Added destructor for detectorTowerController

Previously, a new error message did not automatically result in a status
problem being shown. This patch fixes that.

README.md

@@ -6,7 +6,7 @@
 
 ![Coordinate systems](images/CoordinateSystems.svg)
 
-This is a driver for the detector tower which is based on the Turbo PMAC driver (https://git.psi.ch/sinq-epics-modules/turboPmac). It consists of the following four objects:
+This is a driver for the detector tower which is based on the Turbo PMAC driver (https://gitea.psi.ch/lin-epics-modules/turboPmac). It consists of the following four objects:
 - `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAngleAxis`, but it can also be used to operate a "normal" `turboPmacAxis`.
 - `detectorTowerAngleAxis`: This is a virtual axis which controls multiple physical motors ($x$ and $z$) in order to provide a combined movement. Moving it results in a rotation of the entire beam around the support axis position ($\alpha$).
 - `detectorTowerLiftAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a vertical lift ($z_{lift}$).

src/detectorTowerAngleAxis.cpp

@@ -189,7 +189,7 @@ asynStatus detectorTowerAngleAxis::poll(bool *moving) {
                                              __LINE__);
         }
     }
-    wasMoving_ = *moving;
+    setWasMoving(*moving);
     return status;
 }
 
@@ -216,7 +216,7 @@ asynStatus detectorTowerAngleAxis::doMove(double position, int relative,
 
     // Signal to the deferredMovementCollectorLoop that a movement should be
     // started to the defined target position.
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     receivedTarget_ = true;
 
     return asynSuccess;
@@ -282,7 +282,7 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
     // Set the target positions for beam tilt, detector tilt offset and lift
     // offset
     snprintf(command, sizeof(command), "Q451=%lf Q454=%lf P350=1",
-             targetPosition_, liftAxis_->targetPosition_);
+             targetPosition(), liftAxis_->targetPosition());
 
     // Lock the access to the controller since this function runs in another
     // thread than the poll method.
@@ -343,6 +343,10 @@ asynStatus detectorTowerAngleAxis::stop(double acceleration) {
         return asynError;
     }
 
+    // Reset the deferred movement flags
+    startingDeferredMovement_ = false;
+    deferredMovementWait_ = false;
+
     return rwStatus;
 }
 
@@ -526,6 +530,10 @@ asynStatus detectorTowerAngleAxis::doReset() {
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
+    // Reset the deferred movement flags
+    startingDeferredMovement_ = false;
+    deferredMovementWait_ = false;
+
     /*
     Check which action should be performed:
     - If error_ == 10 or 11 (FTZ motor error): P352 = 3 (Recover FTZ)

src/detectorTowerController.cpp

@@ -106,11 +106,13 @@ detectorTowerController::detectorTowerController(
     }
 }
 
+detectorTowerController::~detectorTowerController() {}
+
 asynStatus detectorTowerController::readInt32(asynUser *pasynUser,
                                               epicsInt32 *value) {
 
     // The detector axes cannot be disabled
-    if (pasynUser->reason == motorCanDisable_) {
+    if (pasynUser->reason == motorCanDisable()) {
         detectorTowerAngleAxis *aAxis = getDetectorTowerAngleAxis(pasynUser);
         if (aAxis != nullptr) {
             *value = 0;
@@ -150,31 +152,6 @@ asynStatus detectorTowerController::writeInt32(asynUser *pasynUser,
         }
     }
 
-    /*
-    Due to a bug which is currently not understood, the reset has to be handled
-    here rather than using the default implementation in sinqController. Piping
-    the motor reset request to sinqController causes segfaults. It might be due
-    to the fact that the default `reset` implementation of sinqAxis locks the
-    controller in order to perform some fast polls and that for some reason this
-    behaviour cannot be overwritten even by providing custom `reset` methods for
-    all three axes.
-    */
-    if (pasynUser->reason == motorReset_) {
-        detectorTowerAngleAxis *aAxis = getDetectorTowerAngleAxis(pasynUser);
-        if (aAxis != nullptr) {
-            return aAxis->reset();
-        }
-        detectorTowerLiftAxis *lAxis = getDetectorTowerLiftAxis(pasynUser);
-        if (lAxis != nullptr) {
-            return lAxis->reset();
-        }
-        detectorTowerSupportAxis *sAxis =
-            getDetectorTowerSupportAxis(pasynUser);
-        if (sAxis != nullptr) {
-            return sAxis->reset();
-        }
-    }
-
     return turboPmacController::writeInt32(pasynUser, value);
 }
 
@@ -838,7 +815,8 @@ asynStatus detectorTowerController::pollDetectorAxes(
     getStringParam(angleAxisNo, motorMessageText(), sizeof(waitingErrorMessage),
                    waitingErrorMessage);
 
-    if (error != 0 || waitingErrorMessage[0] != '\0') {
+    if (error != 0 || errorMessage[0] != '\0' ||
+        waitingErrorMessage[0] != '\0') {
 
         plStatus = angleAxis->setIntegerParam(motorStatusProblem(), true);
         if (plStatus != asynSuccess) {

src/detectorTowerController.h

@@ -35,6 +35,8 @@ class detectorTowerController : public turboPmacController {
                             int numAxes, double movingPollPeriod,
                             double idlePollPeriod, double comTimeout);
 
+    virtual ~detectorTowerController();
+
     /**
      * @brief Overloaded function of turboPmacController
      *

src/detectorTowerLiftAxis.cpp

@@ -154,7 +154,7 @@ asynStatus detectorTowerLiftAxis::poll(bool *moving) {
                                              __LINE__);
         }
     }
-    wasMoving_ = *moving;
+    setWasMoving(*moving);
     return status;
 }
 
@@ -183,7 +183,7 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
     // Signal to the deferredMovementCollectorLoop (of the
     // detectorTowerAngleAxis) that a movement should be started to the
     // defined target position.
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     angleAxis_->receivedTarget_ = true;
 
     return asynSuccess;
@@ -192,37 +192,8 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
 asynStatus detectorTowerLiftAxis::reset() { return angleAxis()->reset(); };
 
 asynStatus detectorTowerLiftAxis::stop(double acceleration) {
-
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
-
-    char response[pC_->MAXBUF_] = {0};
-
-    // =========================================================================
-
-    rwStatus = pC_->writeRead(axisNo_, "P350=8", response, 0);
-
-    if (rwStatus != asynSuccess) {
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nStopping "
-                  "the movement "
-                  "failed.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
-        plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        return asynError;
-    }
-
-    return rwStatus;
-}
+    return angleAxis()->stop(acceleration);
+};
 
 asynStatus detectorTowerLiftAxis::readEncoderType() {
     return angleAxis()->readEncoderType();

src/detectorTowerLiftAxis.h

@@ -19,10 +19,6 @@ class detectorTowerLiftAxis : public turboPmacAxis {
     detectorTowerLiftAxis(detectorTowerController *pController, int axisNo,
                           detectorTowerAngleAxis *angleAxis);
 
-    /**
-     * @brief Destroy the turboPmacAxis
-     *
-     */
     virtual ~detectorTowerLiftAxis();
 
     /**

src/detectorTowerSupportAxis.cpp

@@ -155,7 +155,7 @@ asynStatus detectorTowerSupportAxis::poll(bool *moving) {
                                              __LINE__);
         }
     }
-    wasMoving_ = *moving;
+    setWasMoving(*moving);
     return status;
 }
 

src/detectorTowerSupportAxis.h

@@ -24,10 +24,6 @@ class detectorTowerSupportAxis : public turboPmacAxis {
     detectorTowerSupportAxis(detectorTowerController *pController, int axisNo,
                              detectorTowerAngleAxis *angleAxis);
 
-    /**
-     * @brief Destroy the detectorTowerSupportAxis
-     *
-     */
     virtual ~detectorTowerSupportAxis();
 
     /**