Updated turboPmac version

src/detectorTowerAngleAxis.cpp

@@ -1,5 +1,7 @@
 #include "detectorTowerAngleAxis.h"
 #include "detectorTowerController.h"
+#include "detectorTowerLiftAxis.h"
+#include "detectorTowerSupportAxis.h"
 #include "turboPmacController.h"
 #include <epicsExport.h>
 #include <errlog.h>
@@ -172,7 +174,7 @@ asynStatus detectorTowerAngleAxis::poll(bool *moving) {
     if (axisNo() < liftAxis()->axisNo() && axisNo() < supportAxis()->axisNo()) {
         status = pC_->pollDetectorAxes(moving, this, liftAxis(), supportAxis());
     } else {
-        getAxisParamChecked(this, motorStatusMoving, &moving);
+        getAxisParamChecked(this, motorStatusMoving, moving);
     }
     setWasMoving(*moving);
     return status;
@@ -204,10 +206,7 @@ asynStatus detectorTowerAngleAxis::doMove(double position, int relative,
 asynStatus detectorTowerAngleAxis::startCombinedMove() {
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
+    asynStatus status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
@@ -252,12 +251,12 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
     pC_->lock();
 
     // We don't expect an answer
-    rwStatus = pC_->writeRead(axisNo_, command, response, 0);
+    status = pC_->writeRead(axisNo_, command, response, 0);
 
     // Free the controller again
     pC_->unlock();
 
-    if (rwStatus != asynSuccess) {
+    if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
@@ -268,24 +267,21 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
         callParamCallbacks();
     }
 
-    return rwStatus;
+    return status;
 }
 
 asynStatus detectorTowerAngleAxis::stop(double acceleration) {
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
+    asynStatus status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
-    rwStatus = pC_->writeRead(axisNo_, "P350=8", response, 0);
+    status = pC_->writeRead(axisNo_, "P350=8", response, 0);
 
-    if (rwStatus != asynSuccess) {
+    if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
@@ -300,7 +296,7 @@ asynStatus detectorTowerAngleAxis::stop(double acceleration) {
     startingDeferredMovement_ = false;
     deferredMovementWait_ = false;
 
-    return rwStatus;
+    return status;
 }
 
 // The detector tower axis uses absolute encoders
@@ -315,16 +311,16 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
     char response[pC_->MAXBUF_] = {0};
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
+    asynStatus status = asynSuccess;
 
     bool moving = false;
     int positionState = 0;
 
     // =========================================================================
 
-    rwStatus = poll(&moving);
+    status = poll(&moving);
-    if (rwStatus != asynSuccess) {
+    if (status != asynSuccess) {
-        return rwStatus;
+        return status;
     }
 
     getAxisParamChecked(this, positionStateRBV, &positionState);
@@ -365,9 +361,9 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
 
     // Move the axis into changer or working position
     if (toChangingPosition) {
-        rwStatus = pC_->writeRead(axisNo_, "P350=2", response, 0);
+        status = pC_->writeRead(axisNo_, "P350=2", response, 0);
     } else {
-        rwStatus = pC_->writeRead(axisNo_, "P350=3", response, 0);
+        status = pC_->writeRead(axisNo_, "P350=3", response, 0);
     }
 
     setAxisParamChecked(this, changeStateRBV, toChangingPosition);
@@ -421,7 +417,6 @@ asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
 asynStatus detectorTowerAngleAxis::doReset() {
 
     char response[pC_->MAXBUF_] = {0};
-    asynStatus plStatus = asynSuccess;
     int positionState = 0;
 
     getAxisParamChecked(this, positionStateRBV, &positionState);

src/detectorTowerAngleAxis.h

@@ -2,13 +2,6 @@
 #define detectorTowerAngleAxis_H
 #include "detectorTowerController.h"
 #include "turboPmacAxis.h"
-#include <errlog.h>
-
-// 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 detectorTowerLiftAxis;
-class detectorTowerSupportAxis;
 
 class detectorTowerAngleAxis : public turboPmacAxis {
   public:

src/detectorTowerController.cpp

@@ -1,6 +1,7 @@
 #include "detectorTowerController.h"
 #include "detectorTowerAngleAxis.h"
-#include "turboPmacController.h"
+#include "detectorTowerLiftAxis.h"
+#include "detectorTowerSupportAxis.h"
 #include <epicsExport.h>
 #include <errlog.h>
 #include <iocsh.h>

src/detectorTowerController.h

@@ -8,11 +8,15 @@
 
 #ifndef detectorTowerController_H
 #define detectorTowerController_H
-#include "detectorTowerAngleAxis.h"
-#include "detectorTowerLiftAxis.h"
-#include "detectorTowerSupportAxis.h"
 #include "turboPmacController.h"
 
+// Forward declaration of the axis classes to resolve the cyclic dependency
+// between the controller and the axis .h-file. See
+// https://en.cppreference.com/w/cpp/language/class.
+class detectorTowerAngleAxis;
+class detectorTowerLiftAxis;
+class detectorTowerSupportAxis;
+
 class detectorTowerController : public turboPmacController {
 
   public:

src/detectorTowerLiftAxis.cpp

@@ -1,6 +1,7 @@
 #include "detectorTowerLiftAxis.h"
 #include "detectorTowerAngleAxis.h"
 #include "detectorTowerController.h"
+#include "detectorTowerSupportAxis.h"
 #include "turboPmacController.h"
 #include <epicsExport.h>
 #include <errlog.h>
@@ -138,7 +139,7 @@ asynStatus detectorTowerLiftAxis::poll(bool *moving) {
         status = pC_->pollDetectorAxes(moving, angleAxis(), this,
                                        angleAxis()->supportAxis());
     } else {
-        getAxisParamChecked(this, motorStatusMoving, &moving);
+        getAxisParamChecked(this, motorStatusMoving, moving);
     }
     setWasMoving(*moving);
     return status;

src/detectorTowerLiftAxis.h

@@ -3,11 +3,6 @@
 #include "detectorTowerController.h"
 #include "turboPmacAxis.h"
 
-// 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 detectorTowerAngleAxis;
-
 class detectorTowerLiftAxis : public turboPmacAxis {
   public:
     /**

src/detectorTowerSupportAxis.cpp

@@ -1,6 +1,7 @@
 #include "detectorTowerSupportAxis.h"
 #include "detectorTowerAngleAxis.h"
 #include "detectorTowerController.h"
+#include "detectorTowerLiftAxis.h"
 #include "turboPmacController.h"
 #include <epicsExport.h>
 #include <errlog.h>
@@ -138,7 +139,7 @@ asynStatus detectorTowerSupportAxis::poll(bool *moving) {
         status = pC_->pollDetectorAxes(moving, angleAxis(),
                                        angleAxis()->liftAxis(), this);
     } else {
-        getAxisParamChecked(this, motorStatusMoving, &moving);
+        getAxisParamChecked(this, motorStatusMoving, moving);
     }
     setWasMoving(*moving);
     return status;

src/detectorTowerSupportAxis.h

@@ -3,11 +3,6 @@
 #include "detectorTowerController.h"
 #include "turboPmacAxis.h"
 
-// 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 detectorTowerAngleAxis;
-
 /**
  * @brief Passive axis which is mostly controlled indirectly by the hardware
  *