Fixed typo

Integrated the low level asyn IP Port driver from the Diamond Light
Source so that StreamDevices can use it as well.

Makefile

@@ -14,13 +14,15 @@ REQUIRED+=sinqMotor
 motorBase_VERSION=7.2.2
 
 # Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.8.0
+sinqMotor_VERSION=0.11.0
 
 # These headers allow to depend on this library for derived drivers.
+HEADERS += src/turboPmacAsynIPPort.h
 HEADERS += src/turboPmacAxis.h
 HEADERS += src/turboPmacController.h
 
 # Source files to build
+SOURCES += src/turboPmacAsynIPPort.c
 SOURCES += src/turboPmacAxis.cpp
 SOURCES += src/turboPmacController.cpp
 
@@ -30,4 +32,4 @@ TEMPLATES += db/turboPmac.db
 # This file registers the motor-specific functions in the IOC shell.
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+# USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -1,5 +1,7 @@
 # turboPmac
 
+## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-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://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.
@@ -21,11 +23,11 @@ turboPmac exports the following IOC shell functions:
 - `turboPmacController`: Create a new controller object.
 - `turboPmacAxis`: Create a new axis object.
 
-The full mcu.cmd file looks like this:
+The full turboPmacX.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
-epicsEnvSet("NAME","mcu")
+epicsEnvSet("NAME","turboPmacX")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
 # 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
@@ -47,8 +49,8 @@ turboPmacAxis("$(NAME)",5);
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(NAME)", 20);
 
-# Configure the timeout frequency watchdog:
-setThresholdComTimeout("$(NAME)", 100, 1);
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
+setThresholdComTimeout("$(NAME)", 300, 10);
 
 # Parametrize the EPICS record database with the substitution file named after the MCU.
 epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")

src/turboPmac.dbd

@@ -2,4 +2,5 @@
 # SINQ specific DB definitions
 #---------------------------------------------
 registrar(turboPmacControllerRegister) 
-registrar(turboPmacAxisRegister) 
+registrar(turboPmacAxisRegister) 
+registrar(pmacAsynIPPortRegister)

src/turboPmacAsynIPPort.c

@@ -0,0 +1,848 @@
+/*
+   NOTES
+
+   This driver is an asyn interpose driver intended for use with pmacAsynMotor
+   to allow communication over ethernet to a PMAC.
+
+   *** Ensure I3=2 and I6=1 on the PMAC before using this driver. ***
+
+   This driver supports sending ascii commands to the PMAC over asyn IP and
+   obtaining the response. The driver uses the PMAC ethernet packets
+   VR_PMAC_GETRESPONSE, VR_PMAC_READREADY and VR_PMAC_GETBUFFER to send commands
+   and get responses. The PMAC may send responses in several different formats.
+   1) PMAC ascii command responses for single/multiple commands (e.g. I113 I114
+   I130 I131 I133) are in an ACK terminated form as follows (CR seperates the
+   cmd responses): data<CR(13)>data<CR(13)>data<CR(13)><ACK(6)> 2) PMAC error
+   responses to ascii commands ARE NOT ACK terminated as follows:
+         <BELL(7)>ERRxxx<CR(13)>
+   3) PMAC may also return the following:
+         <STX(2)>data<CR(13)>
+
+   This driver can send ctrl commands (ctrl B/C/F/G/P/V) to the pmac (using
+   VR_CTRL_REPONSE packet) however because the resulting  response data is not
+   terminated as above the driver does not know when all the response data has
+   been received. The response data will therefore only be returned after the
+   asynUser.timeout has expired.
+
+   This driver supports the octet flush method and issues a VR_PMAC_FLUSH to the
+   PMAC.
+
+   This driver does NOT support large buffer transfers (VR_PMAC_WRITEBUFFER,
+   VR_FWDOWNLOAD) or set/get of DPRAM (VR_PMAC_SETMEM etc) or changing comms
+   setup (VR_IPADDRESS, VR_PMAC_PORT)
+
+
+   REVISION HISTORY
+
+   10 Aug 07 - Pete Leicester - Diamond Light Source
+   Modified to handle responses other than those ending in <ACK> (e.g. errors) -
+   No longer used asyn EOS.
+
+   9 Aug 07 - Pete Leicester - Diamond Light Source
+   Initial version reliant on asyn EOS to return <ACK> terminated responses.
+
+   2 Feb 09 - Matthew Pearson - Diamond Light Source
+   Ported to work with Asyn 4-10. Still compiles with pre Asyn4-10 versions but
+   does not work. Also added new config function, pmacAsynIPPortConfigureEos(),
+   to be used when disabling low level EOS handling in the Asyn IP layer. This
+   new function should be used with Asyn 4-10 and above (it is not compatible
+   with Asyn 4-9).
+*/
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <cantProceed.h>
+#include <epicsAssert.h>
+#include <epicsStdio.h>
+#include <epicsString.h>
+#include <iocsh.h>
+
+#include "asynDriver.h"
+#include "asynInterposeEos.h"
+#include "asynOctet.h"
+#include "drvAsynIPPort.h"
+#include "epicsThread.h"
+#include "turboPmacAsynIPPort.h"
+#include <epicsExport.h>
+
+#include <netinet/in.h>
+
+#define ETHERNET_DATA_SIZE 1492
+#define MAX_BUFFER_SIZE 2097152
+#define INPUT_SIZE                                                             \
+    (ETHERNET_DATA_SIZE + 1) /* +1 to allow space to add terminating ACK */
+#define STX '\2'
+#define CTRLB '\2'
+#define CTRLC '\3'
+#define ACK '\6'
+#define CTRLF '\6'
+#define BELL '\7'
+#define CTRLG '\7'
+#define CTRLP '\16'
+#define CTRLV '\22'
+#define CTRLX '\24'
+
+/* PMAC ethernet command structure */
+#pragma pack(1)
+typedef struct tagEthernetCmd {
+    unsigned char RequestType;
+    unsigned char Request;
+    unsigned short wValue;
+    unsigned short wIndex;
+    unsigned short wLength; /* length of bData */
+    unsigned char bData[ETHERNET_DATA_SIZE];
+} ethernetCmd;
+#pragma pack()
+
+#define ETHERNET_CMD_HEADER (sizeof(ethernetCmd) - ETHERNET_DATA_SIZE)
+
+/* PMAC ethernet commands - RequestType field */
+#define VR_UPLOAD 0xC0
+#define VR_DOWNLOAD 0x40
+
+/* PMAC ethernet commands - Request field */
+#define VR_PMAC_SENDLINE 0xB0
+#define VR_PMAC_GETLINE 0xB1
+#define VR_PMAC_FLUSH 0xB3
+#define VR_PMAC_GETMEM 0xB4
+#define VR_PMAC_SETMEN 0xB5
+#define VR_PMAC_SETBIT 0xBA
+#define VR_PMAC_SETBITS 0xBB
+#define VR_PMAC_PORT 0xBE
+#define VR_PMAC_GETRESPONSE 0xBF
+#define VR_PMAC_READREADY 0xC2
+#define VR_CTRL_RESPONSE 0xC4
+#define VR_PMAC_GETBUFFER 0xC5
+#define VR_PMAC_WRITEBUFFER 0xC6
+#define VR_PMAC_WRITEERROR 0xC7
+#define VR_FWDOWNLOAD 0xCB
+#define VR_IPADDRESS 0xE0
+
+/* PMAC control character commands (VR_CTRL_RESPONSE cmd) */
+static char ctrlCommands[] = {CTRLB, CTRLC, CTRLF, CTRLG, CTRLP, CTRLV};
+
+typedef struct pmacPvt {
+    char *portName;
+    int addr;
+    asynInterface pmacInterface;
+    asynOctet *poctet; /* The methods we're overriding */
+    void *octetPvt;
+    asynUser *pasynUser; /* For connect/disconnect reporting */
+    ethernetCmd *poutCmd;
+    ethernetCmd *pinCmd;
+    char *inBuf;
+    unsigned int inBufHead;
+    unsigned int inBufTail;
+} pmacPvt;
+
+/*
+   Notes on asyn
+   use asynUser.timeout to specify I/O request timeouts in seconds
+   asynStatus may return asynSuccess(0),asynTimeout(1),asynOverflow(2) or
+   asynError(3) eomReason may return ASYN_EOM_CNT (1:Request count reached),
+   ASYN_EOM_EOS (2:End of String detected), ASYN_EOM_END (4:End indicator
+   detected) asynError indicates that asynUser.errorMessage has been populated
+   by epicsSnprintf().
+*/
+
+/* Connect/disconnect handling */
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception);
+
+/* asynOctet methods */
+static asynStatus writeIt(void *ppvt, asynUser *pasynUser, const char *data,
+                          size_t numchars, size_t *nbytesTransfered);
+static asynStatus readIt(void *ppvt, asynUser *pasynUser, char *data,
+                         size_t maxchars, size_t *nbytesTransfered,
+                         int *eomReason);
+static asynStatus flushIt(void *ppvt, asynUser *pasynUser);
+static asynStatus registerInterruptUser(void *ppvt, asynUser *pasynUser,
+                                        interruptCallbackOctet callback,
+                                        void *userPvt, void **registrarPvt);
+static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
+                                      void *registrarPvt);
+static asynStatus setInputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                              int eoslen);
+static asynStatus getInputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                              int eossize, int *eoslen);
+static asynStatus setOutputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                               int eoslen);
+static asynStatus getOutputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                               int eossize, int *eoslen);
+
+/* Declare asynOctet here, and assign functions later on
+(compatible with both Asyn 4-10 and pre 4-10 versions).*/
+static asynOctet octet;
+
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason);
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser);
+static int pmacAsynIPPortCommon(const char *portName, int addr,
+                                pmacPvt **pPmacPvt,
+                                asynInterface **plowerLevelInterface,
+                                asynUser **pasynUser);
+static int pmacAsynIPPortConfigureEos(const char *portName, int addr);
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered);
+
+/**
+ * Function that first initialises an Asyn IP port and then the PMAC Asyn IP
+ * interpose layer. It is a wrapper for drvAsynIPPort::drvAsynIPPortConfigure()
+ * and pmacAsynIPPort::pmacAsynIPPortConfigureEos().
+ *
+ * @param portName The Asyn Port name string.
+ * @param hostInfo The hostname or IP address followed by IP port (eg.
+ * 172.23.243.156:1025)
+ * @return status
+ */
+epicsShareFunc int pmacAsynIPConfigure(const char *portName,
+                                       const char *hostInfo) {
+    asynStatus status = 0;
+
+    if ((status = drvAsynIPPortConfigure(portName, hostInfo, 0, 0, 1)) != 0) {
+        printf("pmacAsynIPConfigure: error from drvAsynIPPortConfigure. Port: "
+               "%s\n",
+               portName);
+    }
+
+    if ((status = pmacAsynIPPortConfigureEos(portName, 0)) != 0) {
+        printf("pmacAsynIPConfigure: error from pmacAsynIPPortConfigureEos. "
+               "Port: %s\n",
+               portName);
+    }
+
+    return status;
+}
+
+/**
+ * This reimplements pmacAsynIPPort::pmacAsynIPPortConfigure(), but introduces
+ * EOS handling interpose layer above the PMAC IP layer.
+ *
+ * The setup of the Asyn IP port must set noProcessEos=1 to use this function.
+ *
+ * NOTE: The use of this function is not compatible with versions of Asyn before
+ * 4-10.
+ *
+ * @param portName The Asyn port name
+ * @param addr The Asyn address.
+ * @return status
+ */
+epicsShareFunc int pmacAsynIPPortConfigureEos(const char *portName, int addr) {
+    pmacPvt *pPmacPvt = NULL;
+    asynInterface *plowerLevelInterface = NULL;
+    asynStatus status = 0;
+    asynUser *pasynUser = NULL;
+
+    status = pmacAsynIPPortCommon(portName, addr, &pPmacPvt,
+                                  &plowerLevelInterface, &pasynUser);
+    if (status) {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "pmacAsynIPPortConfigureEos: error from pmacAsynIPPortCommon "
+                  "%s: %s\n",
+                  portName, pasynUser->errorMessage);
+    }
+
+    /*Now interpose EOS handling layer, above the PMAC IP layer.*/
+    asynInterposeEosConfig(portName, addr, 1, 1);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "Done pmacAsynIPPortConfigureEos OK\n");
+    return (0);
+}
+
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName, int addr) {
+    pmacPvt *pPmacPvt = NULL;
+    asynInterface *plowerLevelInterface = NULL;
+    asynUser *pasynUser = NULL;
+    asynStatus status = 0;
+
+    status = pmacAsynIPPortCommon(portName, addr, &pPmacPvt,
+                                  &plowerLevelInterface, &pasynUser);
+
+    status =
+        pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, "\6", 1);
+    if (status) {
+        asynPrint(
+            pasynUser, ASYN_TRACE_ERROR,
+            "pmacAsynIPPortConfigure: unable to set input EOS on %s: %s\n",
+            portName, pasynUser->errorMessage);
+        return -1;
+    }
+    status =
+        pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, "\r", 1);
+    if (status) {
+        asynPrint(
+            pasynUser, ASYN_TRACE_ERROR,
+            "pmacAsynIPPortConfigure: unable to set output EOS on %s: %s\n",
+            portName, pasynUser->errorMessage);
+        return -1;
+    }
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "Done pmacAsynIPPortConfigure OK\n");
+    return (0);
+}
+
+/**
+ * Common code for both pmacAsynIPPortConfigure and pmacAsynIPPortConfigureEos.
+ * @param portName
+ * @param addr
+ * @param pPmacPvt pointer
+ * @param plowerLevelInterface pointer
+ * @param pasynUser pointer
+ * @return status
+ */
+static int pmacAsynIPPortCommon(const char *portName, int addr,
+                                pmacPvt **pPmacPvt,
+                                asynInterface **plowerLevelInterface,
+                                asynUser **pasynUser) {
+    asynStatus status;
+    size_t len;
+
+    /*Assign static asynOctet functions here.*/
+    octet.write = writeIt;
+    octet.read = readIt;
+    octet.flush = flushIt;
+    octet.setInputEos = setInputEos;
+    octet.setOutputEos = setOutputEos;
+    octet.getInputEos = getInputEos;
+    octet.getOutputEos = getOutputEos;
+    octet.registerInterruptUser = registerInterruptUser;
+    octet.cancelInterruptUser = cancelInterruptUser;
+
+    len = sizeof(pmacPvt) + strlen(portName) + 1;
+    *pPmacPvt = callocMustSucceed(
+        1, len,
+        "calloc pPmacPvt error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+    (*pPmacPvt)->portName = (char *)(*pPmacPvt + 1);
+    strcpy((*pPmacPvt)->portName, portName);
+    (*pPmacPvt)->addr = addr;
+    (*pPmacPvt)->pmacInterface.interfaceType = asynOctetType;
+    (*pPmacPvt)->pmacInterface.pinterface = &octet;
+    (*pPmacPvt)->pmacInterface.drvPvt = *pPmacPvt;
+    *pasynUser = pasynManager->createAsynUser(0, 0);
+    (*pPmacPvt)->pasynUser = *pasynUser;
+    (*pPmacPvt)->pasynUser->userPvt = *pPmacPvt;
+
+    status = pasynManager->connectDevice(*pasynUser, portName, addr);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s connectDevice failed\n", portName);
+        pasynManager->freeAsynUser(*pasynUser);
+        free(*pPmacPvt);
+        return -1;
+    }
+
+    status =
+        pasynManager->exceptionCallbackAdd(*pasynUser, pmacInExceptionHandler);
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s exceptionCallbackAdd failed\n",
+               portName);
+        pasynManager->freeAsynUser(*pasynUser);
+        free(*pPmacPvt);
+        return -1;
+    }
+
+    status = pasynManager->interposeInterface(
+        portName, addr, &(*pPmacPvt)->pmacInterface, &(*plowerLevelInterface));
+    if (status != asynSuccess) {
+        printf("pmacAsynIPPortConfigure: %s interposeInterface failed\n",
+               portName);
+        pasynManager->exceptionCallbackRemove(*pasynUser);
+        pasynManager->freeAsynUser(*pasynUser);
+        free(*pPmacPvt);
+        return -1;
+    }
+
+    (*pPmacPvt)->poctet = (asynOctet *)(*plowerLevelInterface)->pinterface;
+    (*pPmacPvt)->octetPvt = (*plowerLevelInterface)->drvPvt;
+
+    (*pPmacPvt)->poutCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc poutCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+    (*pPmacPvt)->pinCmd = callocMustSucceed(
+        1, sizeof(ethernetCmd),
+        "calloc pinCmd error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    (*pPmacPvt)->inBuf = callocMustSucceed(
+        1, MAX_BUFFER_SIZE,
+        "calloc inBuf error in pmacAsynIPPort::pmacAsynIPPortCommon().");
+
+    (*pPmacPvt)->inBufHead = 0;
+    (*pPmacPvt)->inBufTail = 0;
+
+    return status;
+}
+
+static void pmacInExceptionHandler(asynUser *pasynUser,
+                                   asynException exception) {
+    pmacPvt *pPmacPvt = (pmacPvt *)pasynUser->userPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacInExceptionHandler\n");
+
+    if (exception == asynExceptionConnect) {
+        pPmacPvt->inBufHead = 0;
+        pPmacPvt->inBufTail = 0;
+    }
+}
+
+/*
+    Read reponse data from PMAC into buffer pmacPvt.inBuf. If there is no data
+   in the asyn buffer then issue pmac GETBUFFER command to get any outstanding
+   data still on the PMAC.
+*/
+static asynStatus readResponse(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                               size_t maxchars, size_t *nbytesTransfered,
+                               int *eomReason) {
+    ethernetCmd *inCmd;
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    *nbytesTransfered = 0;
+    if (maxchars > INPUT_SIZE)
+        maxchars = INPUT_SIZE;
+
+    asynPrint(
+        pasynUser, ASYN_TRACE_FLOW,
+        "pmacAsynIPPort::readResponse. Performing pPmacPvt->poctet->read().\n");
+
+    status =
+        pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, pPmacPvt->inBuf,
+                               maxchars, &thisRead, eomReason);
+
+    asynPrint(
+        pasynUser, ASYN_TRACE_FLOW,
+        "%s readResponse1 maxchars=%d, thisRead=%d, eomReason=%d, status=%d\n",
+        pPmacPvt->portName, maxchars, thisRead, *eomReason, status);
+    if (status == asynTimeout && thisRead == 0 && pasynUser->timeout > 0) {
+        /* failed to read as many characters as required into the input buffer,
+           check for more response data on the PMAC */
+        if (pmacReadReady(pPmacPvt, pasynUser)) {
+
+            status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                       nbytesTransfered);
+            asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->pinCmd,
+                        ETHERNET_CMD_HEADER, "%s write GETBUFFER\n",
+                        pPmacPvt->portName);
+
+            /* We have nothing to return at the moment so read again */
+            status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser,
+                                            pPmacPvt->inBuf, maxchars,
+                                            &thisRead, eomReason);
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "%s readResponse2 maxchars=%d, thisRead=%d, "
+                      "eomReason=%d, status=%d\n",
+                      pPmacPvt->portName, maxchars, thisRead, *eomReason,
+                      status);
+        }
+    }
+
+    if (thisRead > 0) {
+        if (status == asynTimeout)
+            status = asynSuccess;
+        *nbytesTransfered = thisRead;
+        pPmacPvt->inBufTail = 0;
+        pPmacPvt->inBufHead = thisRead;
+    }
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::readResponse. END\n");
+
+    return status;
+}
+
+/*
+   Send ReadReady command to PMAC to discover if there is any data to read from
+   it. Returns: 0 - no data available 1 - data available
+*/
+static int pmacReadReady(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+    ethernetCmd cmd;
+    unsigned char data[2] = {0};
+    asynStatus status;
+    size_t thisRead = 0;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_UPLOAD;
+    cmd.Request = VR_PMAC_READREADY;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = htons(2);
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacReadReady fail\n",
+                    pPmacPvt->portName);
+    }
+
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 2,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        if (thisRead == 2 && data[0] != 0) {
+            retval = 1;
+        }
+        asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, thisRead,
+                    "%s read pmacReadReady OK thisRead=%d\n",
+                    pPmacPvt->portName, thisRead);
+    } else {
+        asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                  "%s read pmacReadReady failed status=%d,retval=%d",
+                  pPmacPvt->portName, status, retval);
+    }
+    return retval;
+}
+
+/*
+   Send Flush command to PMAC and wait for confirmation ctrlX to be returned.
+   Returns: 0 - failed
+            1 - success
+*/
+static int pmacFlush(pmacPvt *pPmacPvt, asynUser *pasynUser) {
+    ethernetCmd cmd;
+    unsigned char data[2];
+    asynStatus status = asynSuccess;
+    size_t thisRead;
+    size_t nbytesTransfered = 0;
+    int eomReason = 0;
+    int retval = 0;
+
+    cmd.RequestType = VR_DOWNLOAD;
+    cmd.Request = VR_PMAC_FLUSH;
+    cmd.wValue = 0;
+    cmd.wIndex = 0;
+    cmd.wLength = 0;
+
+    status =
+        pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser, (char *)&cmd,
+                                ETHERNET_CMD_HEADER, &nbytesTransfered);
+
+    if (status != asynSuccess) {
+        asynPrintIO(pasynUser, ASYN_TRACE_ERROR, (char *)&cmd,
+                    ETHERNET_CMD_HEADER, "%s write pmacFlush fail\n",
+                    pPmacPvt->portName);
+    }
+
+    /* read flush acknowledgement character */
+    /* NB we don't check what the character is (manual sais ctrlX, we get 0x40
+     * i.e.VR_DOWNLOAD) */
+    status = pPmacPvt->poctet->read(pPmacPvt->octetPvt, pasynUser, data, 1,
+                                    &thisRead, &eomReason);
+
+    if (status == asynSuccess) {
+        asynPrint(pasynUser, ASYN_TRACE_FLOW, "%s read pmacFlush OK\n",
+                  pPmacPvt->portName);
+        retval = 1;
+    } else {
+        asynPrint(
+            pasynUser, ASYN_TRACE_ERROR,
+            "%s read pmacFlush failed - thisRead=%d, eomReason=%d, status=%d\n",
+            pPmacPvt->portName, thisRead, eomReason, status);
+    }
+
+    pPmacPvt->inBufTail = 0;
+    pPmacPvt->inBufHead = 0;
+
+    return retval;
+}
+
+/* asynOctet methods */
+
+/* This function sends either a ascii string command to the PMAC using
+   VR_PMAC_GETRESPONSE or a single control character (ctrl B/C/F/G/P/V) using
+   VR_CTRL_RESPONSE
+*/
+static asynStatus writeIt(void *ppvt, asynUser *pasynUser, const char *data,
+                          size_t numchars, size_t *nbytesTransfered) {
+    asynStatus status;
+    ethernetCmd *outCmd;
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    size_t nbytesActual = 0;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::writeIt\n");
+    assert(pPmacPvt);
+
+    /* NB currently we assume control characters arrive as individual
+       characters/calls to this routine. Idealy we should probably scan the data
+       buffer for control commands and do PMAC_GETRESPONSE and CTRL_RESPONSE
+       commands as necessary,  */
+    outCmd = pPmacPvt->poutCmd;
+    if (numchars == 1 && strchr(ctrlCommands, data[0])) {
+        outCmd->RequestType = VR_UPLOAD;
+        outCmd->Request = VR_CTRL_RESPONSE;
+        outCmd->wValue = data[0];
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(0);
+        status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                         (char *)pPmacPvt->poutCmd,
+                                         ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered =
+            (nbytesActual == ETHERNET_CMD_HEADER) ? numchars : 0;
+    } else {
+        if (numchars > ETHERNET_DATA_SIZE) {
+            /* NB large data should probably be sent using PMAC_WRITEBUFFER
+             * which isnt implemented yet - for the moment just truncate */
+            numchars = ETHERNET_DATA_SIZE;
+            asynPrint(pasynUser, ASYN_TRACE_ERROR,
+                      "writeIt - ERROR TRUNCATED\n");
+        }
+        outCmd->RequestType = VR_DOWNLOAD;
+        outCmd->Request = VR_PMAC_GETRESPONSE;
+        outCmd->wValue = 0;
+        outCmd->wIndex = 0;
+        outCmd->wLength = htons(numchars);
+        memcpy(outCmd->bData, data, numchars);
+        status = pPmacPvt->poctet->write(
+            pPmacPvt->octetPvt, pasynUser, (char *)pPmacPvt->poutCmd,
+            numchars + ETHERNET_CMD_HEADER, &nbytesActual);
+        *nbytesTransfered = (nbytesActual > ETHERNET_CMD_HEADER)
+                                ? (nbytesActual - ETHERNET_CMD_HEADER)
+                                : 0;
+    }
+
+    asynPrintIO(pasynUser, ASYN_TRACE_FLOW, (char *)pPmacPvt->poutCmd,
+                numchars + ETHERNET_CMD_HEADER, "%s writeIt\n",
+                pPmacPvt->portName);
+
+    return status;
+}
+
+/* This function reads data using read() into a local buffer and then look for
+   message terminating characters and returns a complete response (or times
+   out), adding on ACK if neccessary. The PMAC command response may be any of
+   the following:- data<CR>data<CR>....data<CR><ACK> <BELL>data<CR> e.g. an
+   error <BELL>ERRxxx<CR> <STX>data<CR> (NB asyn EOS only allows one message
+   terminator to be specified. We add on ACK for the EOS layer above.)
+*/
+static asynStatus readIt(void *ppvt, asynUser *pasynUser, char *data,
+                         size_t maxchars, size_t *nbytesTransfered,
+                         int *eomReason) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynStatus status = asynSuccess;
+    size_t thisRead = 0;
+    size_t nRead = 0;
+    int bell = 0;
+    int initialRead = 1;
+    ethernetCmd *inCmd;
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readIt. START\n");
+    assert(pPmacPvt);
+
+    if (maxchars > 0) {
+        for (;;) {
+            if ((pPmacPvt->inBufTail != pPmacPvt->inBufHead)) {
+                *data = pPmacPvt->inBuf[pPmacPvt->inBufTail++];
+                if (*data == BELL || *data == STX)
+                    bell = 1;
+                if (*data == '\r' && bell) {
+                    /* <BELL>xxxxxx<CR> or <STX>xxxxx<CR> received - its
+                     * probably an error response (<BELL>ERRxxx<CR>) - assume
+                     * there is no more response data to come */
+                    nRead++; /* make sure the <CR> is passed to the client app
+                              */
+                    /*Add on ACK, because that's what we expect to be EOS in EOS
+                     * interpose layer.*/
+                    if ((nRead + 1) > maxchars) {
+                        /*If maxchars is reached overwrite <CR> with ACK, so
+                         * that no more reads will be done from EOS layer.*/
+                        *data = ACK;
+                    } else {
+                        data++;
+                        nRead++;
+                        *data = ACK;
+                    }
+                    break;
+                }
+                if (*data == ACK || *data == '\n') {
+                    /* <ACK> or <LF> received - assume there is no more response
+                     * data to come */
+                    /* If <LF>, replace with an ACK.*/
+                    if (*data == '\n') {
+                        *data = ACK;
+                    }
+                    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                              "Message was terminated with ACK in "
+                              "pmacAsynIPPort::readIt.\n");
+                    /*Pass ACK up to Asyn EOS handling layer.*/
+                    data++;
+                    nRead++;
+                    break;
+                }
+                data++;
+                nRead++;
+                if (nRead >= maxchars)
+                    break;
+                continue;
+            }
+
+            asynPrint(pasynUser, ASYN_TRACE_FLOW,
+                      "pmacAsynIPPort::readIt. Calling readResponse().\n");
+            if (!initialRead) {
+                if (pmacReadReady(pPmacPvt, pasynUser)) {
+                    status = sendPmacGetBuffer(pPmacPvt, pasynUser, maxchars,
+                                               nbytesTransfered);
+                }
+            }
+            status = readResponse(pPmacPvt, pasynUser, maxchars - nRead,
+                                  &thisRead, eomReason);
+            initialRead = 0;
+            if (status != asynSuccess || thisRead == 0)
+                break;
+        }
+    }
+    *nbytesTransfered = nRead;
+
+    asynPrintIO(pasynUser, ASYN_TRACE_FLOW, data, *nbytesTransfered,
+                "%s pmacAsynIPPort readIt nbytesTransfered=%d, eomReason=%d, "
+                "status=%d\n",
+                pPmacPvt->portName, *nbytesTransfered, *eomReason, status);
+
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::readIt. END\n");
+
+    return status;
+}
+
+static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
+                                    size_t maxchars, size_t *nbytesTransfered) {
+    asynStatus status = 0;
+    ethernetCmd *inCmd = NULL;
+
+    inCmd = pPmacPvt->pinCmd;
+    inCmd->RequestType = VR_UPLOAD;
+    inCmd->Request = VR_PMAC_GETBUFFER;
+    inCmd->wValue = 0;
+    inCmd->wIndex = 0;
+    inCmd->wLength = htons(maxchars);
+    status = pPmacPvt->poctet->write(pPmacPvt->octetPvt, pasynUser,
+                                     (char *)pPmacPvt->pinCmd,
+                                     ETHERNET_CMD_HEADER, nbytesTransfered);
+
+    return status;
+}
+
+static asynStatus flushIt(void *ppvt, asynUser *pasynUser) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynStatus status = asynSuccess;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::flushIt\n");
+    assert(pPmacPvt);
+
+    pmacFlush(pPmacPvt, pasynUser);
+    status = pPmacPvt->poctet->flush(pPmacPvt->octetPvt, pasynUser);
+    return asynSuccess;
+}
+
+static asynStatus registerInterruptUser(void *ppvt, asynUser *pasynUser,
+                                        interruptCallbackOctet callback,
+                                        void *userPvt, void **registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::registerInterruptUser\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->registerInterruptUser(
+        pPmacPvt->octetPvt, pasynUser, callback, userPvt, registrarPvt);
+}
+
+static asynStatus cancelInterruptUser(void *drvPvt, asynUser *pasynUser,
+                                      void *registrarPvt) {
+    pmacPvt *pPmacPvt = (pmacPvt *)drvPvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW,
+              "pmacAsynIPPort::cancelInterruptUser\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->cancelInterruptUser(pPmacPvt->octetPvt, pasynUser,
+                                                 registrarPvt);
+}
+
+static asynStatus setInputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                              int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setInputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eoslen);
+}
+
+static asynStatus getInputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                              int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getInputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getInputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                         eossize, eoslen);
+}
+
+static asynStatus setOutputEos(void *ppvt, asynUser *pasynUser, const char *eos,
+                               int eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::setOutputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->setOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eoslen);
+}
+
+static asynStatus getOutputEos(void *ppvt, asynUser *pasynUser, char *eos,
+                               int eossize, int *eoslen) {
+    pmacPvt *pPmacPvt = (pmacPvt *)ppvt;
+    asynPrint(pasynUser, ASYN_TRACE_FLOW, "pmacAsynIPPort::getOutputEos\n");
+    assert(pPmacPvt);
+
+    return pPmacPvt->poctet->getOutputEos(pPmacPvt->octetPvt, pasynUser, eos,
+                                          eossize, eoslen);
+}
+
+/* register pmacAsynIPPortConfigure*/
+static const iocshArg pmacAsynIPPortConfigArg0 = {"portName", iocshArgString};
+static const iocshArg pmacAsynIPPortConfigArg1 = {"addr", iocshArgInt};
+static const iocshArg *pmacAsynIPPortConfigArgs[] = {&pmacAsynIPPortConfigArg0,
+                                                     &pmacAsynIPPortConfigArg1};
+static const iocshFuncDef pmacAsynIPPortConfigFuncDef = {
+    "pmacAsynIPPortConfigure", 2, pmacAsynIPPortConfigArgs};
+static void pmacAsynIPPortConfigCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPPortConfigure(args[0].sval, args[1].ival);
+}
+
+/* Register pmacAsynIPPortConfigureEos.*/
+static const iocshArg pmacAsynIPPortConfigEosArg0 = {"portName",
+                                                     iocshArgString};
+static const iocshArg pmacAsynIPPortConfigEosArg1 = {"addr", iocshArgInt};
+static const iocshArg *pmacAsynIPPortConfigEosArgs[] = {
+    &pmacAsynIPPortConfigEosArg0, &pmacAsynIPPortConfigEosArg1};
+static const iocshFuncDef pmacAsynIPPortConfigEosFuncDef = {
+    "pmacAsynIPPortConfigureEos", 2, pmacAsynIPPortConfigEosArgs};
+static void pmacAsynIPPortConfigEosCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPPortConfigureEos(args[0].sval, args[1].ival);
+}
+
+/* Register pmacAsynIPConfigure.*/
+static const iocshArg pmacAsynIPConfigureArg0 = {"portName", iocshArgString};
+static const iocshArg pmacAsynIPConfigureArg1 = {"hostInfo", iocshArgString};
+static const iocshArg *pmacAsynIPConfigureArgs[] = {&pmacAsynIPConfigureArg0,
+                                                    &pmacAsynIPConfigureArg1};
+static const iocshFuncDef pmacAsynIPConfigureFuncDef = {
+    "pmacAsynIPConfigure", 2, pmacAsynIPConfigureArgs};
+static void pmacAsynIPConfigureCallFunc(const iocshArgBuf *args) {
+    pmacAsynIPConfigure(args[0].sval, args[1].sval);
+}
+
+static void pmacAsynIPPortRegister(void) {
+    static int firstTime = 1;
+    if (firstTime) {
+        firstTime = 0;
+        iocshRegister(&pmacAsynIPPortConfigFuncDef,
+                      pmacAsynIPPortConfigCallFunc);
+        iocshRegister(&pmacAsynIPPortConfigEosFuncDef,
+                      pmacAsynIPPortConfigEosCallFunc);
+        iocshRegister(&pmacAsynIPConfigureFuncDef, pmacAsynIPConfigureCallFunc);
+    }
+}
+epicsExportRegistrar(pmacAsynIPPortRegister);

src/turboPmacAsynIPPort.h

@@ -0,0 +1,19 @@
+#ifndef asynInterposePmac_H
+#define asynInterposePmac_H
+
+#include <epicsExport.h>
+#include <shareLib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+epicsShareFunc int pmacAsynIPPortConfigure(const char *portName, int addr);
+epicsShareFunc int pmacAsynIPConfigure(const char *portName,
+                                       const char *hostInfo);
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* asynInterposePmac_H */

src/turboPmacAxis.h

@@ -81,6 +81,14 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus init();
 
+    /**
+     * @brief Implementation of the `doReset` function from sinqAxis.
+     *
+     * @param on
+     * @return asynStatus
+     */
+    asynStatus doReset();
+
     /**
      * @brief Enable / disable the axis.
      *
@@ -104,6 +112,16 @@ class turboPmacAxis : public sinqAxis {
      */
     asynStatus rereadEncoder();
 
+    /**
+     * @brief Interpret the error code and populate the user message accordingly
+     *
+     * @param error
+     * @param userMessage
+     * @param sizeUserMessage
+     * @return asynStatus
+     */
+    asynStatus handleError(int error, char *userMessage, int sizeUserMessage);
+
   protected:
     turboPmacController *pC_;
 
@@ -112,9 +130,6 @@ class turboPmacAxis : public sinqAxis {
 
     // The axis status is used when enabling / disabling the motor
     int axisStatus_;
-
-  private:
-    friend class turboPmacController;
 };
 
 #endif

src/turboPmacController.cpp

@@ -49,27 +49,12 @@ turboPmacController::turboPmacController(const char *portName,
     asynStatus status = asynSuccess;
 
     // Initialization of all member variables
-    lowLevelPortUser_ = nullptr;
     comTimeout_ = comTimeout;
 
     // Maximum allowed number of subsequent timeouts before the user is
     // informed.
     maxSubsequentTimeouts_ = 10;
 
-    // =========================================================================;
-
-    /*
-    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(ipPortConfigName, 0, &lowLevelPortUser_, NULL);
-    if (status != asynSuccess || lowLevelPortUser_ == nullptr) {
-        errlogPrintf("Controller \"%s\" => %s, line %d\nFATAL ERROR "
-                     "(cannot connect to MCU controller).\nTerminating IOC",
-                     portName, __PRETTY_FUNCTION__, __LINE__);
-        exit(-1);
-    }
-
     // =========================================================================
     // Create additional parameter library entries
 
@@ -103,15 +88,15 @@ 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(
-        lowLevelPortUser_, message_from_device, strlen(message_from_device));
+    status = pasynOctetSyncIO->setInputEos(ipPortUser_, message_from_device,
+                                           strlen(message_from_device));
     if (status != asynSuccess) {
         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR "
                   "(setting input EOS failed with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 
@@ -123,7 +108,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(lowLevelPortUser_);
+        pasynOctetSyncIO->disconnect(ipPortUser_);
         exit(-1);
     }
 }
@@ -155,7 +140,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     asynStatus status = asynSuccess;
     asynStatus paramLibStatus = asynSuccess;
     asynStatus timeoutStatus = asynSuccess;
-    char fullCommand[MAXBUF_] = {0};
+    // char fullCommand[MAXBUF_] = {0};
     char drvMessageText[MAXBUF_] = {0};
     char modResponse[MAXBUF_] = {0};
     int motorStatusProblem = 0;
@@ -188,57 +173,61 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         // We already did the error logging directly in getAxis
         return asynError;
     }
-
-    /*
-    The message protocol of the turboPmac 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
-    x0D (ASCII value of carriage return) -> The controller needs a carriage
-    return at the end of a "send" command (a command were we transmit data via
-    =). For "request" commands (e.g. read status or position), this is not
-    necessary, but it doesn't hurt either, therefore we always add a carriage
-    return.
-
-    The message has to be build manually into the buffer fullCommand, since it
-    contains NULL terminators in its middle, therefore the string manipulation
-    methods of C don't work.
-    */
-
     const size_t commandLength = strlen(command);
-    const int offset = 9;
 
-    // Positions 2 to 6 must have the value 0. Since fullCommand is initialized
-    // as an array of zeros, we don't need to set these bits manually.
-    fullCommand[0] = '\x40';
-    fullCommand[1] = '\xBF';
+    // NOT NEEDED ANYMORE DUE TO THE LOW LEVEL DRIVER
+    // /*
+    // The message protocol of the turboPmac 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
+    // x0D (ASCII value of carriage return) -> The controller needs a carriage
+    // return at the end of a "send" command (a command were we transmit data
+    // via
+    // =). For "request" commands (e.g. read status or position), this is not
+    // necessary, but it doesn't hurt either, therefore we always add a carriage
+    // return.
 
-    // The size of size_t is platform dependant (pointers-sized), while htons
-    // needs an unsigned int. The byte order is then converted from host to
-    // network order. The offset "+1" is for the carriage return.
-    u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
+    // The message has to be build manually into the buffer fullCommand, since
+    // it contains NULL terminators in its middle, therefore the string
+    // manipulation methods of C don't work.
+    // */
 
-    // Split up into the upper and the lower byte
-    fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the right
-    fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
+    //
+    // const int offset = 9;
 
-    // Write the actual command behind the protocol
-    for (size_t i = 0; i < commandLength; i++) {
-        fullCommand[i + offset] = command[i];
-    }
-    fullCommand[offset + commandLength] = '\x0D';
+    // // Positions 2 to 6 must have the value 0. Since fullCommand is
+    // initialized
+    // // as an array of zeros, we don't need to set these bits manually.
+    // fullCommand[0] = '\x40';
+    // fullCommand[1] = '\xBF';
 
-    // +1 for the carriage return.
-    const size_t fullComandLength = offset + commandLength + 1;
+    // // The size of size_t is platform dependant (pointers-sized), while htons
+    // // needs an unsigned int. The byte order is then converted from host to
+    // // network order. The offset "+1" is for the carriage return.
+    // u_int16_t len = htons(static_cast<u_int16_t>(commandLength + 1));
+
+    // // Split up into the upper and the lower byte
+    // fullCommand[7] = (char)(len >> 8);   // Shift the 8 higher bits to the
+    // right fullCommand[8] = (char)(len & 0xFF); // Mask the higher bits
+
+    // // Write the actual command behind the protocol
+    // for (size_t i = 0; i < commandLength; i++) {
+    //     fullCommand[i + offset] = command[i];
+    // }
+    // fullCommand[offset + commandLength] = '\x0D';
+
+    // // +1 for the carriage return.
+    // const size_t fullComandLength = offset + commandLength + 1;
 
     /*
     We use separated write and read commands here, not the combined writeRead
@@ -254,8 +243,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     trying to reconnect. If the problem persists, ask them to call the support
     */
 
-    status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
-                                     fullComandLength, comTimeout_, &nbytesOut);
+    status = pasynOctetSyncIO->write(ipPortUser_, command, commandLength,
+                                     comTimeout_, &nbytesOut);
 
     msgPrintControlKey writeKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -279,9 +268,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status = pasynOctetSyncIO->write(lowLevelPortUser_, fullCommand,
-                                             fullComandLength, comTimeout_,
-                                             &nbytesOut);
+            status = pasynOctetSyncIO->write(
+                ipPortUser_, command, commandLength, comTimeout_, &nbytesOut);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -300,12 +288,12 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(writeKey);
+        msgPrintControl_.resetCount(writeKey, pasynUserSelf);
     }
 
     // Read the response from the MCU buffer
-    status = pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
-                                    comTimeout_, &nbytesIn, &eomReason);
+    status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_, comTimeout_,
+                                    &nbytesIn, &eomReason);
 
     msgPrintControlKey readKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
@@ -330,9 +318,8 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             checkMaxSubsequentTimeouts(timeoutCounter, axis);
             timeoutCounter += 1;
 
-            status =
-                pasynOctetSyncIO->read(lowLevelPortUser_, response, MAXBUF_,
-                                       comTimeout_, &nbytesIn, &eomReason);
+            status = pasynOctetSyncIO->read(ipPortUser_, response, MAXBUF_,
+                                            comTimeout_, &nbytesIn, &eomReason);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -351,7 +338,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                 stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(readKey);
+        msgPrintControl_.resetCount(readKey, pasynUserSelf);
     }
 
     if (timeoutStatus == asynError) {
@@ -377,7 +364,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                       eomReason, msgPrintControl_.getSuffix());
         }
     } else {
-        msgPrintControl_.resetCount(terminateKey);
+        msgPrintControl_.resetCount(terminateKey, pasynUserSelf);
     }
 
     /*
@@ -412,7 +399,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        msgPrintControl_.resetCount(numResponsesKey);
+        msgPrintControl_.resetCount(numResponsesKey, pasynUserSelf);
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -500,23 +487,14 @@ asynStatus turboPmacController::writeInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus turboPmacController::readInt32(asynUser *pasynUser,
-                                          epicsInt32 *value) {
-    // PMACs can be disabled
-    if (pasynUser->reason == motorCanDisable_) {
-        *value = 1;
-        return asynSuccess;
-    } else {
-        return sinqController::readInt32(pasynUser, value);
-    }
-}
-
-asynStatus turboPmacController::errMsgCouldNotParseResponse(
-    const char *command, const char *response, int axisNo,
-    const char *functionName, int lineNumber) {
+asynStatus turboPmacController::couldNotParseResponse(const char *command,
+                                                      const char *response,
+                                                      int axisNo,
+                                                      const char *functionName,
+                                                      int lineNumber) {
     char modifiedResponse[MAXBUF_] = {0};
     adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
-    return sinqController::errMsgCouldNotParseResponse(
+    return sinqController::couldNotParseResponse(
         command, modifiedResponse, axisNo, functionName, lineNumber);
 }
 

src/turboPmacController.h

@@ -51,17 +51,6 @@ class turboPmacController : public sinqController {
      */
     turboPmacAxis *getTurboPmacAxis(int axisNo);
 
-    /**
-     * @brief Overloaded function of sinqController
-     *
-     * The function is overloaded in order to read motorCanDisable_.
-     *
-     * @param pasynUser
-     * @param value
-     * @return asynStatus
-     */
-    virtual asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
-
     /**
      * @brief Overloaded function of sinqController
      *
@@ -73,9 +62,6 @@ class turboPmacController : public sinqController {
      */
     virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
 
-  protected:
-    asynUser *lowLevelPortUser_;
-
     /**
      * @brief Send a command to the hardware and receive a response
      *
@@ -96,13 +82,13 @@ class turboPmacController : public sinqController {
                          int numExpectedResponses);
 
     /**
-     * @brief Specialized version of sinqController::errMsgCouldNotParseResponse
+     * @brief Specialized version of sinqController::couldNotParseResponse
      * for turboPmac
      *
      * This is an overloaded version of
-     * sinqController::errMsgCouldNotParseResponse which calls
+     * sinqController::couldNotParseResponse which calls
      * adjustResponseForLogging on response before handing it over to
-     * sinqController::errMsgCouldNotParseResponse.
+     * sinqController::couldNotParseResponse.
      *
      * @param command             Command which led to the unparseable message
      * @param response            Response which wasn't parseable
@@ -113,17 +99,20 @@ class turboPmacController : public sinqController {
     called. It is recommended to use a macro, e.g. __LINE__.
      * @return asynStatus         Returns asynError.
      */
-    asynStatus errMsgCouldNotParseResponse(const char *command,
-                                           const char *response, int axisNo_,
-                                           const char *functionName,
-                                           int lineNumber);
+    asynStatus couldNotParseResponse(const char *command, const char *response,
+                                     int axisNo_, const char *functionName,
+                                     int lineNumber);
+
+    // Accessors for additional PVs
+    int rereadEncoderPosition() { return rereadEncoderPosition_; }
+    int readConfig() { return readConfig_; }
 
-  protected:
     // 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;
 
+  protected:
     /*
     Timeout for the communication process in seconds
     */
@@ -136,8 +125,6 @@ class turboPmacController : public sinqController {
     int rereadEncoderPosition_;
     int readConfig_;
 #define LAST_turboPmac_PARAM readConfig_
-
-    friend class turboPmacAxis;
 };
 #define NUM_turboPmac_DRIVER_PARAMS                                            \
     (&LAST_turboPmac_PARAM - &FIRST_turboPmac_PARAM + 1)