {
+    asynStatus status = asynSuccess;
+    static const char *functionName = "C804Axis::stop";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    bool moving = false;
+
+    poll(&moving);
+    if (moving) {
+        // ST = Stop
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dST", axisNo_);
+        status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Stop axis %d\n",
+                  functionName, axisNo_);
+    }
+
+    return status;
+}
+
+asynStatus C804Axis::home(double minVelocity, double maxVelocity,
+                          double acceleration, int forwards) {
+    asynStatus status = asynSuccess;
+    static const char *functionName = "C804Axis::home";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    snprintf(command, pC_->C804_MAXBUF_ - 1, "%dFE0",
+             axisNo_); // Home to the upper limit of the axis (25 mm)
+    status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE, "%s: Homing axis %d\n",
+              functionName, axisNo_);
+
+    return status;
+}
+
+/**
+If on is 0, disable the motor, otherwise enable it.
+ */
+asynStatus C804Axis::enable(int on) {
+    asynStatus status = asynSuccess;
+    static const char *functionName = "C804Axis::enable";
+    char command[pC_->C804_MAXBUF_], response[pC_->C804_MAXBUF_];
+
+    if (on == 0) {
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMF", axisNo_);
+        status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE,
+                  "%s: Disable axis %d\n", functionName, axisNo_);
+    } else {
+        snprintf(command, pC_->C804_MAXBUF_ - 1, "%dMN", axisNo_);
+        status = pC_->lowLevelWriteRead(axisNo_, command, response, false);
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACEIO_DEVICE,
+                  "%s: Enable axis %d\n", functionName, axisNo_);
+    }
+    return status;
+}

sinqEPICSApp/src/C804Axis.h

@@ -0,0 +1,43 @@
+#ifndef C804Axis_H
+#define C804Axis_H
+
+#include "SINQAxis.h"
+#include "SINQController.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 pollNoUpdate(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

sinqEPICSApp/src/C804Controller.cpp

@@ -0,0 +1,456 @@
+/**
+Overview EPICS documentation
+- https://docs.epics-controls.org/en/latest/index.html
+- https://epics.anl.gov/modules/soft/asyn/R4-29/asynDriver.html
+- https://www.physicstom.com/epics/
+- https://epics.anl.gov/modules/soft/asyn/R4-20/asynDriver.pdf
+ */
+
+#include "C804Controller.h"
+#include "asynOctetSyncIO.h"
+#include <errlog.h>
+#include <string.h>
+#include <unistd.h>
+#include <iocsh.h>
+#include <epicsExport.h>
+#include <registryFunction.h>
+
+const double C804Controller::C804_TIMEOUT_ = 5.0;
+
+static const char *driverName = "C804Controller";
+/*
+In SINQ, this constructor is usually called by its C interface function via the IOC shell.
+A typical call looks like that (taken from SANS instrument st.cmd):
+
+    pmacAsynIPConfigure("pmcu1","sans1-mcu1:1025")
+    pmacV3CreateController("mcu1","pmcu1",0,9,50,10000);
+    pmacV3CreateAxis("mcu1",1,0);
+    pmacV3CreateAxis("mcu1",2,0);
+    pmacV3CreateAxis("mcu1",3,0);
+    pmacV3CreateAxis("mcu1",4,0);
+    pmacV3CreateAxis("mcu1",5,0);
+    pmacV3CreateAxis("mcu1",6,0);
+    pmacV3CreateAxis("mcu1",7,0);
+    pmacV3CreateAxis("mcu1",8,0);
+
+The first call creates a port object in EPICS (port 1025 in this specific case) with the name "pmcu1".
+
+The second call creates the controller with the following arguments:
+- portName = "mcu1": The controller is registered by this name in EPICS. The axes
+constructors below use the name to get the controller pointer from EPICS.
+- lowLevelPortName = "pmcu1": The EPICS controller object connects to the physical
+device via the port object "pmcu1".
+- lowLevelPortAddress = 0: Connects to port 0 of asynOctetSyncIO. asynOctetSyncIO
+is an interface for ASCII-string-based message communication between driver and device.
+This value seems to be always zero (at least for all pmacAsynIPConfigure in the SINQ IOCs)
+- numAxes = 9: Constructs the array "pAxes_" with space for 9 axis pointers (see below).
+In the axes constructors below, we use the array indices 1 to 8, hence leaving the
+first element of the array unitialized (it has index 0). This is mainly a convenience
+to avoid talking about an "axis 0" when meaning the first axis.
+- movingPollPeriod: The method C804Controller::poll is called in a loop every
+movingPollPeriod seconds when the axis is moving
+- idlePollPeriod: The method C804Controller::poll is called in a loop every
+idlePollPeriod seconds when the axis is not moving
+*/
+C804Controller::C804Controller(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+                               int numAxes, double movingPollPeriod, double idlePollPeriod, const int &extraParams)
+    : SINQController(portName, lowLevelPortName, numAxes, extraParams)
+{
+
+    // Definition of local variables.
+    asynStatus status = asynSuccess;
+
+    /*
+    functionName is overwritten by the name of the current function in each method
+    of C804Controller. This is used for feedback messages to the user.
+    */
+    static const char *functionName = "C804Controller::C804Controller";
+
+    /*
+    Update: We don't need this array, since all axes accesses are done
+    with the getAxis-function, which accesses the base class array
+
+    ============================================================================
+
+    The array pAxes_ is a member of the superclass asynMotorController and is
+    allocated when calling the constructor of asynMotorController, which
+    is done by the constructor of SINQController:
+
+        pAxes_ = (asynMotorAxis**) calloc(numAxes, sizeof(asynMotorAxis*));
+
+    Therefore, on this line we create a pointer to that array while interpreting
+    every pointer in it as one to a C804Axis. This is valid because we populate
+    the array in the constructor of C804Axis and can therefore be sure that
+    all asynMotorAxis pointers in asynMotorController::pAxes_ are in fact pointers
+    to C804Axis axes.
+
+    Interestingly, this array usually is leaked after destruction of asynMotorController
+    (n this class, we clean it up in the constructor).
+    The reason for that is that the EPICS devices are usually created only once at
+    the start of the program and the memory is cleaned up by the OS.
+    */
+    // pAxes_ = (C804Axis **)(asynMotorController::pAxes_);
+
+    // Initialize non static data members
+    lowLevelPortUser_ = NULL;
+    movingPollPeriod_ = movingPollPeriod;
+    idlePollPeriod_ = idlePollPeriod;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, we return an error message.
+    */
+    status = pasynOctetSyncIO->connect(lowLevelPortName, lowLevelPortAddress, &lowLevelPortUser_, NULL);
+    if (status != asynSuccess)
+    {
+        /*
+        ASYN_TRACE_ERROR is a mask for the trace of asynUser (member variable this->lowLevelPortUser_)
+        The different mask options are listed on this page: https://epics.anl.gov/modules/soft/asyn/R4-29/asynDriver.html (section AsynTrace):
+
+            0x1   ASYN_TRACE_ERROR Run time errors are reported, e.g. timeouts.
+            0x2   ASYN_TRACEIO_DEVICE Device support reports I/O activity.
+            0x4   ASYN_TRACEIO_FILTER Any layer between device support and the low level driver reports any filtering it does on I/O.
+            0x8   ASYN_TRACEIO_DRIVER Low level driver reports I/O activity.
+            0x10  ASYN_TRACE_FLOW Report logic flow. Device support should report all queue requests, callbacks entered, and all calls to drivers. Layers between device support and low level drivers should report all calls they make to lower level drivers. Low level drivers report calls they make to other support.
+            0x20  ASYN_TRACE_WARNING Report warnings, i.e. conditions that are between ASYN_TRACE_ERROR and ASYN_TRACE_FLOW.
+
+        To see the output of these functions e.g. on the shell, a trace mask needs
+        to be set:
+
+            asynSetTraceIOMask("L0", -1, 0x2)
+            asynSetTraceMask("L0", -1, 0x9) <- this enables 0x8 + 0x1 => ASYN_TRACE_ERROR and ASYN_TRACEIO_DRIVER
+
+        https://github-wiki-see.page/m/ISISComputingGroup/ibex_developers_manual/wiki/ASYN-Trace-Masks-(Debugging-IOC,-ASYN)
+
+        Here, we are unable to connect to the controller, which is a runtime error -> ASYN_TRACE_ERROR.
+        However, since lowLevelPortUser_ might still be NULL (because
+        pasynOctetSyncIO->connect failed for some reason), we use the alternative
+        EPICS function errlogPrintf. This function does not provide a timestamp
+        and masking facilities.
+        */
+        // asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+        //           "%s: cannot connect to C804 controller\n",
+        //           functionName); // Asyn-framework function, needs to be configured by setTraceMasks
+        errlogPrintf("Fatal error in %s: cannot connect to C804 controller\n", functionName);
+        exit(-1);
+    }
+
+    /*
+    Here we define the terminators for messages sent to / received from the
+    physical device (Eos = End of string).
+    In the C804 manual, the terminator for an outgoing message is specified as
+    (rtn) == Carriage Return. From https://en.wikipedia.org/wiki/Escape_sequences_in_C:
+    (rtn) => \r
+
+    An incoming report is terminated by a CRLF ETX (again referring to https://en.wikipedia.org/wiki/Escape_sequences_in_C)
+    CR => \r
+    LF (line feed) = \n
+    ETX (end-of-text, see https://www.asciitable.com/) => \x03
+    */
+    const char *message_to_device = "\r";
+    const char *message_from_device = "\x03";
+    pasynOctetSyncIO->setOutputEos(lowLevelPortUser_, message_to_device, strlen(message_to_device));    // Output: from EPICS to device
+    pasynOctetSyncIO->setInputEos(lowLevelPortUser_, message_from_device, strlen(message_from_device)); // Input: from device to EPICS
+
+    /*
+    See documentation of function in asynMotorController.cpp:
+    "Starts the motor poller thread.
+    * Derived classes will typically call this at near the end of their constructor.
+    [...]
+    "
+    The function arguments are:
+    * movingPollPeriod The time between polls when any axis is moving (in seconds).
+    * idlePollPeriod The time between polls when no axis is moving (in seconds).
+    * forcedFastPolls The number of times to force the movingPollPeriod after waking up the poller.
+    */
+    startPoller(movingPollPeriod, idlePollPeriod, 1);
+
+    /*
+    After changing values in the parameter library (e.g. by calls to setIntegerParam),
+    the PV's need to be updated. This is done explictly by callParamCallbacks()
+    callParamCallbacks due to the separation asyn - EPICS (param lib vs. driver support)
+    */
+    callParamCallbacks();
+}
+
+C804Controller::~C804Controller(void)
+{
+    /*
+    Cleanup of the memory allocated in the asynMotorController constructor
+    */
+    free(this->pAxes_);
+}
+
+/*
+Access one of the axes of the controller via the axis adress stored in asynUser.
+If the axis does not exist or is not a C804Axis, a nullptr is returned and an error is emitted.
+*/
+C804Axis *C804Controller::getAxis(asynUser *pasynUser)
+{
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
+    return C804Controller::castToC804Axis(asynAxis);
+}
+
+/*
+Access one of the axes of the controller via the axis index.
+If the axis does not exist or is not a C804Axis, the function must return Null
+*/
+C804Axis *C804Controller::getAxis(int axisNo)
+{
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
+    return C804Controller::castToC804Axis(asynAxis);
+}
+
+C804Axis *C804Controller::castToC804Axis(asynMotorAxis *asynAxis)
+{
+    static const char *functionName = "C804Controller::getAxis";
+
+    // If the axis slot of the pAxes_ array is empty, a nullptr must be returned
+    if (asynAxis == nullptr)
+    {
+        return nullptr;
+    }
+
+    // Here, an error is emitted since asyn_axis is not a nullptr but also not an instance of C804Axis
+    C804Axis *axis = dynamic_cast<C804Axis *>(asynAxis);
+    if (axis == nullptr)
+    {
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: Axis %d is not a C804 Axis", functionName, axis->axisNo_);
+    }
+    return axis;
+}
+
+/*
+Sends the given command to the axis specified by axisNo and returns the response
+of the axis.
+*/
+asynStatus C804Controller::lowLevelWriteRead(int axisNo, const char *command, char *response, bool expect_response)
+{
+    // Definition of local variables.
+    static const char *functionName = "C804Controller::lowLevelWriteRead";
+    asynStatus status = asynSuccess;
+    C804Axis *axis = getAxis(axisNo);
+
+    if (axis == nullptr)
+    {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    // TBD: Is this interpretation correct?
+    int eomReason = 0;    // Flag indicating why the message has ended
+    size_t nbytesOut = 0; // Number of bytes of the outgoing message (which is command + the end-of-string terminator defined in the constructor)
+    size_t nbytesIn = 0;  // Number of bytes of the incoming message (which is response + the end-of-string terminator defined in the constructor)
+
+    // If the class instance could not be connected to the device, set an error flag.
+    if (lowLevelPortUser_ == nullptr)
+    {
+        asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s: not connected to C804 controller\n",
+                  functionName);
+
+        // Adjust the parameter library
+        setIntegerParam(this->motorStatusCommsError_, 1);
+        return asynError;
+    }
+
+    // Mask ASYN_TRACEIO_DRIVER is defined as "Device support reports I/O activity"
+    asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER, "%s: command: %s\n", functionName, command);
+
+    // Writes the command to the port and blocks until a response has been received or until the timeout has been reached.
+    // For some inputs (such as TP = Tell position), we expect a response which is terminated by a character array "x03"
+    // Other messages such as MA100 (move) don't return a response
+    if (expect_response)
+    {
+        status = pasynOctetSyncIO->writeRead(lowLevelPortUser_,
+                                             command, strlen(command),
+                                             response, this->C804_MAXBUF_,
+                                             C804_TIMEOUT_,
+                                             &nbytesOut, &nbytesIn, &eomReason);
+    }
+    else
+    {
+        status = pasynOctetSyncIO->write(lowLevelPortUser_,
+                                         command, strlen(command),
+                                         C804_TIMEOUT_,
+                                         &nbytesOut);
+    }
+
+    // Writing and/or reading succeded
+    if (status == asynSuccess)
+    {
+        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER, "%s: device response: %s\n", functionName, response);
+
+        // Reset any error which might have been set
+        setIntegerParam(this->motorStatusCommsError_, 0);
+    }
+    else
+    {
+        asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s: asynOctetSyncIO->writeRead failed for command %s on axis %d\n",
+                  functionName, command, axisNo);
+
+        setIntegerParam(this->motorStatusCommsError_, 1);
+    }
+
+    // Block the thread to avoid sending too many messages in a short timeframe
+    usleep(interMessageSleep);
+
+    return status;
+}
+
+/*************************************************************************************/
+/** The following functions are C-wrappers, and can be called directly from iocsh */
+
+extern "C"
+{
+
+    /*
+    C wrapper for the C804Controller constructor.
+    */
+    asynStatus C804CreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+                                    int numAxes, double movingPollPeriod, double idlePollPeriod)
+    {
+        /*
+        We create a new instance of C804CreateController, using the "new" keyword to allocate it
+        on the heap while avoiding RAII.
+        TBD: Where is the pointer to the controller stored?
+        https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
+        https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
+
+        Setting the pointer to nullptr / NULL immediately after construction is simply
+        done to avoid compiler warnings, see page 7 of this document:
+        https://subversion.xray.aps.anl.gov/synApps/measComp/trunk/documentation/measCompTutorial.pdf
+        */
+        C804Controller *pController = new C804Controller(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod, idlePollPeriod);
+        pController = nullptr;
+
+        return asynSuccess;
+    }
+
+    /*
+    C wrapper for the C804Axis constructor.
+    See C804Axis::C804Axis.
+    */
+    asynStatus C804CreateAxis(const char *C804Name, int axis)
+    {
+        C804Axis *pAxis;
+
+        static const char *functionName = "C804CreateAxis";
+
+        /*
+        findAsynPortDriver is a asyn library FFI function which uses the C ABI.
+        Therefore it returns a void pointer instead of e.g. a pointer to a superclass
+        of the controller such as asynPortDriver. Type-safe upcasting via dynamic_cast
+        is therefore not possible directly. However, we do know that the void
+        pointer is either a pointer to asynPortDriver (if a driver with the specified name exists)
+        or a nullptr. Therefore, we first do a nullptr check, then a cast to asynPortDriver
+        and lastly a (typesafe) dynamic_upcast to C804Controller
+        https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
+         */
+        void *ptr = findAsynPortDriver(C804Name);
+        if (ptr == nullptr)
+        {
+            /*
+            We can't use asynPrint here since this macro would require us
+            to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
+            However, the given pointer is a nullptr and therefore doesn't
+            have a lowLevelPortUser_! printf is an EPICS alternative which
+            works w/o that, but doesn't offer the comfort provided
+            by the asynTrace-facility
+            */
+            printf("%s:%s: Error port %s not found\n", driverName, functionName, C804Name);
+            return asynError;
+        }
+        // Unsafe cast of the pointer to an asynPortDriver
+        asynPortDriver *apd = (asynPortDriver *)(ptr);
+
+        // Safe downcast
+        C804Controller *pC = dynamic_cast<C804Controller *>(apd);
+        if (pC == nullptr)
+        {
+            printf("%s: controller on port %s is not a C804Controller\n", functionName, C804Name);
+            return asynError;
+        }
+
+        // Prevent manipulation of the controller from other threads while we create the new axis.
+        pC->lock();
+
+        /*
+        We create a new instance of C804Axis, using the "new" keyword to allocate it
+        on the heap while avoiding RAII. In the constructor, a pointer to the new object is stored in
+        the controller object "pC". Therefore, the axis instance can still be
+        reached later by quering "pC".
+
+        Setting the pointer to nullptr / NULL immediately after construction is simply
+        done to avoid compiler warnings, see page 7 of this document:
+        https://subversion.xray.aps.anl.gov/synApps/measComp/trunk/documentation/measCompTutorial.pdf
+        */
+        pAxis = new C804Axis(pC, axis);
+        pAxis = nullptr;
+
+        // Allow manipulation of the controller again
+        pC->unlock();
+        return asynSuccess;
+    }
+
+    /*
+    This is boilerplate code which is used to make the FFI functions
+    C804CreateController and C804CreateAxis "known" to the IOC shell (iocsh).
+    TBD: If the code is compiled for running on vxWorks, this registration is
+    apparently not necessary?
+    */
+
+#ifdef vxWorks
+#else
+
+    /*
+    Define name and type of the arguments for the C804CreateController function
+    in the iocsh. This is done by creating structs with the argument names and types
+    and then providing "factory" functions (configC804CreateControllerCallFunc).
+    These factory functions are used to register the constructors during compilation.
+    */
+    static const iocshArg C804CreateControllerArg0 = {"Controller port name", iocshArgString};
+    static const iocshArg C804CreateControllerArg1 = {"Low level port name", iocshArgString};
+    static const iocshArg C804CreateControllerArg2 = {"Low level port address", iocshArgInt};
+    static const iocshArg C804CreateControllerArg3 = {"Number of axes", iocshArgInt};
+    static const iocshArg C804CreateControllerArg4 = {"Moving poll rate (s)", iocshArgDouble};
+    static const iocshArg C804CreateControllerArg5 = {"Idle poll rate (s)", iocshArgDouble};
+    static const iocshArg *const C804CreateControllerArgs[] = {&C804CreateControllerArg0,
+                                                               &C804CreateControllerArg1,
+                                                               &C804CreateControllerArg2,
+                                                               &C804CreateControllerArg3,
+                                                               &C804CreateControllerArg4,
+                                                               &C804CreateControllerArg5};
+    static const iocshFuncDef configC804CreateController = {"C804CreateController", 6, C804CreateControllerArgs};
+    static void configC804CreateControllerCallFunc(const iocshArgBuf *args)
+    {
+        C804CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].dval, args[5].dval);
+    }
+
+    /*
+    Same procedure as for the C804CreateController function, but for the axis itself.
+    */
+    static const iocshArg C804CreateAxisArg0 = {"Controller port name", iocshArgString};
+    static const iocshArg C804CreateAxisArg1 = {"Axis number", iocshArgInt};
+    static const iocshArg *const C804CreateAxisArgs[] = {&C804CreateAxisArg0,
+                                                         &C804CreateAxisArg1};
+    static const iocshFuncDef configC804CreateAxis = {"C804CreateAxis", 2, C804CreateAxisArgs};
+    static void configC804CreateAxisCallFunc(const iocshArgBuf *args)
+    {
+        C804CreateAxis(args[0].sval, args[1].ival);
+    }
+
+    // This function is made known to EPICS in sinq.dbd and is called by EPICS
+    // in order to register both functions in the IOC shell
+    // TBD: Does this happen during compilation?
+    static void C804ControllerRegister(void)
+    {
+        iocshRegister(&configC804CreateController, configC804CreateControllerCallFunc);
+        iocshRegister(&configC804CreateAxis, configC804CreateAxisCallFunc);
+    }
+    epicsExportRegistrar(C804ControllerRegister);
+
+#endif
+
+} // extern "C"

sinqEPICSApp/src/C804Controller.h

@@ -0,0 +1,50 @@
+#ifndef C804Controller_H
+#define C804Controller_H
+
+#include "SINQController.h"
+#include "C804Axis.h"
+#include "asynMotorAxis.h"
+
+class C804Controller : public SINQController
+{
+public:
+  C804Controller(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod,
+                 double idlePollPeriod, const int &extraParams = 2);
+
+  virtual ~C804Controller();
+
+  /* These are the methods that we override */
+  C804Axis *getAxis(asynUser *pasynUser);
+  C804Axis *getAxis(int axisNo);
+
+protected:
+  asynUser *lowLevelPortUser_;
+
+  // User-defined polling periods in ms
+  time_t movingPollPeriod_;
+  time_t idlePollPeriod_;
+
+  void log(const char *message);
+  C804Axis *castToC804Axis(asynMotorAxis *asynAxis);
+  asynStatus lowLevelWriteRead(int axisNo, const char *command, char *response, bool expect_response);
+
+private:
+  // Set the maximum buffer size. This is an empirical value which must be large
+  // enough to avoid overflows for all commands to the device / responses from it.
+  static const uint32_t C804_MAXBUF_ = 200;
+
+  /*
+  When trying to communicate with the device, the underlying asynOctetSyncIO
+  interface waits for a response until this time (in seconds) has passed,
+  then it declares a timeout. This variable has to be specified in the .cpp-file.
+  Tying to specify in the .h-file results in the following compiler error:
+  In file included from ../sinqEPICSApp/src/C804Axis.cpp:2:
+  ../sinqEPICSApp/src/C804Controller.h:38:23: error: ‘constexpr’ needed for in-class initialization
+  of static data member ‘const double C804Controller::C804_TIMEOUT_’ of non-integral type
+  */
+  static const double C804_TIMEOUT_;
+
+  friend class C804Axis;
+};
+
+#endif

sinqEPICSApp/src/clang-format

@@ -0,0 +1,246 @@
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+

sinqEPICSApp/src/newPmacV3Axis.cpp

@@ -0,0 +1,990 @@
+#include "newPmacV3Axis.h"
+#include "asynOctetSyncIO.h"
+#include "newPmacV3Controller.h"
+#include <cmath>
+#include <errlog.h>
+#include <limits>
+#include <math.h>
+#include <string.h>
+#include <unistd.h>
+
+newPmacV3Axis::newPmacV3Axis(newPmacV3Controller *pC, int axisNo)
+    : asynMotorAxis(pC, axisNo), pC_(pC) {
+
+    static const char *functionName = "newPmacV3Axis::newPmacV3Axis";
+    asynStatus status = asynSuccess;
+
+    /*
+    The superclass constructor SINQAxis calls in turn its superclass constructor
+    asynMotorAxis. In the latter, a pointer to the constructed object this is
+    stored inside the array pAxes_:
+
+        pC->pAxes_[axisNo] = this;
+
+    Therefore, the axes are managed by the controller pC. See C804Controller.cpp
+    for further explanation. If axisNo is out of bounds, asynMotorAxis prints an
+    error (see
+    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorAxis.cpp,
+    line 40). However, we want the IOC creation to stop completely, since this
+    is a configuration error.
+    */
+    if (axisNo >= pC->numAxes_) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: Axis index %d must be smaller than the "
+                  "total number of axes %d. Terminating IOC.",
+                  functionName, axisNo_, pC->numAxes_);
+        exit(-1);
+    }
+
+    // Initialize all member variables
+    initial_poll_ = true;
+    waitForHandshake_ = false;
+
+    // Wait 10 seconds for the handshake until declaring a timeout
+    handshakeTimeout_ = 10;
+
+    // Placeholder, is overwritten later
+    time_at_init_poll_ = 0;
+
+    // After 3 idle polls, the parameter library definitely had enough time to
+    // be initialized
+    timeout_param_lib_init_ = 3 * pC->idlePollPeriod_;
+
+    // Provide initial values for some parameter library entries
+    status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: Setting an initial parameter library value "
+                  "for rereadEncoderPosition_ in axis %d. Terminating IOC.",
+                  functionName, axisNo_);
+        exit(-1);
+    }
+
+    status = pC_->setDoubleParam(axisNo_, pC_->motorPosition_, 0.0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: Setting an initial parameter library value "
+                  "for motorPosition_ in axis %d. Terminating IOC.",
+                  functionName, axisNo_);
+        exit(-1);
+    }
+
+    // This value is updated in the poll. Initially, we assume that the motor is
+    // not enabled.
+    status = pC_->setIntegerParam(axisNo_, pC_->motorEnabled_, 0);
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: Setting an initial parameter library value "
+                  "for motorPosition_ in axis %d. Terminating IOC.",
+                  functionName, axisNo_);
+        exit(-1);
+    }
+}
+
+newPmacV3Axis::~newPmacV3Axis(void) {
+    // Since the controller memory is managed somewhere else, we don't need to
+    // clean up the pointer pC here.
+}
+
+/*
+Read the configuration from the motor control unit and the parameter library.
+This operation is only allowed if the motor is not moving
+*/
+asynStatus newPmacV3Axis::readConfig() {
+
+    // Local variable declaration
+    static const char *functionName = "newPmacV3Axis::readConfig";
+    asynStatus status = asynSuccess;
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    int nvals = 0;
+    double highLimit = 0.0;
+    double lowLimit = 0.0;
+    double motorRecResolution = 0.0;
+    double position = 0.0;
+    int axStatus = 0;
+
+    // =========================================================================
+
+    // Motor resolution from parameter library
+    status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                                 &motorRecResolution);
+    if (status == asynParamUndefined) {
+        return asynParamUndefined;
+    } else if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, functionName,
+                                         "motorRecResolution_");
+    }
+
+    // Software limits and current position
+    snprintf(command, sizeof(command), "P%2.2d00 Q%2.2d10 Q%2.2d13 Q%2.2d14",
+             axisNo_, axisNo_, axisNo_, axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, true);
+    nvals = sscanf(response, "%d %lf %lf %lf", &axStatus, &position, &highLimit,
+                   &lowLimit);
+    if (pC_->checkNumExpectedReads(4, nvals, functionName, command, response,
+                                   axisNo_) != asynSuccess) {
+        return asynError;
+    }
+
+    // If the motor is not in idle status, do not read the configuration
+    if (axStatus != 0) {
+        return asynError;
+    }
+
+    // Transform from motor to user coordinates
+    position = position * motorRecResolution;
+    highLimit = highLimit * motorRecResolution;
+    lowLimit = lowLimit * motorRecResolution;
+
+    /*
+    The axis limits are set as: ({[]})
+    where [] are the positive and negative limits set in EPICS/NICOS, {} are the
+    software limits set on the MCU and () are the hardware limit switches. In
+    other words, the EPICS/NICOS limits must be stricter than the software
+    limits on the MCU which in turn should be stricter than the hardware limit
+    switches. For example, if the hardware limit switches are at [-10, 10], the
+    software limits could be at [-9, 9] and the EPICS / NICOS limits could be at
+    [-8, 8]. Therefore, we cannot use the software limits read from the MCU
+    directly, but need to shrink them a bit. In this case, we're shrinking them
+    by 0.1 mm or 0.1 degree (depending on the axis type) on both sides.
+    */
+    highLimit = highLimit - 0.1;
+    lowLimit = lowLimit + 0.1;
+
+    // Store these values in the parameter library
+    status = pC_->setDoubleParam(axisNo_, pC_->motorPosition_, position);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, functionName,
+                                         "motorPosition_");
+    }
+    status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimit_, lowLimit);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, functionName,
+                                         "motorLowLimit_");
+    }
+    status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimit_, highLimit);
+    if (status != asynSuccess) {
+        return pC_->paramLibAccessFailed(status, functionName,
+                                         "motorHighLimit_");
+    }
+
+    // Update the parameter library immediately
+    status = callParamCallbacks();
+    if (status != asynSuccess) {
+        // If we can't communicate with the parameter library, it doesn't make
+        // sense to try and upstream this to the user -> Just log the error
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Updating the parameter library failed for axis %d\n",
+                  functionName, axisNo_);
+        return status;
+    }
+
+    return this->readEncoderType();
+}
+
+asynStatus newPmacV3Axis::poll(bool *moving) {
+    // Local variable declaration
+    static const char *functionName = "newPmacV3Axis::poll";
+    asynStatus pl_status = asynSuccess;
+    asynStatus poll_status = asynSuccess;
+
+    // =========================================================================
+
+    // If this poll is the initial poll, check if the parameter library has
+    // already been initialized. If not, force EPCIS to repeat the poll until
+    // the initialization is complete (or until a timeout is reached). Once the
+    // parameter library has been initialized, read configuration data from the
+    // motor controller into it.
+    if (initial_poll_) {
+
+        if (time_at_init_poll_ == 0) {
+            time_at_init_poll_ = time(NULL);
+        }
+
+        if (time(NULL) > (time_at_init_poll_ + timeout_param_lib_init_)) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s: FATAL ERROR: Could not initialize the parameter "
+                      "library until the timeout of %ld seconds after IOC "
+                      "startup. Terminating IOC.",
+                      functionName, timeout_param_lib_init_);
+            exit(-1);
+        }
+
+        poll_status = readConfig();
+        if (poll_status == asynSuccess) {
+            initial_poll_ = false;
+        } else if (poll_status == asynParamUndefined) {
+            // Wait for 100 ms until trying the entire poll again
+            usleep(100000);
+            return poll_status;
+        } else {
+            // Something else went completly wrong => Abort the program
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s: FATAL ERROR: Reading a value from the parameter "
+                      "library failed for axis %d (%s). Terminating",
+                      functionName, axisNo_,
+                      pC_->stringifyAsynStatus(poll_status));
+            exit(-1);
+        }
+    }
+
+    // The poll function is just a wrapper around pollNoUpdate and
+    // handles mainly the callParamCallbacks() function. This wrapper is used
+    // to make sure callParamCallbacks() is called in case of a premature
+    // return.
+    poll_status = newPmacV3Axis::pollNoUpdate(moving);
+
+    // If the poll status is ok, reset the error indicators in the parameter
+    // library
+    if (poll_status == asynSuccess) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, false);
+        if (pl_status != asynSuccess) {
+            pC_->paramLibAccessFailed(pl_status, functionName,
+                                      "motorStatusProblem_");
+        }
+        pl_status = setIntegerParam(pC_->motorStatusCommsError_, false);
+        if (pl_status != asynSuccess) {
+            pC_->paramLibAccessFailed(pl_status, functionName,
+                                      "motorStatusCommsError_");
+        }
+    }
+
+    // According to the function documentation of asynMotorAxis::poll, this
+    // function should be called at the end of a poll implementation.
+    pl_status = callParamCallbacks();
+    if (pl_status != asynSuccess) {
+        // If we can't communicate with the parameter library, it doesn't make
+        // sense to try and upstream this to the user -> Just log the error
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Updating the parameter library failed for axis %d\n",
+                  functionName, axisNo_);
+        poll_status = pl_status;
+    }
+
+    return poll_status;
+}
+
+// Perform the actual poll
+asynStatus newPmacV3Axis::pollNoUpdate(bool *moving) {
+
+    // Return value for the poll
+    asynStatus poll_status = asynSuccess;
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    static const char *functionName = "newPmacV3Axis::poll";
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    int nvals = 0;
+
+    int direction = 0;
+    int error = 0;
+    int axStatus = 0;
+    double currentPosition = 0.0;
+    double previousPosition = 0.0;
+    double motorRecResolution = 0.0;
+    int handshakePerformed = 0;
+
+    // =========================================================================
+
+    // Are we currently waiting for a handshake?
+    if (waitForHandshake_) {
+        snprintf(command, sizeof(command), "P%2.2d23", axisNo_);
+        rw_status = pC_->writeRead(axisNo_, command, response, true);
+        if (rw_status != asynSuccess) {
+            return rw_status;
+        }
+
+        nvals = sscanf(response, "%d", &handshakePerformed);
+        if (pC_->checkNumExpectedReads(1, nvals, functionName, command,
+                                       response, axisNo_) != asynSuccess) {
+            return asynError;
+        }
+
+        if (handshakePerformed == 1) {
+            // Handshake has been performed successfully -> Continue with the
+            // poll
+            waitForHandshake_ = false;
+        } else {
+            // Still waiting for the handshake. This is already part of the
+            // movement procedure!
+            if (time(NULL) < timeAtHandshake_ + handshakeTimeout_) {
+                *moving = true;
+                return asynSuccess;
+            } else {
+                // Timed out when waiting for the handshake
+                asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                          "%s: Axis %d timed out when waiting for the "
+                          "handshake with the MCU.\n",
+                          functionName, axisNo_);
+                pl_status = setStringParam(
+                    pC_->messageText_, "Handshake timed out. This is a bug.");
+                if (pl_status != asynSuccess) {
+                    return pC_->paramLibAccessFailed(pl_status, functionName,
+                                                     "messageText_");
+                }
+                waitForHandshake_ = false;
+                return asynError;
+            }
+        }
+    }
+
+    // Motor resolution from parameter library
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                                    &motorRecResolution);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorRecResolution_");
+    }
+
+    // Read the previous motor position
+    pl_status =
+        pC_->getDoubleParam(axisNo_, pC_->motorPosition_, &previousPosition);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorPosition_");
+    }
+
+    // Check the axis status (Pxx00) and the current motor position (Qxx10)
+    snprintf(command, sizeof(command), "P%2.2d00 Q%2.2d10 P%2.2d01", axisNo_,
+             axisNo_, axisNo_);
+    rw_status = pC_->writeRead(axisNo_, command, response, true);
+    if (rw_status != asynSuccess) {
+        return rw_status;
+    }
+
+    nvals = sscanf(response, "%d %lf %d", &axStatus, &currentPosition, &error);
+    if (pC_->checkNumExpectedReads(3, nvals, functionName, command, response,
+                                   axisNo_) != asynSuccess) {
+        return asynError;
+    }
+
+    // Intepret the status
+    switch (axStatus) {
+    case -6:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d is stopping\n", functionName, axisNo_);
+        *moving = true;
+        break;
+    case -5:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d is deactivated\n", functionName, axisNo_);
+        *moving = false;
+
+        pl_status = setStringParam(pC_->messageText_, "Deactivated");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        // No further evaluation of the axis status is necessary
+        return asynSuccess;
+    case -4:
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s: Emergency stop has been activated. All axes are stopped.\n",
+            functionName);
+        *moving = false;
+
+        pl_status = setStringParam(pC_->messageText_, "Emergency stop");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        // No further evaluation of the axis status is necessary
+        return asynSuccess;
+    case -3:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d is inhibited\n", functionName, axisNo_);
+        *moving = false;
+
+        pl_status = setStringParam(pC_->messageText_, "Disabled");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        // No further evaluation of the axis status is necessary
+        return asynSuccess;
+    case 0:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d is ready for movement\n", functionName, axisNo_);
+        *moving = false;
+        break;
+    case 1:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Move order for %d acknowledged\n", functionName,
+                  axisNo_);
+        *moving = true;
+        break;
+    case 2:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Move order for %d is possible\n", functionName, axisNo_);
+        *moving = true;
+        break;
+    case 3:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: %d in Air Cushion Outout status\n", functionName,
+                  axisNo_);
+        *moving = true;
+        break;
+    case 4:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: %d in Air Cushion Input status\n", functionName,
+                  axisNo_);
+        *moving = true;
+        break;
+    case 5:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+                  "%s: Axis %d is moving\n", functionName, axisNo_);
+        *moving = true;
+        break;
+    default:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Reached unreachable state P%2.2d00 = %d.\n",
+                  functionName, axisNo_, axStatus);
+        pl_status =
+            setStringParam(pC_->messageText_,
+                           "Unreachable state has been reached. This is a bug");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+        *moving = false;
+    }
+
+    if (*moving) {
+        // If the axis is moving, evaluate the movement direction
+        if ((currentPosition - previousPosition) > 0) {
+            direction = 1;
+        } else {
+            direction = 0;
+        }
+    }
+
+    // Error handling
+    switch (error) {
+    case 0:
+        // No error
+        break;
+    case 1:
+        // EPICS should already prevent this issue in the first place,
+        // since it contains the user limits
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Target position would exceed user limits in axis "
+                  "%d. EPICS should prevent an out-of-bounds target "
+                  "position, this is a bug.\n",
+                  functionName, axisNo_);
+
+        pl_status =
+            setStringParam(pC_->messageText_,
+                           "Target position would exceed software limits. This "
+                           "is a bug.");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    case 5:
+        // Command not possible
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Axis %d is still moving, but received another move "
+                  "command. EPICS should prevent this, this is a bug.\n",
+                  functionName, axisNo_);
+
+        pl_status = setStringParam(pC_->messageText_,
+                                   "Axis received move command while it is "
+                                   "still moving. This is a bug.");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    case 10:
+        /*
+        Software limits of the controller have been hit. Since the EPICS limits
+        are derived from the software limits and are a little bit smaller, this
+        error case can only happen if either the axis has an incremental encoder
+        which is not properly homed or if a bug occured.
+        */
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+                  "%s: Axis %d hit the controller limits. Try homing the axis, "
+                  "if that doesn't remove the error, this is a bug.\n",
+                  functionName, axisNo_);
+
+        snprintf(command, sizeof(command),
+                 "Software limits hit (P%2.2d01 = %d). Try homing the motor. "
+                 "If that doesn't work, contact the support",
+                 axisNo_, error);
+        pl_status = setStringParam(pC_->messageText_, command);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    case 11:
+        // Following error
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Maximum allowed following error exceeded for axis %d.\n",
+                  functionName, axisNo_);
+
+        snprintf(command, sizeof(command),
+                 "Maximum allowed following error exceeded (P%2.2d01 = 11). "
+                 "Please contact Electronics support.",
+                 axisNo_);
+        pl_status = setStringParam(pC_->messageText_, command);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    case 13:
+        // Watchdog of the controller final stage triggered
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Driver hardware error triggered for axis %d.\n",
+                  functionName, axisNo_);
+
+        snprintf(command, sizeof(command),
+                 "Driver hardware error (P%2.2d01 = 13). "
+                 "Please contact Electronics support.",
+                 axisNo_);
+        pl_status = setStringParam(pC_->messageText_, command);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    case 14:
+        // EPICS should already prevent this issue in the first place,
+        // since it contains the user limits
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Target position would exceed hardware limits in axis "
+                  "%d. Homing might be necessary.\n",
+                  functionName, axisNo_);
+
+        snprintf(command, sizeof(command),
+                 "Move command exceeds hardware limits (P%2.2d01 = %d). Try "
+                 "homing the motor. If that doesn't work, contact the support",
+                 axisNo_, error);
+        pl_status = setStringParam(pC_->messageText_, command);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    default:
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Axis %d reached an unreachable state (P%2.2d01 = %d).\n",
+                  functionName, axisNo_, axisNo_, error);
+
+        pl_status = setStringParam(pC_->messageText_,
+                                   "Axis reached an unreachable state. Please "
+                                   "contact electronics support");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+
+        poll_status = asynError;
+        break;
+    }
+
+    // Update the parameter library
+    if (error != 0) {
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "motorStatusProblem_");
+        }
+    }
+
+    if (*moving == false) {
+        pl_status = setIntegerParam(pC_->motorMoveToHome_, 0);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "motorMoveToHome_");
+        }
+    }
+
+    pl_status =
+        setIntegerParam(pC_->motorEnabled_, (axStatus != -3 && axStatus != -5));
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorEnabled_");
+    }
+
+    pl_status = setIntegerParam(pC_->motorStatusMoving_, *moving);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorStatusMoving_");
+    }
+
+    pl_status = setIntegerParam(pC_->motorStatusDone_, !(*moving));
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorStatusDone_");
+    }
+
+    pl_status = setIntegerParam(pC_->motorStatusDirection_, direction);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorStatusDirection_");
+    }
+
+    pl_status = setDoubleParam(pC_->motorPosition_, currentPosition);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorPosition_");
+    }
+
+    return poll_status;
+}
+
+asynStatus newPmacV3Axis::move(double position, int relative,
+                               double minVelocity, double maxVelocity,
+                               double acceleration) {
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    static const char *functionName = "newPmacV3Axis::move";
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    double motorCoordinatesPosition = 0.0;
+    int enabled = 0;
+    double motorRecResolution = 0.0;
+
+    // =========================================================================
+
+    pl_status = pC_->getIntegerParam(axisNo_, pC_->motorEnabled_, &enabled);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorEnabled_");
+    }
+
+    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution_,
+                                    &motorRecResolution);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "motorRecResolution_");
+    }
+
+    if (enabled == 0) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Axis %d is disabled\n", functionName, axisNo_);
+        return asynSuccess;
+    }
+
+    // Convert from user to motor units
+    motorCoordinatesPosition = position / motorRecResolution;
+
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+              "%s: Start of axis %d to position %lf\n", functionName, axisNo_,
+              position);
+
+    // Perform handshake, Set target position and start the move command
+
+    if (relative) {
+        snprintf(command, sizeof(command), "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2",
+                 axisNo_, axisNo_, motorCoordinatesPosition, axisNo_);
+    } else {
+        snprintf(command, sizeof(command), "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1",
+                 axisNo_, axisNo_, motorCoordinatesPosition, axisNo_);
+    }
+
+    // We don't expect an answer
+    rw_status = pC_->writeRead(axisNo_, command, response, false);
+    if (rw_status != asynSuccess) {
+        asynPrint(
+            pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s: Starting movement to target position %lf failed for axis %d\n",
+            functionName, position, axisNo_);
+        pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "motorStatusProblem_");
+        }
+        return rw_status;
+    }
+
+    // In the next poll, we will check if the handshake has been performed in a
+    // reasonable time
+    waitForHandshake_ = true;
+    timeAtHandshake_ = time(NULL);
+
+    return rw_status;
+}
+
+asynStatus newPmacV3Axis::stop(double acceleration) {
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    static const char *functionName = "newPmacV3Axis::stopAxis";
+    bool moving = false;
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+
+    // =========================================================================
+
+    pl_status = pollNoUpdate(&moving);
+    if (pl_status != asynSuccess) {
+        return pl_status;
+    }
+
+    if (moving) {
+        // only send a stop when actually moving
+        snprintf(command, sizeof(command), "M%2.2d=8", axisNo_);
+        rw_status = pC_->writeRead(axisNo_, command, response, false);
+
+        if (rw_status != asynSuccess) {
+            asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s: Stopping the movement failed for axis %d\n",
+                      functionName, axisNo_);
+
+            pl_status = setIntegerParam(pC_->motorStatusProblem_, true);
+            if (pl_status != asynSuccess) {
+                return pC_->paramLibAccessFailed(pl_status, functionName,
+                                                 "motorStatusProblem_");
+            }
+        }
+    }
+    return rw_status;
+}
+
+/*
+Home the axis. On absolute encoder systems, this is a no-op
+*/
+asynStatus newPmacV3Axis::home(double min_velocity, double max_velocity,
+                               double acceleration, int forwards) {
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    static const char *functionName = "newPmacV3Axis::home";
+
+    // =========================================================================
+
+    pl_status =
+        pC_->getStringParam(axisNo_, pC_->encoderType_, pC_->MAXBUF_, response);
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "encoderType_");
+    }
+
+    // Only send the home command if the axis has an incremental encoder
+    if (strcmp(response, IncrementalEncoder) == 0) {
+        snprintf(command, sizeof(command), "M%2.2d=9", axisNo_);
+        rw_status = pC_->writeRead(axisNo_, command, response, false);
+        if (rw_status != asynSuccess) {
+            return rw_status;
+        }
+
+        pl_status = setIntegerParam(pC_->motorMoveToHome_, 1);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "motorMoveToHome_");
+        }
+
+        pl_status = setStringParam(pC_->messageText_, "Homing");
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, functionName,
+                                             "messageText_");
+        }
+    }
+
+    return rw_status;
+}
+
+/*
+Read the encoder type and update the parameter library accordingly
+*/
+asynStatus newPmacV3Axis::readEncoderType() {
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    static const char *functionName = "newPmacV3Axis::readEncoderType";
+    int nvals = 0;
+    int encoder_id = 0;
+    char encoderType[pC_->MAXBUF_];
+
+    // =========================================================================
+
+    // Check if this is an absolute encoder
+    snprintf(command, sizeof(command), "I%2.2X04", axisNo_);
+    rw_status = pC_->writeRead(axisNo_, command, response, true);
+    if (rw_status != asynSuccess) {
+        return rw_status;
+    }
+
+    int reponse_length = strlen(response);
+    if (reponse_length < 3) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: Unexpected reponse '%s' from axis %d on "
+                  "controller %s while reading the encoder type. Aborting...\n",
+                  functionName, response, axisNo_, pC_->portName);
+        return asynError;
+    }
+
+    // We are only interested in the last two digits and the last value in
+    // the string before the terminator is \r
+    nvals = sscanf(response + (reponse_length - 3), "%2X", &encoder_id);
+    if (pC_->checkNumExpectedReads(1, nvals, functionName, command, response,
+                                   axisNo_) != asynSuccess) {
+        return asynError;
+    }
+
+    snprintf(command, sizeof(command), "P46");
+    rw_status = pC_->writeRead(axisNo_, command, response, true);
+    if (rw_status != asynSuccess) {
+        return rw_status;
+    }
+    int number_of_axes = strtol(response, NULL, 10);
+
+    // If true, the encoder is incremental
+    if (encoder_id <= number_of_axes) {
+        pl_status = setStringParam(pC_->encoderType_, IncrementalEncoder);
+    } else {
+        pl_status = setStringParam(pC_->encoderType_, AbsoluteEncoder);
+    }
+
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "encoderType_");
+    }
+    return asynSuccess;
+}
+
+asynStatus newPmacV3Axis::enable(int on) {
+
+    static const char *functionName = "newPmacV3Axis::enable";
+    int ax_status = 0;
+    int timeout_enable_disable = 2;
+    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    int nvals = 0;
+
+    // Status of read-write-operations of ASCII commands to the controller
+    asynStatus rw_status = asynSuccess;
+
+    // Status of parameter library operations
+    asynStatus pl_status = asynSuccess;
+
+    // =========================================================================
+
+    // Check if the axis is currently enabled
+    snprintf(command, sizeof(command), "P%2.2d00", axisNo_);
+    rw_status = pC_->writeRead(axisNo_, command, response, true);
+    if (rw_status != asynSuccess) {
+        return rw_status;
+    }
+
+    nvals = sscanf(response, "%d", &ax_status);
+    if (pC_->checkNumExpectedReads(1, nvals, functionName, command, response,
+                                   axisNo_) != asynSuccess) {
+        return asynError;
+    }
+
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+              "%s: Axis status %d, new input %d \n", functionName, ax_status,
+              on);
+
+    // Axis is already enabled / disabled and a new enable / disable command
+    // was sent => Do nothing
+    if ((ax_status != -3) == on) {
+        asynPrint(pC_->pasynUserSelf, ASYN_TRACE_WARNING,
+                  "%s: axis %d on controller %s is already %s\n", functionName,
+                  axisNo_, pC_->portName, on ? "enabled" : "disabled");
+        return asynSuccess;
+    }
+
+    // Enable / disable the axis
+    snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+              "%s: %s axis %d on controller %s\n", functionName,
+              on ? "Enable" : "Disable", axisNo_, pC_->portName);
+    if (on == 0) {
+        pl_status = setStringParam(pC_->messageText_, "Disabling ...");
+    } else {
+        pl_status = setStringParam(pC_->messageText_, "Enabling ...");
+    }
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "messageText_");
+    }
+    rw_status = pC_->writeRead(axisNo_, command, response, false);
+    if (rw_status != asynSuccess) {
+        return rw_status;
+    }
+
+    // Query the axis status every few milliseconds until the axis has been
+    // enabled or until the timeout has been reached
+    snprintf(command, sizeof(command), "P%2.2d00", axisNo_);
+    int startTime = time(NULL);
+    while (time(NULL) < startTime + timeout_enable_disable) {
+
+        // Read the axis status
+        usleep(100000);
+        rw_status = pC_->writeRead(axisNo_, command, response, true);
+        if (rw_status != asynSuccess) {
+            return rw_status;
+        }
+        nvals = sscanf(response, "%d", &ax_status);
+        if (pC_->checkNumExpectedReads(1, nvals, functionName, command,
+                                       response, axisNo_) != asynSuccess) {
+            return asynError;
+        }
+
+        if ((ax_status != -3) == on) {
+            bool moving = false;
+            // Perform a poll to update the parameter library
+            poll(&moving);
+            return asynSuccess;
+        }
+    }
+
+    // Failed to change axis status within timeout_enable_disable => Send a
+    // corresponding message
+    asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
+              "%s: Failed to %s axis %d on controller %s within %d seconds\n",
+              functionName, on ? "enable" : "disable", axisNo_, pC_->portName,
+              timeout_enable_disable);
+
+    // Output message to user
+    snprintf(command, sizeof(command), "Failed to %s within %d seconds",
+             on ? "enable" : "disable", timeout_enable_disable);
+    pl_status = setStringParam(pC_->messageText_, "Enabling ...");
+    if (pl_status != asynSuccess) {
+        return pC_->paramLibAccessFailed(pl_status, functionName,
+                                         "messageText_");
+    }
+    return asynError;
+}

sinqEPICSApp/src/newPmacV3Axis.h

@@ -0,0 +1,41 @@
+#ifndef pmacV3AXIS_H
+#define pmacV3AXIS_H
+#include "asynMotorAxis.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 newPmacV3Controller;
+
+class newPmacV3Axis : public asynMotorAxis {
+  public:
+    /* These are the methods we override from the base class */
+    newPmacV3Axis(newPmacV3Controller *pController, int axisNo);
+    virtual ~newPmacV3Axis();
+    asynStatus move(double position, int relative, 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 pollNoUpdate(bool *moving);
+    asynStatus enable(int on);
+    asynStatus readEncoderType();
+
+  protected:
+    newPmacV3Controller *pC_;
+
+    void checkBounds(newPmacV3Controller *pController, int axisNo);
+    asynStatus readConfig();
+    bool initial_poll_;
+    bool waitForHandshake_;
+    time_t timeAtHandshake_;
+    time_t handshakeTimeout_;
+    time_t time_at_init_poll_;
+    time_t timeout_param_lib_init_;
+
+  private:
+    friend class newPmacV3Controller;
+};
+
+#endif

sinqEPICSApp/src/newPmacV3Controller.cpp

@@ -0,0 +1,813 @@
+
+#include "newPmacV3Controller.h"
+#include "asynMotorController.h"
+#include "asynOctetSyncIO.h"
+#include "newPmacV3Axis.h"
+#include <epicsExport.h>
+#include <errlog.h>
+#include <iocsh.h>
+#include <netinet/in.h>
+#include <registryFunction.h>
+#include <string.h>
+#include <unistd.h>
+
+static const char *driverName = "newPmacV3Controller";
+
+// Static pointers (valid for the entire lifetime of the IOC). The number behind
+// the strings gives the integer number of each variant (see also method
+// stringifyAsynStatus)
+static const char *asynSuccessStringified = "success";           // 0
+static const char *asynTimeoutStringified = "timeout";           // 1
+static const char *asynOverflowStringified = "overflow";         // 2
+static const char *asynErrorStringified = "error";               // 3
+static const char *asynDisconnectedStringified = "disconnected"; // 4
+static const char *asynDisabledStringified = "disabled";         // 5
+static const char *asynParamAlreadyExistsStringified =
+    "parameter already exists";                                           // 6
+static const char *asynParamNotFoundStringified = "parameter not found";  // 7
+static const char *asynParamWrongTypeStringified = "wrong type";          // 8
+static const char *asynParamBadIndexStringified = "bad index";            // 9
+static const char *asynParamUndefinedStringified = "parameter undefined"; // 10
+static const char *asynParamInvalidListStringified = "invalid list";      // 11
+
+const double newPmacV3Controller::TIMEOUT_ = 5.0; // seconds
+
+/*
+Constructor arguments
+- portName:
+- lowLevelPortName
+- numAxes
+- movingPollPeriod: Time between polls when moving (in seconds)
+- idlePollPeriod: Time between polls when not moving (in seconds)
+*/
+newPmacV3Controller::newPmacV3Controller(const char *portName,
+                                         const char *lowLevelPortName,
+                                         int numAxes, double movingPollPeriod,
+                                         double idlePollPeriod,
+                                         const int &extraParams)
+    : asynMotorController(
+          portName, numAxes, NUM_MOTOR_DRIVER_PARAMS + extraParams,
+          0, // No additional interfaces beyond those in base class
+          0, // No additional callback interfaces beyond those in base class
+          ASYN_CANBLOCK | ASYN_MULTIDEVICE,
+          1,    // autoconnect
+          0, 0) // Default priority and stack size
+
+{
+
+    // Initialization of local variables
+    static const char *functionName =
+        "newPmacV3Controller::newPmacV3Controller";
+    asynStatus status = asynSuccess;
+
+    // Initialization of all member variables
+    lowLevelPortUser_ = nullptr;
+
+    // =========================================================================;
+
+    /*
+    We try to connect to the port via the port name provided by the constructor.
+    If this fails, the function is terminated via exit
+    */
+    pasynOctetSyncIO->connect(lowLevelPortName, 0, &lowLevelPortUser_, NULL);
+    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
+        errlogPrintf("FATAL ERROR: in %s: cannot connect to MCU controller\n. "
+                     "Terminating",
+                     functionName);
+        exit(-1);
+    }
+
+    // =========================================================================
+    // Create additional PVs
+
+    // MOTOR_MESSAGE_TEXT corresponds to the PV definition inside
+    // sinqn_asyn_motor.db. This text is used to forward status messages to
+    // NICOS and in turn to the user
+    status = createParam("MOTOR_MESSAGE_TEXT", asynParamOctet, &messageText_);
+    if (status != asynSuccess) {
+        paramLibAccessFailed(status, functionName, "messageText_");
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("ENABLE_AXIS", asynParamInt32, &enableMotor_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("AXIS_ENABLED", asynParamInt32, &motorEnabled_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("ENCODER_TYPE", asynParamOctet, &encoderType_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
+                         &rereadEncoderPosition_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("REREAD_ENCODER_POSITION_RBV", asynParamInt32,
+                         &rereadEncoderPositionRBV_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status =
+        createParam("MOTOR_POSITION_RBV", asynParamFloat64, &motorPositionRBV_);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
+                  "%s: FATAL ERROR: unable to create parameter (%s). "
+                  "Terminating IOC.\n",
+                  functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    /*
+    Define the end-of-string of a message coming from the device to EPICS.
+    It is not necessary to append a terminator to outgoing messages, since
+    the message length is encoded in the message header in the getSetResponse
+    method.
+    */
+    const char *message_from_device =
+        "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
+                // is terminated by this value
+    status = pasynOctetSyncIO->setInputEos(
+        lowLevelPortUser_, message_from_device, strlen(message_from_device));
+    if (status != asynSuccess) {
+        asynPrint(
+            this->pasynUserSelf, ASYN_TRACE_ERROR,
+            "%s: FATAL ERROR: Unable to set input EOS (%s). Terminating IOC.\n",
+            functionName, stringifyAsynStatus(status));
+        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        exit(-1);
+    }
+
+    status = startPoller(movingPollPeriod, idlePollPeriod, 1);
+    if (status != asynSuccess) {
+        asynPrint(
+            lowLevelPortUser_, ASYN_TRACE_ERROR,
+            "%s: FATAL ERROR: Could not start poller (%s). Terminating IOC.\n",
+            functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+    status = callParamCallbacks();
+    if (status != asynSuccess) {
+        asynPrint(
+            lowLevelPortUser_, ASYN_TRACE_ERROR,
+            "%s: FATAL ERROR: Could not start poller (%s). Terminating IOC.\n",
+            functionName, stringifyAsynStatus(status));
+        exit(-1);
+    }
+}
+
+newPmacV3Controller::~newPmacV3Controller(void) {
+    /*
+    Cleanup of the memory allocated in the asynMotorController constructor
+    */
+    free(this->pAxes_);
+}
+
+/*
+Access one of the axes of the controller via the axis adress stored in asynUser.
+If the axis does not exist or is not a Axis, a nullptr is returned and an
+error is emitted.
+*/
+newPmacV3Axis *newPmacV3Controller::getAxis(asynUser *pasynUser) {
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(pasynUser);
+    return newPmacV3Controller::castToAxis(asynAxis);
+}
+
+/*
+Access one of the axes of the controller via the axis index.
+If the axis does not exist or is not a Axis, the function must return Null
+*/
+newPmacV3Axis *newPmacV3Controller::getAxis(int axisNo) {
+    asynMotorAxis *asynAxis = asynMotorController::getAxis(axisNo);
+    return newPmacV3Controller::castToAxis(asynAxis);
+}
+
+newPmacV3Axis *newPmacV3Controller::castToAxis(asynMotorAxis *asynAxis) {
+    static const char *functionName = "newPmacV3Controller::getAxis";
+
+    // =========================================================================
+
+    // If the axis slot of the pAxes_ array is empty, a nullptr must be returned
+    if (asynAxis == nullptr) {
+        return nullptr;
+    }
+
+    // Here, an error is emitted since asyn_axis is not a nullptr but also not
+    // an instance of Axis
+    newPmacV3Axis *axis = dynamic_cast<newPmacV3Axis *>(asynAxis);
+    if (axis == nullptr) {
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s: Axis %d is not an instance of newPmacV3Axis",
+                  functionName, axis->axisNo_);
+    }
+    return axis;
+}
+
+/*
+Sends the given command to the axis specified by axisNo and returns the response
+of the axis.
+*/
+asynStatus newPmacV3Controller::writeRead(int axisNo, const char *command,
+                                          char *response,
+                                          bool expect_response) {
+    // Definition of local variables.
+    static const char *functionName = "newPmacV3Controller::writeRead";
+    asynStatus status = asynSuccess;
+    asynStatus pl_status = asynSuccess;
+    char full_command[MAXBUF_] = {0};
+    char user_message[MAXBUF_] = {0};
+    int motorStatusProblem = 0;
+
+    // Send the message and block the thread until either a response has been
+    // received or the timeout is triggered
+    int eomReason = 0; // Flag indicating why the message has ended
+    // Number of bytes of the outgoing message (which is command + the
+    // end-of-string terminator defined in the constructor)
+    size_t nbytesOut = 0;
+    // Number of bytes of the incoming message (which is response + the
+    // end-of-string terminator defined in the constructor)
+    size_t nbytesIn = 0;
+
+    // =========================================================================
+
+    newPmacV3Axis *axis = getAxis(axisNo);
+    if (axis == nullptr) {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    /*
+    The message protocol of the pmacV3 used at PSI looks as follows (all
+    characters immediately following each other without a newline):
+    0x40 (ASCII value of @) -> Request for download
+    0xBF (ASCII value of ¿) -> Select mode "get_response"
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    0x00 (ASCII value of 0)
+    [message length in network byte order] -> Use the htons function for this
+    value [Actual message] It is not necessary to append a terminator, since
+    this protocol encodes the message length at the beginning. See Turbo PMAC
+    User Manual, page 418 in VR_PMAC_GETRESPONSE
+
+    The message has to be build manually into the buffer full_command, since it
+    contains NULL terminators in its middle, therefore the string manipulation
+    methods of C don't work.
+    */
+
+    // The entire message is equal to the command length
+    const size_t commandLength =
+        strlen(command) + 1; // +1 because of the appended /r
+    const int offset = 8;
+
+    // Positions 2 to 6 must have the value 0. Since full_command is initialized
+    // as an array of zeros, we don't need to set these bits manually.
+    full_command[0] = '\x40';
+    full_command[1] = '\xBF';
+    full_command[7] = commandLength;
+
+    snprintf((char *)full_command + offset, MAXBUF_ - offset, "%s\r", command);
+    asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
+              "%s: Sending command: %s\n", functionName, full_command);
+
+    // Perform the actual writeRead
+    status = pasynOctetSyncIO->writeRead(
+        lowLevelPortUser_, full_command, commandLength + offset, response,
+        MAXBUF_, TIMEOUT_, &nbytesOut, &nbytesIn, &eomReason);
+
+    /*
+    If we expect a response, check if we got one. If no response was received,
+    flush the PMAC and try again. If that fails as well, return an error
+    */
+    if (expect_response && strlen(response) == 0) {
+        // Flush message as defined in Turbo PMAC User Manual, p. 430:
+        // \x40\xB3000
+        // VR_DOWNLOAD = \x40
+        // VR_PMAC_FLUSH = \xB3
+        char flush_msg[5] = {0};
+        flush_msg[0] = '\x40';
+        flush_msg[1] = '\xB3';
+        size_t nbytesOut = 0;
+        status = pasynOctetSyncIO->write(lowLevelPortUser_, flush_msg, 5,
+                                         TIMEOUT_, &nbytesOut);
+
+        // Wait after the flush so the MCU has time to prepare for the
+        // next command
+        usleep(100000);
+
+        if (status == asynSuccess) {
+            // If flushing the MCU succeded, try to send the command again
+            status = pasynOctetSyncIO->writeRead(
+                lowLevelPortUser_, full_command, commandLength + offset,
+                response, MAXBUF_, TIMEOUT_, &nbytesOut, &nbytesIn, &eomReason);
+
+            // If the command returned an empty string for the second time, give
+            // up and propagate the error.
+            if (strlen(response) == 0) {
+                status = asynError;
+            }
+        } else {
+            asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
+                      "%s: Unable to flush MCU (%s).\n", functionName,
+                      stringifyAsynStatus(status));
+        }
+    }
+
+    // Create custom error messages for different failure modes
+    switch (status) {
+    case asynSuccess:
+        break; // Communicate nothing
+    case asynTimeout:
+        snprintf(user_message, sizeof(user_message),
+                 "connection timeout for axis %d", axisNo);
+        break;
+    case asynDisconnected:
+        snprintf(user_message, sizeof(user_message), "axis is not connected");
+        break;
+    case asynDisabled:
+        snprintf(user_message, sizeof(user_message), "axis is disabled");
+        break;
+    default:
+        snprintf(user_message, sizeof(user_message),
+                 "Communication failed (%s)", stringifyAsynStatus(status));
+        break;
+    }
+
+    if (status != asynSuccess) {
+        // Check if the axis already is in an error communication mode. If it is
+        // not, upstream the error. This is done to avoid "flooding" the user
+        // with different error messages if more than one error ocurred before
+        // an error-free communication
+
+        pl_status =
+            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
+        if (pl_status != asynSuccess) {
+            return paramLibAccessFailed(pl_status, functionName,
+                                        "motorStatusProblem_");
+        }
+
+        if (motorStatusProblem == 0) {
+            pl_status = axis->setStringParam(this->messageText_, user_message);
+            if (pl_status != asynSuccess) {
+                return paramLibAccessFailed(pl_status, functionName,
+                                            "messageText_");
+            }
+        }
+    }
+
+    // Log the overall status (communication successfull or not)
+    if (status == asynSuccess) {
+        asynPrint(lowLevelPortUser_, ASYN_TRACEIO_DRIVER,
+                  "%s: device response: %s\n", functionName, response);
+        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+    } else {
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR,
+                  "%s: asynOctetSyncIO->writeRead failed for command %s on "
+                  "axis %d (%s)\n",
+                  functionName, command, axisNo, stringifyAsynStatus(status));
+        pl_status = axis->setIntegerParam(this->motorStatusCommsError_, 1);
+    }
+
+    if (pl_status != asynSuccess) {
+        return paramLibAccessFailed(pl_status, functionName,
+                                    "motorStatusCommsError_");
+    }
+
+    return asynSuccess;
+}
+
+asynStatus newPmacV3Controller::writeInt32(asynUser *pasynUser,
+                                           epicsInt32 value) {
+
+    int function = pasynUser->reason;
+    asynStatus status = asynSuccess;
+    static const char *functionName = "newPmacV3Controller::writeInt32";
+
+    // =========================================================================
+
+    newPmacV3Axis *axis = getAxis(pasynUser);
+    if (axis == nullptr) {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    // Handle custom PVs
+    if (function == enableMotor_) {
+        return axis->enable(value);
+
+    } else if (function == rereadEncoderPosition_) {
+
+        char encoderType[MAXBUF_] = {0};
+
+        /*
+        This is not a command that can always be run when enabling a
+        motor as it also causes relative encoders to reread a position
+        necessitating recalibration. We only want it to run on absolute
+        encoders. We also want it to be clear to instrument scientists, that
+        power has to be cut to the motor, in order to reread the encoder as not
+        all motors have breaks and they may start to move when disabled. For
+        that reason, we don't automatically disable the motors to run the
+        command and instead require that the scientists first disable the motor.
+        */
+
+        if (!value) {
+            return asynSuccess;
+        }
+
+        // Poll the current status of the axis
+        bool moving = false;
+        status = axis->poll(&moving);
+        if (status != asynSuccess) {
+            return status;
+        }
+
+        // Check if this is an absolute encoder
+        status = axis->readEncoderType();
+        if (status != asynSuccess) {
+            return status;
+        }
+
+        status = getStringParam(axis->axisNo_, encoderType_, encoderType);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, functionName, "encoderType_");
+        }
+
+        // Abort if the axis is incremental
+        if (strcmp(encoderType, IncrementalEncoder) == 0) {
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_WARNING,
+                      "%s: Trying to reread absolute encoder of axis %d on "
+                      "controller %s, but it is a relative encoder.\n",
+                      functionName, axis->axisNo_, portName);
+            status = setStringParam(messageText_,
+                                    "Cannot reread an incremental encoder.");
+            if (status != asynSuccess) {
+                return paramLibAccessFailed(status, functionName,
+                                            "messageText_");
+            }
+            return asynError;
+        }
+
+        // Check if the axis is disabled. If not, inform the user that this
+        // is necessary
+        int enabled = 0;
+        status = getIntegerParam(axis->axisNo_, motorEnabled_, &enabled);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, functionName, "motorEnabled_");
+        }
+
+        if (enabled == 1) {
+            asynPrint(this->pasynUserSelf, ASYN_TRACE_WARNING,
+                      "%s: Axis %d on controller %s must be disabled before "
+                      "rereading the encoder.\n",
+                      functionName, axis->axisNo_, portName);
+            status = setStringParam(
+                messageText_,
+                "Axis must be disabled before rereading the encoder.");
+            if (status != asynSuccess) {
+                return paramLibAccessFailed(status, functionName,
+                                            "messageText_");
+            }
+            return asynError;
+        }
+
+        // Switching on the axis while the rereading process is still ongoing
+        // causes it to fail. We currently have no way to check if it is
+        // actually finished, so we instead wait for 0.5 seconds.
+        usleep(500000);
+
+        // turn off parameter as finished rereading
+        // this will only be immediately noticed in the read back variable
+        // though
+        status = axis->setIntegerParam(rereadEncoderPosition_, 0);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, functionName,
+                                        "rereadEncoderPosition_");
+        }
+        return asynSuccess;
+
+    } else {
+
+        return asynMotorController::writeInt32(pasynUser, value);
+    }
+}
+
+/*
+Overloaded from asynMotorController because the special cases "motor enabling"
+and "rereading the encoder" must be covered.
+*/
+asynStatus newPmacV3Controller::readInt32(asynUser *pasynUser,
+                                          epicsInt32 *value) {
+
+    int function = pasynUser->reason;
+    asynStatus status = asynError;
+    static const char *functionName = "newPmacV3Controller::readInt32";
+
+    // =====================================================================
+
+    newPmacV3Axis *axis = getAxis(pasynUser);
+    if (axis == nullptr) {
+        // We already did the error logging directly in getAxis
+        return asynError;
+    }
+
+    if (function == rereadEncoderPositionRBV_) {
+        // Readback value for rereadEncoderPosition
+        status = getIntegerParam(axis->axisNo_, rereadEncoderPosition_, value);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, functionName,
+                                        "rereadEncoderPosition_");
+        }
+        status =
+            setIntegerParam(axis->axisNo_, rereadEncoderPositionRBV_, *value);
+        if (status != asynSuccess) {
+            return paramLibAccessFailed(status, functionName,
+                                        "rereadEncoderPositionRBV_");
+        }
+
+        // Update the PVs from the parameter library
+        return callParamCallbacks();
+    } else {
+        return asynMotorController::readInt32(pasynUser, value);
+    }
+}
+
+const char *newPmacV3Controller::stringifyAsynStatus(asynStatus status) {
+    // See
+    // https://github.com/epics-modules/asyn/blob/master/asyn/asynDriver/asynDriver.h
+    // and
+    // https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/paramErrors.h
+    // for the definition of the error codes
+    switch (status) {
+    case asynSuccess:
+        return asynSuccessStringified;
+    case asynTimeout:
+        return asynTimeoutStringified;
+    case asynOverflow:
+        return asynOverflowStringified;
+    case asynError:
+        return asynErrorStringified;
+    case asynDisconnected:
+        return asynDisconnectedStringified;
+    case asynDisabled:
+        return asynDisabledStringified;
+    case asynParamAlreadyExists:
+        return asynParamAlreadyExistsStringified;
+    case asynParamNotFound:
+        return asynParamNotFoundStringified;
+    case asynParamWrongType:
+        return asynParamWrongTypeStringified;
+    case asynParamBadIndex:
+        return asynParamBadIndexStringified;
+    case asynParamUndefined:
+        return asynParamUndefinedStringified;
+    case asynParamInvalidList:
+        return asynParamInvalidListStringified;
+    }
+
+    asynPrint(this->lowLevelPortUser_, ASYN_TRACE_ERROR,
+              "newPmacV3Controller::stringifyAsynStatus: FATAL error: Reached "
+              "unreachable code. Terminating\n");
+    exit(-1);
+}
+
+asynStatus newPmacV3Controller::paramLibAccessFailed(asynStatus status,
+                                                     const char *functionName,
+                                                     const char *parameter) {
+    char message[MAXBUF_] = {0};
+    snprintf(message, sizeof(message),
+             "Accessing the parameter library failed for parameter %s (%s). "
+             "This is a bug, please inform the software support.\n",
+             parameter, stringifyAsynStatus(status));
+
+    // Log the error message and try to propagate it
+    asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: %s", functionName,
+              message);
+    setStringParam(messageText_, message);
+    return status;
+}
+
+asynStatus newPmacV3Controller::checkNumExpectedReads(int expected, int read,
+                                                      const char *functionName,
+                                                      const char *command,
+                                                      const char *response,
+                                                      int axisNo_) {
+    if (expected == read) {
+        return asynSuccess;
+    } else {
+        char message[MAXBUF_] = {0};
+        snprintf(message, sizeof(message),
+                 "Could not interpret response %s for command %s (axis %d). "
+                 "This is a bug.",
+                 response, command, axisNo_);
+        asynPrint(lowLevelPortUser_, ASYN_TRACE_ERROR, "%s: %s", functionName,
+                  message);
+        setStringParam(messageText_, message);
+        setIntegerParam(motorStatusCommsError_, 1);
+        return asynError;
+    }
+}
+
+/*************************************************************************************/
+/** The following functions are C-wrappers, and can be called directly from
+ * iocsh */
+
+extern "C" {
+
+/*
+C wrapper for the Controller constructor.
+*/
+asynStatus newPmacV3CreateController(const char *portName,
+                                     const char *lowLevelPortName, int numAxes,
+                                     double movingPollPeriod,
+                                     double idlePollPeriod) {
+    /*
+    We create a new instance of CreateController, using the "new" keyword to
+    allocate it on the heap while avoiding RAII. TBD: Where is the pointer to
+    the controller stored?
+    https://github.com/epics-modules/motor/blob/master/motorApp/MotorSrc/asynMotorController.cpp
+    https://github.com/epics-modules/asyn/blob/master/asyn/asynPortDriver/asynPortDriver.cpp
+
+    Setting the pointer to nullptr / NULL immediately after construction is
+    simply done to avoid compiler warnings, see page 7 of this document:
+    https://subversion.xray.aps.anl.gov/synApps/measComp/trunk/documentation/measCompTutorial.pdf
+    */
+    newPmacV3Controller *pController = new newPmacV3Controller(
+        portName, lowLevelPortName, numAxes, movingPollPeriod, idlePollPeriod);
+    pController = NULL;
+
+    return asynSuccess;
+}
+
+/*
+C wrapper for the Axis constructor.
+See Axis::Axis.
+*/
+asynStatus newPmacV3CreateAxis(const char *port, int axis) {
+    newPmacV3Axis *pAxis;
+
+    static const char *functionName = "newPmacV3CreateAxis";
+
+    /*
+    findAsynPortDriver is a asyn library FFI function which uses the C ABI.
+    Therefore it returns a void pointer instead of e.g. a pointer to a
+    superclass of the controller such as asynPortDriver. Type-safe upcasting via
+    dynamic_cast is therefore not possible directly. However, we do know that
+    the void pointer is either a pointer to asynPortDriver (if a driver with the
+    specified name exists) or a nullptr. Therefore, we first do a nullptr check,
+    then a cast to asynPortDriver and lastly a (typesafe) dynamic_upcast to
+    Controller
+    https://stackoverflow.com/questions/70906749/is-there-a-safe-way-to-cast-void-to-class-pointer-in-c
+     */
+    void *ptr = findAsynPortDriver(port);
+    if (ptr == nullptr) {
+        /*
+        We can't use asynPrint here since this macro would require us
+        to get a lowLevelPortUser_ from a pointer to an asynPortDriver.
+        However, the given pointer is a nullptr and therefore doesn't
+        have a lowLevelPortUser_! printf is an EPICS alternative which
+        works w/o that, but doesn't offer the comfort provided
+        by the asynTrace-facility
+        */
+        printf("%s:%s: Error port %s not found\n", driverName, functionName,
+               port);
+        return asynError;
+    }
+    // Unsafe cast of the pointer to an asynPortDriver
+    asynPortDriver *apd = (asynPortDriver *)(ptr);
+
+    // Safe downcast
+    newPmacV3Controller *pC = dynamic_cast<newPmacV3Controller *>(apd);
+    if (pC == nullptr) {
+        printf("%s: controller on port %s is not a Controller\n", functionName,
+               port);
+        return asynError;
+    }
+
+    // Prevent manipulation of the controller from other threads while we create
+    // the new axis.
+    pC->lock();
+
+    /*
+    We create a new instance of Axis, using the "new" keyword to allocate it
+    on the heap while avoiding RAII. In the constructor, a pointer to the new
+    object is stored in the controller object "pC". Therefore, the axis instance
+    can still be reached later by quering "pC".
+
+    Setting the pointer to nullptr / NULL immediately after construction is
+    simply done to avoid compiler warnings, see page 7 of this document:
+    https://subversion.xray.aps.anl.gov/synApps/measComp/trunk/documentation/measCompTutorial.pdf
+    */
+    pAxis = new newPmacV3Axis(pC, axis);
+    pAxis = nullptr;
+
+    // Allow manipulation of the controller again
+    pC->unlock();
+    return asynSuccess;
+}
+
+/*
+This is boilerplate code which is used to make the FFI functions
+CreateController and CreateAxis "known" to the IOC shell (iocsh).
+TBD: If the code is compiled for running on vxWorks, this registration is
+apparently not necessary?
+*/
+
+#ifdef vxWorks
+#else
+
+/*
+Define name and type of the arguments for the CreateController function
+in the iocsh. This is done by creating structs with the argument names and types
+and then providing "factory" functions (configCreateControllerCallFunc).
+These factory functions are used to register the constructors during
+compilation.
+*/
+static const iocshArg CreateControllerArg0 = {"Controller port name",
+                                              iocshArgString};
+static const iocshArg CreateControllerArg1 = {"Low level port name",
+                                              iocshArgString};
+static const iocshArg CreateControllerArg2 = {"Number of axes", iocshArgInt};
+static const iocshArg CreateControllerArg3 = {"Moving poll rate (s)",
+                                              iocshArgDouble};
+static const iocshArg CreateControllerArg4 = {"Idle poll rate (s)",
+                                              iocshArgDouble};
+static const iocshArg *const CreateControllerArgs[] = {
+    &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
+    &CreateControllerArg3, &CreateControllerArg4};
+static const iocshFuncDef configNewPmacV3CreateController = {
+    "newPmacV3CreateController", 5, CreateControllerArgs};
+static void configNewPmacV3CreateControllerCallFunc(const iocshArgBuf *args) {
+    newPmacV3CreateController(args[0].sval, args[1].sval, args[2].ival,
+                              args[3].dval, args[4].dval);
+}
+
+/*
+Same procedure as for the CreateController function, but for the axis
+itself.
+*/
+static const iocshArg CreateAxisArg0 = {"Controller port name", iocshArgString};
+static const iocshArg CreateAxisArg1 = {"Axis number", iocshArgInt};
+static const iocshArg *const CreateAxisArgs[] = {&CreateAxisArg0,
+                                                 &CreateAxisArg1};
+static const iocshFuncDef configNewPmacV3CreateAxis = {"newPmacV3CreateAxis", 2,
+                                                       CreateAxisArgs};
+static void configNewPmacV3CreateAxisCallFunc(const iocshArgBuf *args) {
+    newPmacV3CreateAxis(args[0].sval, args[1].ival);
+}
+
+// This function is made known to EPICS in sinq.dbd and is called by EPICS
+// in order to register both functions in the IOC shell
+// TBD: Does this happen during compilation?
+static void newPmacV3ControllerRegister(void) {
+    iocshRegister(&configNewPmacV3CreateController,
+                  configNewPmacV3CreateControllerCallFunc);
+    iocshRegister(&configNewPmacV3CreateAxis,
+                  configNewPmacV3CreateAxisCallFunc);
+}
+epicsExportRegistrar(newPmacV3ControllerRegister);
+
+#endif
+
+} // extern "C"

sinqEPICSApp/src/newPmacV3Controller.h

@@ -0,0 +1,92 @@
+/********************************************
+ *  pmacV3Controller.h
+ *
+ * PMAC V3 controller driver based on the asynMotorController class
+ *
+ * Stefan Mathis, September 2024
+ ********************************************/
+
+#ifndef pmacV3Controller_H
+#define pmacV3Controller_H
+#include "asynMotorAxis.h"
+#include "asynMotorController.h"
+#include "newPmacV3Axis.h"
+
+#define IncrementalEncoder "Incremental encoder"
+#define AbsoluteEncoder "Absolute encoder"
+
+class newPmacV3Controller : public asynMotorController {
+
+  public:
+    newPmacV3Controller(const char *portName, const char *lowLevelPortName,
+                        int numAxes, double movingPollPeriod,
+                        double idlePollPeriod, const int &extraParams = 2);
+
+    virtual ~newPmacV3Controller();
+
+    /* Overloaded methods methods */
+    newPmacV3Axis *getAxis(asynUser *pasynUser);
+    newPmacV3Axis *getAxis(int axisNo);
+
+    // overloaded because we want to enable/disable the motor
+    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+
+    // overloaded because we want to read the axis state
+    asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
+
+    // // Overloaded to read configuration details from the motor records
+    // asynStatus drvUserCreate(asynUser *pasynUser, const char *drvInfo,
+    //                          const char **pptypeName, size_t *psize);
+
+  protected:
+    asynUser *lowLevelPortUser_;
+
+    asynStatus writeRead(int axisNo, const char *command, char *response,
+                         bool expect_response);
+
+    // Create a descriptive string out of an asynStatus which can be used for
+    // logging or communicating with the user
+    const char *stringifyAsynStatus(asynStatus status);
+    asynStatus paramLibAccessFailed(asynStatus status, const char *functionName,
+                                    const char *parameter);
+    asynStatus checkNumExpectedReads(int expected, int read,
+                                     const char *functionName,
+                                     const char *command, const char *response,
+                                     int axisNo_);
+    newPmacV3Axis *castToAxis(asynMotorAxis *asynAxis);
+
+  private:
+    // Set the maximum buffer size. This is an empirical value which must be
+    // large enough to avoid overflows for all commands to the device /
+    // responses from it.
+    static const uint32_t MAXBUF_ = 200;
+
+    /*
+    When trying to communicate with the device, the underlying asynOctetSyncIO
+    interface waits for a response until this time (in seconds) has passed,
+    then it declares a timeout. This variable has to be specified in the
+    .cpp-file.
+    */
+    static const double TIMEOUT_;
+
+    // Indices of additional PVs
+    int messageText_;
+    int enableMotor_;
+    int motorEnabled_;
+    int rereadEncoderPosition_;
+    int rereadEncoderPositionRBV_;
+    int readConfig_;
+    int encoderType_;
+    int motorPositionRBV_;
+
+    /*
+    If the time between two sent messages is too short, the MCU communication
+    module might "lose" an answer. To prevent this, a small delay is introduced
+    in EPICS after each message exchange. Unit is microseconds.
+    */
+    int afterMessageSleep_;
+
+    friend class newPmacV3Axis;
+};
+
+#endif /* pmacV3Controller_H */

sinqEPICSApp/src/sinq.dbd

@@ -6,9 +6,11 @@ registrar(PhytronRegister)
 registrar(EuroMoveRegister) 
 registrar(NanotecRegister) 
 registrar(pmacControllerRegister) 
+registrar(C804ControllerRegister) 
 registrar(pmacAsynIPPortRegister) 
 registrar(MasterMACSRegister) 
 registrar(SINQControllerRegister) 
+registrar(newPmacV3ControllerRegister) 
 
 #--------------------------------------------------------
 # With the PSI module build system, including these items actually