Updated sinqMotor to fix bug in forcedPoll

.gitea/workflows/action.yaml

@@ -0,0 +1,30 @@
+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 src/*.h
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          pushd turboPmac
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install
+          popd
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += turboPmac" >> Makefile
+          make install

src/beamShiftAxis.cpp

@@ -146,7 +146,7 @@ asynStatus beamShiftAxis::doPoll(bool *moving) {
     asynStatus errorStatus = asynSuccess;
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
+    asynStatus status = asynSuccess;
 
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
@@ -182,9 +182,9 @@ asynStatus beamShiftAxis::doPoll(bool *moving) {
     - Lower limit
     */
     snprintf(command, sizeof(command), "P154 Q110 P158 P159 Q113 Q114");
-    rw_status = pC_->writeRead(axisNo(), command, response, 6);
-    if (rw_status != asynSuccess) {
-        return rw_status;
+    status = pC_->writeRead(axisNo(), command, response, 6);
+    if (status != asynSuccess) {
+        return status;
     };
 
     nvals = sscanf(response, "%d %lf %d %d %lf %lf", (int *)moving,
@@ -393,10 +393,7 @@ asynStatus beamShiftAxis::doMove(double position, int relative,
                                  double acceleration) {
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
+    asynStatus status = asynSuccess;
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
@@ -430,8 +427,8 @@ asynStatus beamShiftAxis::doMove(double position, int relative,
              motorCoordinatesPosition);
 
     // We don't expect an answer
-    rw_status = pC_->writeRead(axisNo(), command, response, 0);
-    if (rw_status != asynSuccess) {
+    status = pC_->writeRead(axisNo(), command, response, 0);
+    if (status != asynSuccess) {
 
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -441,7 +438,7 @@ asynStatus beamShiftAxis::doMove(double position, int relative,
             motorCoordinatesPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
     }
-    return rw_status;
+    return status;
 }
 
 asynStatus beamShiftAxis::stop(double acceleration) {
@@ -483,7 +480,6 @@ asynStatus beamShiftAxis::enable(bool on) {
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
     char userMessage[pC_->MAXBUF_] = {0};
-    asynStatus status = asynSuccess;
     int nvals = 0;
     int error = 0;
     int enabled = 0;
@@ -495,7 +491,10 @@ asynStatus beamShiftAxis::enable(bool on) {
     if (on) {
         // Check if the axis is currently switched off
         snprintf(command, sizeof(command), "P158 P159");
-        status = pC_->writeRead(axisNo(), command, response, 2);
+        asynStatus status = pC_->writeRead(axisNo(), command, response, 2);
+        if (status != asynSuccess) {
+            return status;
+        }
 
         nvals = sscanf(response, "%d %d", &enabled, &error);
         if (nvals != 2) {

src/beamShiftAxis.h

@@ -3,7 +3,7 @@
 #include "turboPmacAxis.h"
 #include "turboPmacController.h"
 
-class beamShiftAxis : public turboPmacAxis {
+class HIDDEN beamShiftAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new beamShiftAxis