Fixed version requirement for the 0.13.x series of turboPmac drivers

.gitea/workflows/action.yaml

@@ -1,24 +0,0 @@
-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

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

.gitlab-ci.yml

@@ -0,0 +1,58 @@
+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

.gitmodules

@@ -1,6 +0,0 @@
-[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

Makefile

@@ -1,4 +1,4 @@
-# Include the external Makefile
+# Use the PSI build system
 include /ioc/tools/driver.makefile
 
 MODULE=turboPmac
@@ -8,31 +8,28 @@ 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 -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
-USR_CXXFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden 

README.md

@@ -1,29 +1,20 @@
 # turboPmac
 
-## <span style="color:red">Please read the documentation of sinqMotor first: https://gitea.psi.ch/lin-epics-modules/sinqMotor</span>
+## <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
+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.
-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
+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.
-level IP Port driver (`pmacAsynIPPortConfigure`) instead of the standard
+
-`drvAsynIPPortConfigure`. For the general configuration, please see
+The folder "utils" contains utility scripts for working with pmac motor controllers. To read their manual, run the scripts without any arguments.
-https://gitea.psi.ch/lin-epics-modules/sinqMotor/src/branch/main/README.md.
+- 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
 
@@ -38,10 +29,8 @@ 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
+# 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.
-# 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
-# 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")
 
@@ -61,36 +50,27 @@ 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
+# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
-# 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.
-epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
+epicsEnvSet("SINQDBPATH","$(sinqMotor_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=$(DRIVER_PORT)")
-dbLoadRecords("$(turboPmac_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
+dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(DRIVER_PORT),PORT=$(IP_PORT)")
 ```
 
 ### Additional records
 
-`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for
+`turboPmac` provides a variety of additional records. See `db/turboPmac.db` for the complete list and the documentation.
-the complete list and the documentation.
 
 ## Developer guide
 
 ### Versioning
 
-Please see the documentation for the module sinqMotor:
+Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
-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
+Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.
-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

@@ -31,14 +31,3 @@ 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

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

src/pmacAsynIPPort.h

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

src/turboPmacAxis.h

@@ -1,22 +1,19 @@
 #ifndef turboPmacAXIS_H
 #define turboPmacAXIS_H
-#include "sinqController.h"
+#include "sinqAxis.h"
-#include "turboPmacController.h"
-#include <memory>
 
-struct HIDDEN turboPmacAxisImpl;
+// 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;
 
-class HIDDEN turboPmacAxis : public sinqAxis {
+class 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);
@@ -24,22 +21,9 @@ class HIDDEN 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
      *
@@ -47,7 +31,7 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      * value is currently not used.
      * @return asynStatus
      */
-    virtual asynStatus stop(double acceleration);
+    asynStatus stop(double acceleration);
 
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
@@ -59,8 +43,8 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      * @param forwards
      * @return asynStatus
      */
-    virtual asynStatus doHome(double minVelocity, double maxVelocity,
+    asynStatus doHome(double minVelocity, double maxVelocity,
-                              double acceleration, int forwards);
+                      double acceleration, int forwards);
 
     /**
      * @brief Implementation of the `doPoll` function from sinqAxis. The
@@ -69,7 +53,7 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      * @param moving
      * @return asynStatus
      */
-    virtual asynStatus doPoll(bool *moving);
+    asynStatus doPoll(bool *moving);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -82,9 +66,20 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      * @param acceleration
      * @return asynStatus
      */
-    virtual asynStatus doMove(double position, int relative,
+    asynStatus doMove(double position, int relative, double min_velocity,
-                              double min_velocity, double max_velocity,
+                      double max_velocity, double acceleration);
-                              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
+     */
+    asynStatus init();
 
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
@@ -92,7 +87,7 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    virtual asynStatus doReset();
+    asynStatus doReset();
 
     /**
      * @brief Enable / disable the axis.
@@ -100,7 +95,7 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    virtual asynStatus enable(bool on);
+    asynStatus enable(bool on);
 
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
@@ -108,14 +103,14 @@ class HIDDEN turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    virtual asynStatus readEncoderType();
+    asynStatus readEncoderType();
 
     /**
      * @brief Trigger a rereading of the encoder position.
      *
      * @return asynStatus
      */
-    virtual asynStatus rereadEncoder();
+    asynStatus rereadEncoder();
 
     /**
      * @brief Interpret the error code and populate the user message accordingly
@@ -127,29 +122,14 @@ class HIDDEN 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_;
-    std::unique_ptr<turboPmacAxisImpl> pTurboPmacA_;
+
+    bool waitForHandshake_;
+    time_t timeAtHandshake_;
+
+    // The axis status is used when enabling / disabling the motor
+    int axisStatus_;
 };
 
 #endif

src/turboPmacController.cpp

@@ -31,24 +31,6 @@ 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,
@@ -61,29 +43,25 @@ 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.
-    setMaxSubsequentTimeouts(10);
+    maxSubsequentTimeouts_ = 10;
 
     // =========================================================================
     // Create additional parameter library entries
 
     status = createParam("REREAD_ENCODER_POSITION", asynParamInt32,
-                         &pTurboPmacC_->rereadEncoderPosition);
+                         &rereadEncoderPosition_);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -93,8 +71,7 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
-    status =
+    status = createParam("READ_CONFIG", asynParamInt32, &readConfig_);
-        createParam("READ_CONFIG", asynParamInt32, &pTurboPmacC_->readConfig);
     if (status != asynSuccess) {
         asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                   "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
@@ -104,19 +81,7 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
-    status = createParam("FLUSH_HARDWARE", asynParamInt32,
+    status = createParam("FLUSH_HARDWARE", asynParamInt32, &flushHardware_);
-                         &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 "
@@ -135,7 +100,7 @@ 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) {
@@ -144,7 +109,7 @@ 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);
     }
 
@@ -156,7 +121,7 @@ turboPmacController::turboPmacController(const char *portName,
                   "with %s).\nTerminating IOC",
                   portName, __PRETTY_FUNCTION__, __LINE__,
                   stringifyAsynStatus(status));
-        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
+        pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort_);
         exit(-1);
     }
 
@@ -166,21 +131,17 @@ 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,
+    pasynInt32SyncIO->connect(ipPortConfigName, 0, &pasynInt32SyncIOipPort_,
-                              &pTurboPmacC_->pasynInt32SyncIOipPort, NULL);
+                              NULL);
-    if (status != asynSuccess ||
+    if (status != asynSuccess || pasynInt32SyncIOipPort_ == nullptr) {
-        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
@@ -206,7 +167,9 @@ 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;
@@ -252,36 +215,20 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     */
     status = pasynOctetSyncIO->writeRead(
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
-        pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
+        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 (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
+        if (msgPrintControl_.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__,
-                getMsgPrintControl().getSuffix());
+                msgPrintControl_.getSuffix());
         }
 
         timeoutStatus = checkComTimeoutWatchdog(axisNo, drvMessageText,
@@ -292,14 +239,13 @@ 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_, pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn,
+                MAXBUF_, comTimeout_, &nbytesOut, &nbytesIn, &eomReason);
-                &eomReason);
             if (status != asynTimeout) {
                 asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
@@ -309,28 +255,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
             }
         }
     } else if (status != asynSuccess) {
-        if (getMsgPrintControl().shouldBePrinted(comKey, true, pasynUser())) {
+        if (msgPrintControl_.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), getMsgPrintControl().getSuffix());
+                stringifyAsynStatus(status), msgPrintControl_.getSuffix());
         }
     } else {
-        getMsgPrintControl().resetCount(comKey, pasynUser());
+        msgPrintControl_.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) {
@@ -367,17 +301,16 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  "string detected\"). Please call the support.",
                  reasonStringified);
 
-        if (getMsgPrintControl().shouldBePrinted(terminateKey, true,
+        if (msgPrintControl_.shouldBePrinted(terminateKey, true, pasynUser())) {
-                                                 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, getMsgPrintControl().getSuffix());
+                      reasonStringified, msgPrintControl_.getSuffix());
         }
     } else {
-        getMsgPrintControl().resetCount(terminateKey, pasynUser());
+        msgPrintControl_.resetCount(terminateKey, pasynUser());
     }
 
     /*
@@ -394,15 +327,15 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
     if (numExpectedResponses != numReceivedResponses) {
         adjustResponseForPrint(modResponse, response, MAXBUF_);
 
-        if (getMsgPrintControl().shouldBePrinted(numResponsesKey, true,
+        if (msgPrintControl_.shouldBePrinted(numResponsesKey, true,
-                                                 pasynUser())) {
+                                             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, getMsgPrintControl().getSuffix());
+                command, msgPrintControl_.getSuffix());
         }
 
         snprintf(drvMessageText, sizeof(drvMessageText),
@@ -412,7 +345,7 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
                  modResponse, command);
         status = asynError;
     } else {
-        getMsgPrintControl().resetCount(numResponsesKey, pasynUser());
+        msgPrintControl_.resetCount(numResponsesKey, pasynUser());
     }
 
     // Create custom error messages for different failure modes, if no error
@@ -442,18 +375,41 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
 
     // Log the overall status (communication successfull or not)
     if (status == asynSuccess) {
-        setAxisParamChecked(axis, motorStatusCommsError, false);
+        paramLibStatus = axis->setIntegerParam(this->motorStatusCommsError_, 0);
     } 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
-        getAxisParamChecked(axis, motorStatusProblem, &motorStatusProblem);
+        paramLibStatus =
+            getIntegerParam(axisNo, motorStatusProblem_, &motorStatusProblem);
+        if (paramLibStatus != asynSuccess) {
+            return paramLibAccessFailed(paramLibStatus, "motorStatusProblem_",
+                                        axisNo, __PRETTY_FUNCTION__, __LINE__);
+        }
 
         if (motorStatusProblem == 0) {
-            setAxisParamChecked(axis, motorMessageText, drvMessageText);
+            paramLibStatus =
-            setAxisParamChecked(axis, motorStatusProblem, true);
+                axis->setStringParam(motorMessageText_, drvMessageText);
-            setAxisParamChecked(axis, motorStatusCommsError, true);
+            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__);
+            }
         }
     }
     return status;
@@ -465,13 +421,13 @@ 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 = pTurboPmacC_->pasynInt32SyncIOipPort->reason;
+    int temp = pasynInt32SyncIOipPort_->reason;
-    pTurboPmacC_->pasynInt32SyncIOipPort->reason = FLUSH_HARDWARE;
+    pasynInt32SyncIOipPort_->reason = FLUSH_HARDWARE;
     asynStatus status = (asynStatus)pasynInt32SyncIO->write(
-        pTurboPmacC_->pasynInt32SyncIOipPort, 1, pTurboPmacC_->comTimeout);
+        pasynInt32SyncIOipPort_, 1, comTimeout_);
 
     // Reset the status afterwards
-    pTurboPmacC_->pasynInt32SyncIOipPort->reason = temp;
+    pasynInt32SyncIOipPort_->reason = temp;
     return status;
 }
 
@@ -484,11 +440,11 @@ 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);
@@ -506,19 +462,6 @@ 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 */
@@ -573,8 +516,7 @@ 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

@@ -10,16 +10,9 @@
 #define turboPmacController_H
 #include "sinqAxis.h"
 #include "sinqController.h"
-#include <memory>
+#include "turboPmacAxis.h"
 
-// Forward declaration of the controller class to resolve the cyclic dependency
+class turboPmacController : public sinqController {
-// 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
@@ -40,13 +33,6 @@ class HIDDEN 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
      *
@@ -93,8 +79,7 @@ class HIDDEN 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
@@ -131,17 +116,36 @@ class HIDDEN turboPmacController : public sinqController {
     asynStatus doFlushHardware();
 
     // Accessors for additional PVs
-    int rereadEncoderPosition();
+    int rereadEncoderPosition() { return rereadEncoderPosition_; }
-    int readConfig();
+    int readConfig() { return readConfig_; }
-    int flushHardware();
+    int flushHardware() { return flushHardware_; }
-    int limFromHardware();
 
-    asynUser *pasynInt32SyncIOipPort();
+    // 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;
 
-  private:
+    asynUser *pasynInt32SyncIOipPort() { return pasynInt32SyncIOipPort_; }
-    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 */