Safety commit

src/auxiliaryAxis.cpp

@@ -55,10 +55,6 @@ auxiliaryAxis::auxiliaryAxis(detectorTowerController *pC, int axisNo)
         exit(-1);
     }
 
-    // Initialize all member variables
-    // Assumed to be not ready by default, this is overwritten in the next poll
-    targetPosition_ = 0.0;
-
     // Register the hook function during construction of the first axis object
     if (axes.empty()) {
         initHookRegister(&epicsInithookFunction);
@@ -241,3 +237,5 @@ asynStatus auxiliaryAxis::stop(double acceleration) {
 
     return rw_status;
 }
+
+asynStatus auxiliaryAxis::reset() { return dTA_->reset(); };

src/auxiliaryAxis.h

@@ -63,10 +63,16 @@ class auxiliaryAxis : public turboPmacAxis {
     asynStatus doMove(double position, int relative, double min_velocity,
                       double max_velocity, double acceleration);
 
+    /**
+     * @brief Call the reset function of the associated `detectorTowerAxis`.
+     *
+     * @return asynStatus
+     */
+    asynStatus reset();
+
   protected:
     detectorTowerController *pC_;
     detectorTowerAxis *dTA_;
-    double targetPosition_;
 
   private:
     friend class detectorTowerAxis;

src/detectorTowerAxis.cpp

@@ -78,7 +78,6 @@ detectorTowerAxis::detectorTowerAxis(detectorTowerController *pC, int axisNo,
     // Initialize all member variables
     // Assumed to be not ready by default, this is overwritten in the next poll
     error_ = 0;
-    targetPosition_ = 0.0;
     receivedTarget_ = false;
     startingDeferredMovement_ = false;
     deferredMovementWait_ = 0.1; // seconds
@@ -191,17 +190,11 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
     }
 
     // Read the previous motor position
-    pl_status = pC_->getDoubleParam(axisNo_, pC_->motorPosition(),
-                                    &previousBeamTiltAngle);
+    pl_status = motorPosition(&previousBeamTiltAngle);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pl_status;
     }
 
-    // Transform from EPICS to motor coordinates (see comment in
-    // turboPmacAxis::atFirstPoll)
-    previousBeamTiltAngle = previousBeamTiltAngle * motorRecResolution;
-
     /*
     Query the following information:
     - In-position flag
@@ -224,7 +217,7 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
                &liftOffsetHighLimit, &liftOffsetLowLimit, &tiltOffsetHighLimit,
                &tiltOffsetLowLimit);
     if (nvals != 10) {
-        return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
+        return pC_->couldNotParseResponse(command, response, axisNo_,
                                                 __PRETTY_FUNCTION__, __LINE__);
     }
 
@@ -712,12 +705,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
     double liftOffsetPosition =
         detectorHeight + detectorRadius * sin(beamTiltAngle);
 
-    pl_status = pC_->setDoubleParam(liftAxisNo, pC_->motorPosition(),
-                                    liftOffsetPosition / motorRecResolution);
+    pl_status = setMotorPosition(liftOffsetPosition);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_",
-                                         liftAxisNo, __PRETTY_FUNCTION__,
-                                         __LINE__);
+        return pl_status;
     }
     pl_status = pC_->setDoubleParam(liftAxisNo, pC_->motorHighLimitFromDriver(),
                                     liftOffsetHighLimit);
@@ -738,14 +728,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
 
     // There exists no readback value for tiltOffsetAxis_, hence we just set the
     // current position to the target position.
-    pl_status = tiltOffsetAxis_->setDoubleParam(
-        pC_->motorPosition(),
-        tiltOffsetAxis_->targetPosition_ / motorRecResolution);
-
+    tiltOffsetAxis_->setMotorPosition(tiltOffsetAxis_->targetPosition_);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_",
-                                         tiltAxisNo, __PRETTY_FUNCTION__,
-                                         __LINE__);
+        return pl_status;
     }
     pl_status = pC_->setDoubleParam(tiltAxisNo, pC_->motorHighLimitFromDriver(),
                                     tiltOffsetHighLimit);
@@ -764,11 +749,9 @@ asynStatus detectorTowerAxis::doPoll(bool *moving) {
 
     // Transform from motor to EPICS coordinates (see comment in
     // turboPmacAxis::init())
-    pl_status = setDoubleParam(pC_->motorPosition(),
-                               beamTiltAngle / motorRecResolution);
+    pl_status = setMotorPosition(beamTiltAngle);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
+        return pl_status;
     }
 
     pl_status = setIntegerParam(pC_->positionStateRBV(), positionState);
@@ -988,7 +971,7 @@ detectorTowerAxis::toggleWorkingChangerState(bool toChangingPosition) {
     return rw_status;
 }
 
-asynStatus detectorTowerAxis::reset() {
+asynStatus detectorTowerAxis::doReset() {
 
     char response[pC_->MAXBUF_];
     asynStatus pl_status = asynSuccess;
@@ -1106,10 +1089,6 @@ asynStatus detectorTowerCreateAxis(const char *portName, int axisDetectorTower,
     return asynSuccess;
 }
 
-/*
-Same procedure as for the CreateController function, but for the axis
-itself.
-*/
 static const iocshArg CreateAxisArg0 = {"Controller name (e.g. mcu1)",
                                         iocshArgString};
 static const iocshArg CreateAxisArg1 = {"Number of the detector angle axis",

src/detectorTowerAxis.h

@@ -8,10 +8,6 @@
 // https://en.cppreference.com/w/cpp/language/class.
 class detectorTowerController;
 
-/**
- * @brief
- *
- */
 class detectorTowerAxis : public turboPmacAxis {
   public:
     /**
@@ -97,12 +93,12 @@ class detectorTowerAxis : public turboPmacAxis {
     asynStatus toggleWorkingChangerState(bool toChangingPosition);
 
     /**
-     * @brief Reset the axis error
+     * @brief Implementation of the `doReset` method of sinqAxis
      *
      * @param on
      * @return asynStatus
      */
-    asynStatus reset();
+    asynStatus doReset();
 
     // If true, either this axis or one of the auxiliaryAxis attached to it
     // received a movement command.
@@ -121,7 +117,6 @@ class detectorTowerAxis : public turboPmacAxis {
 
   protected:
     detectorTowerController *pC_;
-    double targetPosition_;
     int error_;
     auxiliaryAxis *tiltOffsetAxis_;
     auxiliaryAxis *liftOffsetAxis_;