Updated sinqMotor

When the initialization fails, the motor will now try again during each
poll.

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "sinqmotor"]
+	path = sinqmotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqmotor
+[submodule "sinqMotor"]
+	path = sinqMotor
+	url = https://gitea.psi.ch/lin-epics-modules/sinqMotor

LICENSE.txt

@@ -0,0 +1,674 @@
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+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    {one line to give the program's name and a brief idea of what it does.}
+    Copyright (C) {year}  {name of author}
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    {project}  Copyright (C) {year}  {fullname}
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

Makefile

@@ -1,4 +1,4 @@
-# Use the PSI build system
+# Include the external Makefile
 include /ioc/tools/driver.makefile
 
 MODULE=turboPmac
@@ -8,28 +8,30 @@ ARCH_FILTER=RHEL%
 
 # Additional module dependencies
 REQUIRED+=motorBase
-REQUIRED+=sinqMotor
 
 # Specify the version of motorBase we want to build against
 motorBase_VERSION=7.2.2
 
-# Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.14
-
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/pmacAsynIPPort.h
 HEADERS += src/turboPmacAxis.h
 HEADERS += src/turboPmacController.h
 
 # Source files to build
+SOURCES += sinqMotor/src/msgPrintControl.cpp
+SOURCES += sinqMotor/src/sinqAxis.cpp
+SOURCES += sinqMotor/src/sinqController.cpp
 SOURCES += src/pmacAsynIPPort.c
 SOURCES += src/turboPmacAxis.cpp
 SOURCES += src/turboPmacController.cpp
 
 # Store the record files
+TEMPLATES += sinqMotor/db/asynRecord.db
+TEMPLATES += sinqMotor/db/sinqMotor.db
 TEMPLATES += db/turboPmac.db
 
 # This file registers the motor-specific functions in the IOC shell.
+DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
 USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -4,7 +4,7 @@
 
 ## Overview
 
-This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
+This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://gitea.psi.ch/lin-epics-modules/sinqMotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
 
 ## User guide
 
@@ -14,8 +14,6 @@ The folder "utils" contains utility scripts for working with pmac motor controll
 - writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
 - analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.
 
-
-
 ### IOC startup script
 
 turboPmac exports the following IOC shell functions:
@@ -54,11 +52,11 @@ setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
-epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
 epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
 dbLoadTemplate("$(TOP)/$(DRIVER_PORT).substitutions", "INSTR=$(INSTR)$(DRIVER_PORT):,CONTROLLER=$(DRIVER_PORT)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
+dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
 ```
 
 ### Additional records
@@ -73,4 +71,4 @@ Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-e
 
 ### How to build it
 
-Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver can be compiled and installed by running `make install` from the same directory where the Makefile is located. However, since it uses the git submodule sinqMotor, make sure that the correct version of the submodule repository is checked out AND the change is commited (`git status` shows no non-committed changes). Please see the section "Usage as static dependency" in https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md for more details.

db/turboPmac.db

@@ -31,3 +31,14 @@ record(longout, "$(INSTR)FlushHardware") {
     field(PINI, "NO")
     field(VAL, "1")
 }
+
+# If this PV is set to 1 (default), the position limits are read out from the 
+# controller. Otherwise, the limits given in the substitution file (DHLM and
+# DLLM) are used. 
+# This record is coupled to the parameter library via limFromHardware -> LIM_FROM_HARDWARE.
+record(longout, "$(INSTR)$(M):LimFromHardware") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIM_FROM_HARDWARE")
+    field(PINI, "YES")
+    field(VAL, "$(LIMFROMHARDWARE=1)")
+}

src/pmacAsynIPPort.c

@@ -496,7 +496,7 @@ static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
                     pPmacPvt->portName, thisRead);
     } else {
         asynPrint(pasynUser, ASYN_TRACE_ERROR,
-                  "%s read pmacReadReady failed status=%d,retval=%d\n",
+                  "%s read pmacReadReady failed status=%d, retval=%d\n",
                   pPmacPvt->portName, status, retval);
     }
     return retval;

src/turboPmacAxis.h

@@ -1,11 +1,10 @@
 #ifndef turboPmacAXIS_H
 #define turboPmacAXIS_H
-#include "sinqAxis.h"
+#include "sinqController.h"
+#include "turboPmacController.h"
+#include <memory>
 
-// Forward declaration of the controller class to resolve the cyclic dependency
-// between the controller and the axis .h-file. See
-// https://en.cppreference.com/w/cpp/language/class.
-class turboPmacController;
+struct turboPmacAxisImpl;
 
 class turboPmacAxis : public sinqAxis {
   public:
@@ -21,6 +20,7 @@ class turboPmacAxis : public sinqAxis {
     /**
      * @brief Destroy the turboPmacAxis
      *
+     * This destructor is necessary in order to use the PIMPL idiom.
      */
     virtual ~turboPmacAxis();
 
@@ -31,7 +31,7 @@ class turboPmacAxis : public sinqAxis {
      * value is currently not used.
      * @return asynStatus
      */
-    asynStatus stop(double acceleration);
+    virtual asynStatus stop(double acceleration);
 
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
@@ -43,7 +43,7 @@ class turboPmacAxis : public sinqAxis {
      * @param forwards
      * @return asynStatus
      */
-    asynStatus doHome(double minVelocity, double maxVelocity,
+    virtual asynStatus doHome(double minVelocity, double maxVelocity,
                               double acceleration, int forwards);
 
     /**
@@ -53,7 +53,7 @@ class turboPmacAxis : public sinqAxis {
      * @param moving
      * @return asynStatus
      */
-    asynStatus doPoll(bool *moving);
+    virtual asynStatus doPoll(bool *moving);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -66,8 +66,9 @@ class turboPmacAxis : public sinqAxis {
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
-                      double max_velocity, double acceleration);
+    virtual asynStatus doMove(double position, int relative,
+                              double min_velocity, double max_velocity,
+                              double acceleration);
 
     /**
      * @brief Readout of some values from the controller at IOC startup
@@ -79,7 +80,7 @@ class turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus init();
+    virtual asynStatus init();
 
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
@@ -87,7 +88,7 @@ class turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    asynStatus doReset();
+    virtual asynStatus doReset();
 
     /**
      * @brief Enable / disable the axis.
@@ -95,7 +96,7 @@ class turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    asynStatus enable(bool on);
+    virtual asynStatus enable(bool on);
 
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
@@ -103,14 +104,14 @@ class turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus readEncoderType();
+    virtual asynStatus readEncoderType();
 
     /**
      * @brief Trigger a rereading of the encoder position.
      *
      * @return asynStatus
      */
-    asynStatus rereadEncoder();
+    virtual asynStatus rereadEncoder();
 
     /**
      * @brief Interpret the error code and populate the user message accordingly
@@ -122,14 +123,29 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
 
-  protected:
+    /**
+     * @brief Check if the axis needs to run its initialization function
+     *
+     * @return true
+     * @return false
+     */
+    bool needInit();
+
+    /**
+     * @brief Instruct the axis to run its init() function during the next poll
+     *
+     * @param needInit
+     */
+    void setNeedInit(bool needInit);
+
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual turboPmacController *pController() override { return pC_; };
+
+  private:
     turboPmacController *pC_;
-
-    bool waitForHandshake_;
-    time_t timeAtHandshake_;
-
-    // The axis status is used when enabling / disabling the motor
-    int axisStatus_;
+    std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;
 };
 
 #endif

src/turboPmacController.cpp

@@ -31,6 +31,24 @@ void adjustResponseForPrint(char *dst, const char *src, size_t buf_length) {
     }
 }
 
+struct turboPmacControllerImpl {
+
+    // Timeout for the communication process in seconds
+    double comTimeout;
+
+    char lastResponse[sinqController::MAXBUF_];
+
+    // User for writing int32 values to the port driver.
+    asynUser *pasynInt32SyncIOipPort;
+
+    // Indices of additional PVs
+    int rereadEncoderPosition;
+    int readConfig;
+    int flushHardware;
+    int limFromHardware;
+};
+#define NUM_turboPmac_DRIVER_PARAMS 3
+
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
                                          int numAxes, double movingPollPeriod,
@@ -47,21 +65,25 @@ turboPmacController::turboPmacController(const char *portName,
 
 {
 
+    // The paramLib indices are populated with the calls to createParam
+    pTurboPmacC_ =
+        std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
+            .comTimeout = comTimeout,
+            .lastResponse = {0},
+        });
+
     // Initialization of local variables
     asynStatus status = asynSuccess;
 
-    // Initialization of all member variables
-    comTimeout_ = comTimeout;
-
     // Maximum allowed number of subsequent timeouts before the user is
     // informed.
-    maxSubsequentTimeouts_ = 10;
+    setMaxSubsequentTimeouts(10);
 
     // =========================================================================
     // Create additional parameter library entries
 
     status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
-                         &rereadEncoderPosition_);
+                         &pTurboPmacC_->rereadEncoderPosition);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -71,7 +93,8 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
+    status =
+        createParam("READ_CONFIG", asynParamInt32, &pTurboPmacC_->readConfig);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -81,7 +104,19 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("FLUSH_HARDWARE", asynParamInt32, &flushHardware_);
+    status = createParam("FLUSH_HARDWARE", asynParamInt32,
+                         &pTurboPmacC_->flushHardware);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
+    status = createParam("LIM_FROM_HARDWARE", asynParamInt32,
+                         &pTurboPmacC_->limFromHardware);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -100,7 +135,7 @@ turboPmacController::turboPmacController(const char *portName,
     const char *message_from_device =
         "\006"; // Hex-code for ACK (acknowledge) -> Each message from the MCU
                 // is terminated by this value
-    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort_,
+    status = pasynOctetSyncIO->setInputEos(pasynOctetSyncIOipPort(),
                                            message_from_device,
                                            strlen(message_from_device));
     if (status != asynSuccess) {
@@ -109,7 +144,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "(setting input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -121,7 +156,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 
@@ -131,17 +166,21 @@ turboPmacController::turboPmacController(const char *portName,
     We try to connect to the port via the port name provided by the constructor.
     If this fails, the function is terminated via exit.
     */
-    pasynInt32SyncIO->connect(ipPortConfigName, 0, &pasynInt32SyncIOipPort_,
-                              NULL);
-    if (status != asynSuccess || pasynInt32SyncIOipPort_ == nullptr) {
+    pasynInt32SyncIO->connect(ipPortConfigName, 0,
+                              &pTurboPmacC_->pasynInt32SyncIOipPort, NULL);
+    if (status != asynSuccess ||
+        pTurboPmacC_->pasynInt32SyncIOipPort == nullptr) {
         errlogPrintf("Controller \"%s\" => %s, line %d:\nFATAL ERROR (cannot "
                      "connect to MCU controller).\n"
                      "Terminating IOC",
                      portName, __PRETTY_FUNCTION__, __LINE__);
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
 }
 
+turboPmacController::~turboPmacController() {}
+
 /*
 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
@@ -167,7 +206,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Definition of local variables.
     asynStatus status = asynSuccess;
-    asynStatus paramLibStatus = asynSuccess;
     asynStatus timeoutStatus = asynSuccess;
     // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
@@ -215,20 +253,20 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     */
     status = pasynOctetSyncIO->writeRead(
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
-        comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
+        pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     if (status == asynTimeout) {
 
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nTimeout while "
-                "writing to the MCU.%s\n",
+                "writing to the controller. Retrying ...%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                msgPrintControl_.getSuffix());
+                getMsgPrintControl().getSuffix());
         }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -239,9 +277,14 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
+            if (maxSubsequentTimeoutsExceeded()) {
+                break;
+            }
+
             status = pasynOctetSyncIO->writeRead(
                 pasynOctetSyncIOipPort(), command, commandLength, response,
-                MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
+                MAXBUF_, pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn,
+                &eomReason);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -251,16 +294,28 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        if (msgPrintControl_.shouldBePrinted(comKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nError %s while "
                 "writing to the controller.%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
+                stringifyAsynStatus(status), getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(comKey, pasynUser());
+        getMsgPrintControl().resetCount(comKey, pasynUser());
+    }
+
+    if (status != asynSuccess) {
+        /*
+        Since the communication failed, there is the possibility that the
+        controller is not connected at all to the network. In that case, we
+        cannot be sure that the information read out in the init method of the
+        axis is still up-to-date the next time we get a connection. Therefore,
+        an info flag is set which the axis object can use at the start of its
+        poll method to try to initialize itself.
+        */
+        axis->setNeedInit(true);
     }
 
     if (timeoutStatus == asynError) {
@@ -273,20 +328,41 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (eomReason != 2) {
         status = asynError;
 
-        snprintf(drvMessageText, sizeof(drvMessageText),
-                 "Terminated message due to reason %d (should be 2). Please "
-                 "call the support.",
-                 eomReason);
+        char reasonStringified[30] = {0};
+        switch (eomReason) {
+        case 0:
+            snprintf(reasonStringified, sizeof(reasonStringified), "Timeout");
+            break;
+        case 1:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "Request count reached");
+            break;
+        case 2:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "End of string detected");
+            break;
+        case 3:
+            snprintf(reasonStringified, sizeof(reasonStringified),
+                     "End indicator detected");
+            break;
+        }
+
+        snprintf(drvMessageText, sizeof(drvMessageText),
+                 "Terminated message due to reason %s (should be \"End of "
+                 "string detected\"). Please call the support.",
+                 reasonStringified);
+
+        if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
+                                                 pasynUser())) {
 
-        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
             asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d\nMessage "
-                      "terminated due to reason %i.%s\n",
+                      "terminated due to reason %s.%s\n",
                       portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      eomReason, msgPrintControl_.getSuffix());
+                      reasonStringified, getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey, pasynUser());
+        getMsgPrintControl().resetCount(terminateKey, pasynUser());
     }
 
     /*
@@ -303,7 +379,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
-        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
+        if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
                                                  pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
@@ -311,7 +387,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 "response '%s' (carriage returns are replaced with spaces) "
                 "for command %s.%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__, modResponse,
-                command, msgPrintControl_.getSuffix());
+                command, getMsgPrintControl().getSuffix());
         }
 
         snprintf(drvMessageText, sizeof(drvMessageText),
@@ -321,7 +397,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey, pasynUser());
+        getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -351,41 +427,18 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
+        setAxisParamChecked(axis, motorStatusCommsError, false);
     } else {
         // 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
-        paramLibStatus =
-            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
-        if (paramLibStatus != asynSuccess) {
-            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
-                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
-        }
+        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
 
         if (motorStatusProblem == 0) {
-            paramLibStatus =
-                axis->setStringParam(motorMessageText_, drvMessageText);
-            if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus, "motorMessageText_",
-                                            axisNo, __PRETTY_FUNCTION__,
-                                            __LINE__);
-            }
-
-            paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus,
-                                            "motorStatusProblem", axisNo,
-                                            __PRETTY_FUNCTION__, __LINE__);
-            }
-
-            paramLibStatus = axis->setIntegerParam(motorStatusProblem_, 1);
-            if (paramLibStatus != asynSuccess) {
-                return paramLibAccessFailed(paramLibStatus,
-                                            "motorStatusCommsError_", axisNo,
-                                            __PRETTY_FUNCTION__, __LINE__);
-            }
+            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            setAxisParamChecked(axis, motorStatusProblem, true);
+            setAxisParamChecked(axis, motorStatusCommsError, true);
         }
     }
     return status;
@@ -397,13 +450,13 @@ asynStatus turboPmacController::doFlushHardware() {
     constant defined in pmacAsynIPPort.c. This reason is then used within
     the write method of pasynInt32SyncIO to select the flush function.
     */
-    int temp = pasynInt32SyncIOipPort_->reason;
-    pasynInt32SyncIOipPort_->reason = FLUSH_HARDWARE;
+    int temp = pTurboPmacC_->pasynInt32SyncIOipPort->reason;
+    pTurboPmacC_->pasynInt32SyncIOipPort->reason = FLUSH_HARDWARE;
     asynStatus status = (asynStatus)pasynInt32SyncIO->write(
-        pasynInt32SyncIOipPort_, 1, comTimeout_);
+        pTurboPmacC_->pasynInt32SyncIOipPort, 1, pTurboPmacC_->comTimeout);
 
     // Reset the status afterwards
-    pasynInt32SyncIOipPort_->reason = temp;
+    pTurboPmacC_->pasynInt32SyncIOipPort->reason = temp;
     return status;
 }
 
@@ -416,11 +469,11 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     turboPmacAxis *axis = getTurboPmacAxis(pasynUser);
 
     // Handle custom PVs
-    if (function == rereadEncoderPosition_) {
+    if (function == rereadEncoderPosition()) {
         return axis->rereadEncoder();
-    } else if (function == readConfig_) {
+    } else if (function == readConfig()) {
         return axis->init();
-    } else if (function == flushHardware_) {
+    } else if (function == flushHardware()) {
         return doFlushHardware();
     } else {
         return sinqController::writeInt32(pasynUser, value);
@@ -438,6 +491,19 @@ asynStatus turboPmacController::couldNotParseResponse(const char *command,
         command, modifiedResponse, axisNo, functionName, lineNumber);
 }
 
+int turboPmacController::rereadEncoderPosition() {
+    return pTurboPmacC_->rereadEncoderPosition;
+}
+int turboPmacController::readConfig() { return pTurboPmacC_->readConfig; }
+int turboPmacController::flushHardware() { return pTurboPmacC_->flushHardware; }
+int turboPmacController::limFromHardware() {
+    return pTurboPmacC_->limFromHardware;
+}
+
+asynUser *turboPmacController::pasynInt32SyncIOipPort() {
+    return pTurboPmacC_->pasynInt32SyncIOipPort;
+}
+
 /*************************************************************************************/
 /** The following functions are C-wrappers, and can be called directly from
  * iocsh */

src/turboPmacController.h

@@ -10,7 +10,14 @@
 #define turboPmacController_H
 #include "sinqAxis.h"
 #include "sinqController.h"
-#include "turboPmacAxis.h"
+#include <memory>
+
+// Forward declaration of the controller class to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class turboPmacAxis;
+
+struct turboPmacControllerImpl;
 
 class turboPmacController : public sinqController {
   public:
@@ -33,6 +40,13 @@ class turboPmacController : public sinqController {
                         double idlePollPeriod, double comTimeout,
                         int numExtraParams = 0);
 
+    /**
+     * @brief Destroy the controller. Its implementation is empty, however the
+     * destructor needs to be provided for handling turboPmacControllerImpl.
+     *
+     */
+    virtual ~turboPmacController();
+
     /**
      * @brief Get the axis object
      *
@@ -116,36 +130,17 @@ class turboPmacController : public sinqController {
     asynStatus doFlushHardware();
 
     // Accessors for additional PVs
-    int rereadEncoderPosition() { return rereadEncoderPosition_; }
-    int readConfig() { return readConfig_; }
-    int flushHardware() { return flushHardware_; }
+    int rereadEncoderPosition();
+    int readConfig();
+    int flushHardware();
+    int limFromHardware();
 
-    // 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;
+    asynUser *pasynInt32SyncIOipPort();
 
-    asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
+  private:
+    std::unique_ptr<turboPmacControllerImpl> pTurboPmacC_;
 
   protected:
-    /*
-    Timeout for the communication process in seconds
-    */
-    double comTimeout_;
-
-    char lastResponse[MAXBUF_];
-
-    // User for writing int32 values to the port driver.
-    asynUser *pasynInt32SyncIOipPort_;
-
-    // Indices of additional PVs
-#define FIRST_turboPmac_PARAM rereadEncoderPosition_
-    int rereadEncoderPosition_;
-    int readConfig_;
-    int flushHardware_;
-#define LAST_turboPmac_PARAM flushHardware_
 };
-#define NUM_turboPmac_DRIVER_PARAMS                                            \
-    (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)
 
 #endif /* turboPmacController_H */