Added compiler flags for the C++ code and formatted README

The correct scale from counts to engeering units is Qxx00.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+name: Test And Build
+on: [push]
+
+jobs:
+  Lint:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+      - name: cppcheck
+        run: cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
+      - name: formatting
+        run: clang-format --style=file --Werror --dry-run src/*.cpp
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitignore

@@ -0,0 +1,8 @@
+O.*
+.cvsignore
+.vscode
+src/.vscode
+utils/analyzeTcpDump/__pycache__
+utils/analyzeTcpDump/demo.pcap.json
+utils/analyzeTcpDump/demovenv
+utils/analyzeTcpDump/venv

.gitlab-ci.yml

@@ -1,58 +0,0 @@
-default:
-  image: docker.psi.ch:5000/sinqdev/sinqepics:latest
-    
-stages:
-  - lint
-  - build
-  - test
-
-cppcheck:
-  stage: lint
-  script:
-    - cppcheck --std=c++17 --addon=cert --addon=misc --error-exitcode=1 src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-formatting:
-  stage: lint
-  script:
-    - clang-format --style=file --Werror --dry-run src/*.cpp
-  artifacts:
-    expire_in: 1 week
-  tags:
-    - sinq
-
-# clangtidy:
-#   stage: lint
-#   script:
-#     - curl https://docker.psi.ch:5000/v2/_catalog
-# #     - dnf update -y
-# #     - dnf install -y clang-tools-extra
-# #     - clang-tidy sinqEPICSApp/src/*.cpp sinqEPICSApp/src/*.c sinqEPICSApp/src/*.h -checks=cppcoreguidelines-*,cert-*
-# #   tags:
-# #     - sinq
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/turboPmac/$(ls -U /ioc/modules/turboPmac/ | head -1)" "./turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "turboPmac-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -34,4 +34,5 @@ TEMPLATES += db/turboPmac.db
 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
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden 

README.md

@@ -1,18 +1,29 @@
 # turboPmac
 
-## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
+## <span style="color:red">Please read the documentation of sinqMotor first: https://gitea.psi.ch/lin-epics-modules/sinqMotor</span>
 
 ## 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://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.
+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
 
-This driver is a standard sinqMotor-derived which however uses a special low level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard `drvAsynIPPortConfigure`. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+This driver is a standard sinqMotor-derived which however uses a special low
+level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard
+`drvAsynIPPortConfigure`. For the general configuration, please see
+https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
-The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
-- 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.
+The folder "utils" contains utility scripts for working with pmac motor
+controllers. To read their manual, run the scripts without any arguments.
+- 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
 
@@ -27,8 +38,10 @@ The full turboPmacX.cmd file looks like this:
 epicsEnvSet("DRIVER_PORT","turboPmacX")
 epicsEnvSet("IP_PORT","p$(DRIVER_PORT)")
 
-# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name.
-# We do not use the standard asyn port driver here, but a PMAC-specific one which enables the usage of StreamDevices for
+# Create the TCP/IP socket used to talk with the controller. The socket can be
+# adressed from within the IOC shell via the port name.
+# We do not use the standard asyn port driver here, but a PMAC-specific one
+# which enables the usage of StreamDevices for
 # communicating with the controller directly.
 pmacAsynIPPortConfigure("$(IP_PORT)","172.28.101.24:1025")
 
@@ -48,7 +61,8 @@ turboPmacAxis("$(DRIVER_PORT)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(DRIVER_PORT)", 20);
 
-# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed
+# in 300 seconds before an alarm message is sent.
 setThresholdComTimeout("$(DRIVER_PORT)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
@@ -61,14 +75,22 @@ dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(I
 
 ### Additional records
 
-`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for
+the complete list and the documentation.
 
 ## Developer guide
 
 ### Versioning
 
-Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
+Please see the documentation for the module sinqMotor:
+https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
 
 ### How to build it
 
-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.
+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://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/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

@@ -230,8 +230,7 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
 
 // =============================================================================
 
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
-                                           const char *hostInfo) {
+int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
     asynStatus status = asynSuccess;
     asynInterface *int32LowerLevelInterface = NULL;
     asynInterface *octetLowerLevelInterface = NULL;

src/pmacAsynIPPort.h

@@ -2,6 +2,7 @@
 #define asynInterposePmac_H
 
 #include <epicsExport.h>
+#include <macros.h>
 #include <shareLib.h>
 
 /*
@@ -25,8 +26,7 @@ extern "C" {
  * 172.23.243.156:1025)
  * @return status
  */
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
-                                           const char *hostInfo);
+int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
 
 #ifdef __cplusplus
 }

src/turboPmacAxis.h

@@ -1,19 +1,22 @@
 #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 HIDDEN turboPmacAxisImpl;
 
-class turboPmacAxis : public sinqAxis {
+class HIDDEN turboPmacAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new turboPmacAxis
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
+     * @param initialize          By setting this parameter to false, the
+     * initialization functions of the axes are not executed. This is e.g.
+     * necessary when this constructor is called from a children class
+     * constructor which performs its own initialization.
      */
     turboPmacAxis(turboPmacController *pController, int axisNo,
                   bool initialize = true);
@@ -21,9 +24,22 @@ class turboPmacAxis : public sinqAxis {
     /**
      * @brief Destroy the turboPmacAxis
      *
+     * This destructor is necessary in order to use the PIMPL idiom.
      */
     virtual ~turboPmacAxis();
 
+    /**
+     * @brief Readout of some values from the controller at IOC startup
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV according to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus init();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -70,18 +86,6 @@ class turboPmacAxis : public sinqAxis {
                               double min_velocity, double max_velocity,
                               double acceleration);
 
-    /**
-     * @brief Readout of some values from the controller at IOC startup
-     *
-     * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and acceleration
-     * from the MCU and store this information in the parameter library.
-     * - Set the enable PV according to the initial status of the axis.
-     *
-     * @return asynStatus
-     */
-    virtual asynStatus init();
-
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
      *
@@ -123,14 +127,29 @@ 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 ParamLib entries
+    int rereadEncoderPosition;
+    int readConfig;
+    int flushHardware;
+    int limFromHardware;
+};
+#define NUM_turboPmac_DRIVER_PARAMS 5
+
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
                                          int numAxes, double movingPollPeriod,
@@ -43,25 +61,29 @@ turboPmacController::turboPmacController(const char *portName,
           - REREAD_ENCODER_POSITION
           - READ_CONFIG
           */
-          numExtraParams + NUM_turboPmac_DRIVER_PARAMS)
-
-{
-
+          numExtraParams + NUM_turboPmac_DRIVER_PARAMS),
+      pTurboPmacC_(
+          std::make_unique<turboPmacControllerImpl>((turboPmacControllerImpl){
+              .comTimeout = comTimeout,
+              .lastResponse = {0},
+              .pasynInt32SyncIOipPort = nullptr, // Populated in constructor
+              .rereadEncoderPosition = 0,        // Populated in constructor
+              .readConfig = 0,                   // Populated in constructor
+              .flushHardware = 0,                // Populated in constructor
+              .limFromHardware = 0,              // Populated in constructor
+          })) {
     // 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
@@ -167,9 +206,7 @@ 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};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -215,20 +252,36 @@ 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);
+
+    /*
+    If sth. is written to the controller, it needs some time to process the
+    command. However, the controller returns the acknowledgment via
+    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
+    ready to receive the next command. In practice, this can result in commands
+    getting discarded on the driver side or in bringing the driver in undefined
+    states (e.g. stuck in status 1).
+
+    To prevent this, we wait for 20 ms after a write command to give the
+    controller enough time to process everything. A write command can be
+    identified by looking for the equal sign.
+    */
+    if (strchr(command, '=')) {
+        usleep(20000);
+    }
 
     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 controller. Retrying ...%s\n",
                 portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                msgPrintControl_.getSuffix());
+                getMsgPrintControl().getSuffix());
         }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -239,13 +292,14 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            if (maxSubsequentTimeoutsExceeded_) {
+            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 "
@@ -255,16 +309,28 @@ 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) {
@@ -301,16 +367,17 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  "string detected\"). Please call the support.",
                  reasonStringified);
 
-        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
+                                                 pasynUser())) {
 
             asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d => %s, line %d\nMessage "
                       "terminated due to reason %s.%s\n",
                       portName, axisNo, __PRETTY_FUNCTION__, __LINE__,
-                      reasonStringified, msgPrintControl_.getSuffix());
+                      reasonStringified, getMsgPrintControl().getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey, pasynUser());
+        getMsgPrintControl().resetCount(terminateKey, pasynUser());
     }
 
     /*
@@ -327,15 +394,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
-        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                                             pasynUser())) {
+        if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
+                                                 pasynUser())) {
             asynPrint(
                 this->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d => %s, line %d\nUnexpected "
                 "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),
@@ -345,7 +412,7 @@ 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
@@ -375,41 +442,18 @@ 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;
@@ -421,13 +465,13 @@ 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;
 }
 
@@ -440,11 +484,11 @@ 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);
@@ -462,6 +506,19 @@ 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 */
@@ -516,7 +573,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configTurboPmacCreateController = {
-    "turboPmacController", 6, CreateControllerArgs};
+    "turboPmacController", 6, CreateControllerArgs,
+    "Create a new instance of a TurboPMAC controller."};
 static void configTurboPmacCreateControllerCallFunc(const iocshArgBuf *args) {
     turboPmacCreateController(args[0].sval, args[1].sval, args[2].ival,
                               args[3].dval, args[4].dval, args[5].dval);

src/turboPmacController.h

@@ -10,9 +10,16 @@
 #define turboPmacController_H
 #include "sinqAxis.h"
 #include "sinqController.h"
-#include "turboPmacAxis.h"
+#include <memory>
 
-class turboPmacController : public sinqController {
+// 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 HIDDEN turboPmacAxis;
+
+struct HIDDEN turboPmacControllerImpl;
+
+class HIDDEN turboPmacController : public sinqController {
   public:
     /**
      * @brief Construct a new turboPmacController object. This function is meant
@@ -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
      *
@@ -79,7 +93,8 @@ class turboPmacController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses);
+                         int numExpectedResponses)
+        __attribute__((visibility("hidden")));
 
     /**
      * @brief Specialized version of sinqController::couldNotParseResponse
@@ -116,29 +131,17 @@ 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();
 
-    asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
+    asynUser *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 */