Lift and angle axis now move simultaneously

Fixed a bug which caused the axes not to move in parallel, but after
each other.

.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

.gitlab-ci.yml

@@ -1,58 +0,0 @@
-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 TURBOPMAC_VERSION="$(grep 'turboPmac_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${TURBOPMAC_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${TURBOPMAC_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/detectorTower/$(ls -U /ioc/modules/detectorTower/ | head -1)" "./detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "detectorTower-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -42,4 +42,4 @@ DBDS += turboPmac/sinqMotor/src/sinqMotor.dbd
 DBDS += turboPmac/src/turboPmac.dbd
 DBDS += src/detectorTower.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings

db/detectorTower.db

@@ -58,7 +58,6 @@ record(ai, "$(INSTR)$(M):Origin") {
     field(INP, "@asyn($(CONTROLLER),$(AXIS)) MOTOR_ORIGIN")
     field(SCAN, "I/O Intr")
     field(PINI, "NO")
-    field(VAL, "0")
 }
 
 # Shift the origin of the corresponding axis by the given value. The axis will move to this 
@@ -69,16 +68,28 @@ record(ao, "$(INSTR)$(M):AdjustOrigin") {
     field(PINI, "NO")
     field(FLNK, "$(INSTR)$(M):ResetAO")
     field(VAL, "0")
+    field(UDF, "0")
+    field(SCAN, "Passive")
+}
+
+# Only forward nonzero inputs for the origin adjustment
+record(calcout, "$(INSTR)$(M):GateOrigin") {
+    field(CALC, "A!=0?A:0")
+    field(INPA, "$(INSTR)$(M):AdjustOrigin")
+    field(OUT, "$(INSTR)$(M):WriteAO.VAL PP") # Forward the value to the driver
+    field(PINI, "NO")
+    field(SCAN, "Passive")
 }
 
 # Reset the PV $(INSTR)$(M):AdjustOrigin to zero after it has been written to and
 # forward the value to $(INSTR)$(M):WriteAO which does the actual writing.
 record(seq, "$(INSTR)$(M):ResetAO") {
     field(DESC, "Write value to hardware then reset to 0")
-    field(DOL1, "$(INSTR)$(M):AdjustOrigin") 
-    field(LNK1, "$(INSTR)$(M):WriteAO.VAL PP")   # Perform write to hardware
+    field(DOL1, "1") # Dummy value which is only here to trigger processing of LNK1
+    field(LNK1, "$(INSTR)$(M):GateOrigin.PROC PP")
     field(DOL2, "0.0") 
     field(LNK2, "$(INSTR)$(M):AdjustOrigin.VAL PP")   # Reset to zero
+    field(UDF, "0")
 }
 
 # This record forwards the adjustment of the origin to the asyn driver.

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>
@@ -32,17 +34,16 @@ static void deferredMovementCollectorLoop(void *drvPvt) {
     detectorTowerAngleAxis *axis = (detectorTowerAngleAxis *)drvPvt;
     while (1) {
         if (axis->receivedTarget_) {
-            // Wait for 100 ms and then start the movement with the information
-            // available
-            axis->startingDeferredMovement_ = true;
+            // Wait for the time span defined in deferredMovementWait_ and then
+            // start the movement with the information available
             epicsThreadSleep(axis->deferredMovementWait_);
             axis->startCombinedMove();
 
             // After the movement command has been send, reset the flag
             axis->receivedTarget_ = false;
         }
-        // Limit this loop to an idle frequency of 1 kHz
-        epicsThreadSleep(0.001);
+        // Limit this loop to an idle frequency of 10 kHz
+        epicsThreadSleep(0.01);
     }
 }
 
@@ -74,11 +75,10 @@ detectorTowerAngleAxis::detectorTowerAngleAxis(detectorTowerController *pC,
     }
 
     // Initialize all member variables
-    // Assumed to be not ready by default, this is overwritten in the next poll
     error_ = 0;
+    waitingForStart_ = false;
     receivedTarget_ = false;
-    startingDeferredMovement_ = false;
-    deferredMovementWait_ = 0.1; // seconds
+    deferredMovementWait_ = 0.5; // seconds
 
     // Will be populated in the init() method
     beamRadius_ = 0.0;
@@ -157,17 +157,8 @@ asynStatus detectorTowerAngleAxis::init() {
     }
 
     // Initialize the motorStatusMoving flag
-    status = setIntegerParam(pC_->motorStatusMoving(), 0);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    status = setIntegerParam(pC_->changeStateRBV(), positionState == 2);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "changeStateRBV", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(this, motorStatusMoving, false);
+    setAxisParamChecked(this, changeStateRBV, positionState == 2);
 
     return callParamCallbacks();
 }
@@ -181,15 +172,9 @@ asynStatus detectorTowerAngleAxis::poll(bool *moving) {
     if (axisNo() < liftAxis()->axisNo() && axisNo() < supportAxis()->axisNo()) {
         status = pC_->pollDetectorAxes(moving, this, liftAxis(), supportAxis());
     } else {
-        status = pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(),
-                                      (int *)moving);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusMoving",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        getAxisParamChecked(this, motorStatusMoving, moving);
     }
-    wasMoving_ = *moving;
+    setWasMoving(*moving);
     return status;
 }
 
@@ -206,29 +191,20 @@ asynStatus detectorTowerAngleAxis::doMove(double position, int relative,
                                           double max_velocity,
                                           double acceleration) {
     double motorRecResolution = 0.0;
-    asynStatus plStatus = pC_->getDoubleParam(
-        axisNo_, pC_->motorRecResolution(), &motorRecResolution);
-    if (plStatus != asynSuccess) {
-        return pC_->paramLibAccessFailed(plStatus, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // Signal to the deferredMovementCollectorLoop that a movement should be
     // started to the defined target position.
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     receivedTarget_ = true;
-
+    waitingForStart_ = true;
     return asynSuccess;
 }
 
 asynStatus detectorTowerAngleAxis::startCombinedMove() {
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
+    asynStatus status = asynSuccess;
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
@@ -237,12 +213,7 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
 
     // =========================================================================
 
-    plStatus =
-        pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
-    if (plStatus != asynSuccess) {
-        return pC_->paramLibAccessFailed(plStatus, "positionStateRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, positionStateRBV, &positionState);
 
     // If the axis is in changer position, it must be moved into working
     // position before any move can be started.
@@ -259,100 +230,75 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
                   pC_->getMsgPrintControl().getSuffix());
     }
     if (isInChangerPos) {
-
-        plStatus = setStringParam(pC_->motorMessageText(),
-                                  "Move the axis to working state first.");
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "motorMessageText",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-        plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorMessageText,
+                            "Move the axis to working state first.");
+        setAxisParamChecked(this, motorStatusProblem, true);
 
         callParamCallbacks();
-        startingDeferredMovement_ = false;
         return asynError;
     }
 
     // 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.
     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 "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
             motorCoordinatesPosition);
-        plStatus = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorStatusProblem, true);
         callParamCallbacks();
     }
 
-    return rwStatus;
+    return status;
 }
 
 asynStatus detectorTowerAngleAxis::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;
+    asynStatus status = 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 "
             "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__);
-        }
+        setAxisParamChecked(this, motorStatusProblem, true);
         return asynError;
     }
 
-    return rwStatus;
+    // Reset the deferred movement flags
+    receivedTarget_ = false;
+    waitingForStart_ = false;
+    liftAxis()->waitingForStart_ = false;
+    return status;
 }
 
 // The detector tower axis uses absolute encoders
 asynStatus detectorTowerAngleAxis::readEncoderType() {
-    asynStatus status = setStringParam(pC_->encoderType(), AbsoluteEncoder);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "encoderType_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(this, encoderType, AbsoluteEncoder);
     return asynSuccess;
 }
 
@@ -362,27 +308,19 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
     char response[pC_->MAXBUF_] = {0};
 
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rwStatus = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus plStatus = asynSuccess;
+    asynStatus status = asynSuccess;
 
     bool moving = false;
     int positionState = 0;
 
     // =========================================================================
 
-    rwStatus = poll(&moving);
-    if (rwStatus != asynSuccess) {
-        return rwStatus;
+    status = poll(&moving);
+    if (status != asynSuccess) {
+        return status;
     }
 
-    plStatus =
-        pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
-    if (plStatus != asynSuccess) {
-        return pC_->paramLibAccessFailed(plStatus, "positionStateRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, positionStateRBV, &positionState);
 
     if (moving) {
         asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -392,21 +330,10 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
                   toChangingPosition ? "changer" : "working",
                   pC_->getMsgPrintControl().getSuffix());
 
-        plStatus = setStringParam(
-            pC_->motorMessageText(),
+        setAxisParamChecked(
+            this, motorMessageText,
             "Axis cannot be moved to changer position while it is moving.");
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-
-        plStatus = setIntegerParam(pC_->changeStateRBV(), !toChangingPosition);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "changeStateRBV",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, changeStateRBV, !toChangingPosition);
 
         return asynError;
     }
@@ -424,39 +351,20 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
                   pC_->getMsgPrintControl().getSuffix());
 
         // Update the PV anyway, even though nothing changed.
-        plStatus = setIntegerParam(pC_->changeStateRBV(), toChangingPosition);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "changeStateRBV",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, changeStateRBV, toChangingPosition);
 
         return asynSuccess;
     }
 
     // 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);
     }
 
-    if (plStatus != asynSuccess) {
-        plStatus = setIntegerParam(pC_->changeStateRBV(), !toChangingPosition);
-        if (plStatus != asynSuccess) {
-            return pC_->paramLibAccessFailed(plStatus, "changeStateRBV",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-    }
-
-    plStatus = setIntegerParam(pC_->changeStateRBV(), toChangingPosition);
-    if (plStatus != asynSuccess) {
-        return pC_->paramLibAccessFailed(plStatus, "changeStateRBV", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    return rwStatus;
+    setAxisParamChecked(this, changeStateRBV, toChangingPosition);
+    return asynSuccess;
 }
 
 asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
@@ -468,12 +376,7 @@ asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
 
     // =========================================================================
 
-    status =
-        pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "positionStateRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, positionStateRBV, &positionState);
 
     // If the axis is in changer position, it must be moved into working
     // position before any move can be started.
@@ -502,12 +405,7 @@ asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
                   "angle origin %lf failed.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   newOrigin);
-        status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorStatusProblem, true);
     }
 
     return status;
@@ -516,15 +414,14 @@ asynStatus detectorTowerAngleAxis::adjustOrigin(double newOrigin) {
 asynStatus detectorTowerAngleAxis::doReset() {
 
     char response[pC_->MAXBUF_] = {0};
-    asynStatus plStatus = asynSuccess;
     int positionState = 0;
 
-    plStatus =
-        pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
-    if (plStatus != asynSuccess) {
-        return pC_->paramLibAccessFailed(plStatus, "positionStateRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, positionStateRBV, &positionState);
+
+    // Reset the deferred movement flags
+    receivedTarget_ = false;
+    waitingForStart_ = false;
+    liftAxis()->waitingForStart_ = false;
 
     /*
     Check which action should be performed:
@@ -653,11 +550,12 @@ static void configDetectorTowerCreateAxisCallFunc(const iocshArgBuf *args) {
 // =============================================================================
 
 /**
- * @brief Set the setDeferredMovementWait (FFI implementation)
+ * @brief Set the setDeferredMovementWait time (FFI implementation)
  *
  * @param portName                Name of the controller
  * @param axisNo                  Axis number
- * @param scaleMovTimeout         Scaling factor (in seconds)
+ * @param deferredMovementWait    Time (in seconds) the driver waits to collect
+ * all movement commands from the different axes
  * @return asynStatus
  */
 asynStatus setDeferredMovementWait(const char *portName, int axisNo,

src/detectorTowerAngleAxis.h

@@ -1,16 +1,9 @@
 #ifndef detectorTowerAngleAxis_H
 #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 detectorTowerController;
-class detectorTowerLiftAxis;
-class detectorTowerSupportAxis;
-
-class detectorTowerAngleAxis : public turboPmacAxis {
+class HIDDEN detectorTowerAngleAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new detectorTowerAngleAxis
@@ -143,15 +136,15 @@ class detectorTowerAngleAxis : public turboPmacAxis {
      */
     detectorTowerSupportAxis *supportAxis() { return supportAxis_; }
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual detectorTowerController *pController() override { return pC_; };
+
     // If true, either this axis or one of the detectorTowerLiftAxis
     // attached to it received a movement command.
     bool receivedTarget_;
 
-    // If set to true, the virtual axis is about to start a deferred movement
-    // (but is currently still collecting movement commands from its component
-    // axes)
-    bool startingDeferredMovement_;
-
     /*
     The collector cycle waits until this time in seconds has passed before
     starting a deferred movement
@@ -164,6 +157,10 @@ class detectorTowerAngleAxis : public turboPmacAxis {
      */
     int error_;
 
+    // True, if this axis has received a move command and the driver is
+    // currently starting a deferred movement.
+    bool waitingForStart_;
+
   protected:
     detectorTowerController *pC_;
     detectorTowerLiftAxis *liftAxis_;

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>
@@ -106,11 +107,13 @@ 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 +153,6 @@ 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);
 }
 
@@ -309,7 +287,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
 
     int error = 0;
     int positionState = 0;
-    int inPosition = 0;
+    int notInPosition = 0;
 
     double angle = 0.0;
     double prevAngle = 0.0;
@@ -359,37 +337,13 @@ asynStatus detectorTowerController::pollDetectorAxes(
 
     The motorStatusProblem_ field changes the motor record fields SEVR and STAT.
     */
-    plStatus = angleAxis->setIntegerParam(motorStatusProblem(), false);
-    if (plStatus != asynSuccess) {
-        paramLibAccessFailed(plStatus, "motorStatusProblem_", angleAxisNo,
-                             __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(motorStatusProblem(), false);
-    if (plStatus != asynSuccess) {
-        paramLibAccessFailed(plStatus, "motorStatusProblem_", liftAxisNo,
-                             __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setIntegerParam(motorStatusProblem(), false);
-    if (plStatus != asynSuccess) {
-        paramLibAccessFailed(plStatus, "motorStatusProblem_", supportAxisNo,
-                             __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorStatusProblem, false);
+    setAxisParamChecked(liftAxis, motorStatusProblem, false);
+    setAxisParamChecked(supportAxis, motorStatusProblem, false);
 
-    plStatus = angleAxis->setIntegerParam(motorStatusCommsError(), false);
-    if (plStatus != asynSuccess) {
-        paramLibAccessFailed(plStatus, "motorStatusCommsError_", angleAxisNo,
-                             __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(motorStatusCommsError(), false);
-    if (plStatus != asynSuccess) {
-        paramLibAccessFailed(plStatus, "motorStatusCommsError_", liftAxisNo,
-                             __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setIntegerParam(motorStatusCommsError(), false);
-    if (plStatus != asynSuccess) {
-        paramLibAccessFailed(plStatus, "motorStatusCommsError_", supportAxisNo,
-                             __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorStatusCommsError, false);
+    setAxisParamChecked(liftAxis, motorStatusCommsError, false);
+    setAxisParamChecked(supportAxis, motorStatusCommsError, false);
 
     // Read the previous motor positions
     plStatus = angleAxis->motorPosition(&prevAngle);
@@ -426,7 +380,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
     nvals =
         sscanf(response,
                "%d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
-               &inPosition, &positionState, &error, &angle, &angleHighLimit,
+               &notInPosition, &positionState, &error, &angle, &angleHighLimit,
                &angleLowLimit, &angleOrigin, &angleAdjustOriginHighLimit,
                &angleAdjustOriginLowLimit, &lift, &liftHighLimit, &liftLowLimit,
                &liftOrigin, &liftAdjustOriginHighLimit,
@@ -450,20 +404,12 @@ asynStatus detectorTowerController::pollDetectorAxes(
     */
 
     // Angle
-    plStatus = getDoubleParam(angleAxisNo, motorLimitsOffset(), &limitsOffset);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorLimitsOffset_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(angleAxis, motorLimitsOffset, &limitsOffset);
     angleHighLimit = angleHighLimit - limitsOffset;
     angleLowLimit = angleLowLimit + limitsOffset;
 
     // Lift
-    plStatus = getDoubleParam(liftAxisNo, motorLimitsOffset(), &limitsOffset);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorLimitsOffset_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(liftAxis, motorLimitsOffset, &limitsOffset);
     liftHighLimit = liftHighLimit - limitsOffset;
     liftLowLimit = liftLowLimit + limitsOffset;
 
@@ -471,16 +417,15 @@ asynStatus detectorTowerController::pollDetectorAxes(
     angleAxis->error_ = error;
 
     // Check if the tower is moving
-    if (inPosition == 1 || positionState > 2) {
-        // By now, the controller has actually started the movement
-        angleAxis->startingDeferredMovement_ = false;
+    if (notInPosition == 1 || positionState > 2) {
         *moving = true;
+
+        // Since the tower is now moving, the axis by definition do not wait for
+        // movement start anymore.
+        liftAxis->waitingForStart_ = false;
+        angleAxis->waitingForStart_ = false;
     } else {
-        if (angleAxis->startingDeferredMovement_) {
-            *moving = true;
-        } else {
-            *moving = false;
-        }
+        *moving = false;
     }
 
     // Calculate the lift position /w consideration of the angle
@@ -835,258 +780,96 @@ asynStatus detectorTowerController::pollDetectorAxes(
     Does the paramLib already contain an error message? If either this is the
     case or if error != 0, report a status problem for all axes.
     */
-    getStringParam(angleAxisNo, motorMessageText(), sizeof(waitingErrorMessage),
-                   waitingErrorMessage);
+    getAxisParamChecked(angleAxis, motorMessageText, &waitingErrorMessage);
 
     if (error != 0 || errorMessage[0] != '\0' ||
         waitingErrorMessage[0] != '\0') {
 
-        plStatus = angleAxis->setIntegerParam(motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                        angleAxisNo, __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
-
-        plStatus = liftAxis->setIntegerParam(motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                        liftAxisNo, __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
-
-        plStatus = supportAxis->setIntegerParam(motorStatusProblem(), true);
-        if (plStatus != asynSuccess) {
-            return paramLibAccessFailed(plStatus, "motorStatusProblem_",
-                                        supportAxisNo, __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
+        setAxisParamChecked(angleAxis, motorStatusProblem, true);
+        setAxisParamChecked(liftAxis, motorStatusProblem, true);
+        setAxisParamChecked(supportAxis, motorStatusProblem, true);
     }
 
     // Update the error message text with the one created in this poll (in case
     // it is not empty).
     if (errorMessage[0] != '\0') {
-        plStatus = angleAxis->setStringParam(motorMessageText(), errorMessage);
-        if (plStatus != asynSuccess) {
-            return paramLibAccessFailed(plStatus, "motorMessageText_",
-                                        angleAxisNo, __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
-        plStatus = liftAxis->setStringParam(motorMessageText(), errorMessage);
-        if (plStatus != asynSuccess) {
-            return paramLibAccessFailed(plStatus, "motorMessageText_",
-                                        liftAxisNo, __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
-        plStatus =
-            supportAxis->setStringParam(motorMessageText(), errorMessage);
-        if (plStatus != asynSuccess) {
-            return paramLibAccessFailed(plStatus, "motorMessageText_",
-                                        supportAxisNo, __PRETTY_FUNCTION__,
-                                        __LINE__);
-        }
+        setAxisParamChecked(angleAxis, motorMessageText, errorMessage);
+        setAxisParamChecked(liftAxis, motorMessageText, errorMessage);
+        setAxisParamChecked(supportAxis, motorMessageText, errorMessage);
     }
 
     // Update the working position state PV
-    plStatus = angleAxis->setIntegerParam(positionStateRBV(), positionState);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "positionStateRBV_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(positionStateRBV(), positionState);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "positionStateRBV_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setIntegerParam(positionStateRBV(), positionState);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "positionStateRBV_",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
+    setAxisParamChecked(angleAxis, positionStateRBV, positionState);
+    setAxisParamChecked(liftAxis, positionStateRBV, positionState);
+    setAxisParamChecked(supportAxis, positionStateRBV, positionState);
 
     // The axes are always enabled
-    plStatus = angleAxis->setIntegerParam(motorEnableRBV(), 1);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorEnableRBV_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(motorEnableRBV(), 1);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorEnableRBV_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setIntegerParam(motorEnableRBV(), 1);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorEnableRBV_", supportAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
+    setAxisParamChecked(angleAxis, motorEnableRBV, true);
+    setAxisParamChecked(liftAxis, motorEnableRBV, true);
+    setAxisParamChecked(supportAxis, motorEnableRBV, true);
+
+    // If the axis is starting a movement, mark it as moving. Otherwise use the
+    // moving parameter.
+    if (angleAxis->waitingForStart_) {
+        setAxisParamChecked(angleAxis, motorStatusMoving, true);
+        setAxisParamChecked(angleAxis, motorStatusDone, false);
+    } else {
+        setAxisParamChecked(angleAxis, motorStatusMoving, *moving);
+        setAxisParamChecked(angleAxis, motorStatusDone, !(*moving));
     }
 
-    // Are the axes currently moving?
-    plStatus = angleAxis->setIntegerParam(motorStatusMoving(), *moving);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusMoving_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(motorStatusMoving(), *moving);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusMoving_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setIntegerParam(motorStatusMoving(), *moving);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusMoving_",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
+    if (liftAxis->waitingForStart_) {
+        setAxisParamChecked(liftAxis, motorStatusMoving, true);
+        setAxisParamChecked(liftAxis, motorStatusDone, false);
+    } else {
+        setAxisParamChecked(liftAxis, motorStatusMoving, *moving);
+        setAxisParamChecked(liftAxis, motorStatusDone, !(*moving));
     }
 
-    // Is the axis movement done?
-    plStatus = angleAxis->setIntegerParam(motorStatusDone(), !(*moving));
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusDone_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(motorStatusDone(), !(*moving));
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusDone_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setIntegerParam(motorStatusDone(), !(*moving));
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusDone_", supportAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
+    // Support axis status is solely deduced from system movement state
+    setAxisParamChecked(supportAxis, motorStatusMoving, *moving);
+    setAxisParamChecked(supportAxis, motorStatusDone, !(*moving));
 
     // In which direction are the axes currently moving?
-    plStatus = angleAxis->setIntegerParam(motorStatusDirection(), angleDir);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusDirection_",
-                                    angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setIntegerParam(motorStatusDirection(), liftDir);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusDirection_",
-                                    liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorStatusDirection, angleDir);
+    setAxisParamChecked(liftAxis, motorStatusDirection, liftDir);
     // Using the lift direction for the support axis is done on purpose!
-    plStatus = supportAxis->setIntegerParam(motorStatusDirection(), liftDir);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorStatusDirection_",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
+    setAxisParamChecked(supportAxis, motorStatusDirection, liftDir);
 
     // High limits from hardware
-    plStatus =
-        setDoubleParam(angleAxisNo, motorHighLimitFromDriver(), angleHighLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorHighLimitFromDriver",
-                                    angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus =
-        setDoubleParam(liftAxisNo, motorHighLimitFromDriver(), liftHighLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorHighLimitFromDriver",
-                                    liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorHighLimitFromDriver, angleHighLimit);
+    setAxisParamChecked(liftAxis, motorHighLimitFromDriver, liftHighLimit);
     // Using the lift high limit for the support axis is done on purpose!
-    plStatus = setDoubleParam(supportAxisNo, motorHighLimitFromDriver(),
-                              liftHighLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorHighLimitFromDriver",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
+    setAxisParamChecked(supportAxis, motorHighLimitFromDriver, liftHighLimit);
 
     // Low limits from hardware
-    plStatus =
-        setDoubleParam(angleAxisNo, motorLowLimitFromDriver(), angleLowLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorLowLimitFromDriver",
-                                    angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus =
-        setDoubleParam(liftAxisNo, motorLowLimitFromDriver(), liftLowLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorLowLimitFromDriver",
-                                    liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorLowLimitFromDriver, angleLowLimit);
+    setAxisParamChecked(liftAxis, motorLowLimitFromDriver, liftLowLimit);
     // Using the lift low limit for the support axis is done on purpose!
-    plStatus =
-        setDoubleParam(supportAxisNo, motorLowLimitFromDriver(), liftLowLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorLowLimitFromDriver",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
+    setAxisParamChecked(supportAxis, motorLowLimitFromDriver, liftLowLimit);
 
     // Write the motor origin
-    plStatus = setDoubleParam(angleAxisNo, motorOrigin(), angleOrigin);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorOrigin", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = setDoubleParam(liftAxisNo, motorOrigin(), liftOrigin);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorOrigin", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = setDoubleParam(supportAxisNo, motorOrigin(), supportOrigin);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "supportOrigin", supportAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorOrigin, angleOrigin);
+    setAxisParamChecked(liftAxis, motorOrigin, liftOrigin);
+    setAxisParamChecked(supportAxis, motorOrigin, supportOrigin);
 
     // Origin adjustment high limit
-    plStatus =
-        setDoubleParam(angleAxisNo, motorAdjustOriginHighLimitFromDriver(),
-                       angleAdjustOriginHighLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorOriginHighLimitFromDriver",
-                                    angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus =
-        setDoubleParam(liftAxisNo, motorAdjustOriginHighLimitFromDriver(),
-                       liftAdjustOriginHighLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorOriginHighLimitFromDriver",
-                                    liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorAdjustOriginHighLimitFromDriver,
+                        angleAdjustOriginHighLimit);
+    setAxisParamChecked(liftAxis, motorAdjustOriginHighLimitFromDriver,
+                        liftAdjustOriginHighLimit);
     // Using the lift high limit for the support axis is done on purpose!
-    plStatus =
-        setDoubleParam(supportAxisNo, motorAdjustOriginHighLimitFromDriver(),
-                       liftAdjustOriginHighLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorOriginHighLimitFromDriver",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
+    setAxisParamChecked(supportAxis, motorAdjustOriginHighLimitFromDriver,
+                        liftAdjustOriginHighLimit);
 
     // Origin adjustment low limit
-    plStatus =
-        setDoubleParam(angleAxisNo, motorAdjustOriginLowLimitFromDriver(),
-                       angleAdjustOriginLowLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus,
-                                    "motorAdjustOriginLowLimitFromDriver",
-                                    angleAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = setDoubleParam(liftAxisNo, motorAdjustOriginLowLimitFromDriver(),
-                              liftAdjustOriginLowLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus,
-                                    "motorAdjustOriginLowLimitFromDriver",
-                                    liftAxisNo, __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorAdjustOriginLowLimitFromDriver,
+                        angleAdjustOriginLowLimit);
+    setAxisParamChecked(liftAxis, motorAdjustOriginLowLimitFromDriver,
+                        liftAdjustOriginLowLimit);
     // Using the lift low limit for the support axis is done on purpose!
-    plStatus =
-        setDoubleParam(supportAxisNo, motorAdjustOriginLowLimitFromDriver(),
-                       liftAdjustOriginLowLimit);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(
-            plStatus, "motorAdjustOriginLowLimitFromDriver", supportAxisNo,
-            __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(supportAxis, motorAdjustOriginLowLimitFromDriver,
+                        liftAdjustOriginLowLimit);
 
     // Axes positions
     plStatus = angleAxis->setMotorPosition(angle);
@@ -1160,22 +943,9 @@ asynStatus detectorTowerController::pollDetectorAxes(
     one poll cycle, but are cleared afterwards. Persisting error messages will
     be recreated during each poll.
     */
-    plStatus = angleAxis->setStringParam(motorMessageText(), "");
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorMessageText_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = liftAxis->setStringParam(motorMessageText(), "");
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorMessageText_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setStringParam(motorMessageText(), "");
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorMessageText_",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
+    setAxisParamChecked(angleAxis, motorMessageText, "");
+    setAxisParamChecked(liftAxis, motorMessageText, "");
+    setAxisParamChecked(supportAxis, motorMessageText, "");
 
     return pollStatus;
 }

src/detectorTowerController.h

@@ -8,12 +8,16 @@
 
 #ifndef detectorTowerController_H
 #define detectorTowerController_H
-#include "detectorTowerAngleAxis.h"
-#include "detectorTowerLiftAxis.h"
-#include "detectorTowerSupportAxis.h"
 #include "turboPmacController.h"
 
-class detectorTowerController : public turboPmacController {
+// 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 HIDDEN detectorTowerAngleAxis;
+class HIDDEN detectorTowerLiftAxis;
+class HIDDEN detectorTowerSupportAxis;
+
+class HIDDEN detectorTowerController : public turboPmacController {
 
   public:
     /**
@@ -35,6 +39,8 @@ class detectorTowerController : public turboPmacController {
                             int numAxes, double movingPollPeriod,
                             double idlePollPeriod, double comTimeout);
 
+    virtual ~detectorTowerController();
+
     /**
      * @brief Overloaded function of turboPmacController
      *

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>
@@ -69,6 +70,9 @@ detectorTowerLiftAxis::detectorTowerLiftAxis(detectorTowerController *pC,
 
     angleAxis_ = angleAxis;
     angleAxis->liftAxis_ = this;
+
+    // Initialize the flag to false
+   waitingForStart_ = false;
 }
 
 detectorTowerLiftAxis::~detectorTowerLiftAxis(void) {
@@ -111,11 +115,7 @@ asynStatus detectorTowerLiftAxis::init() {
     }
 
     // Initialize the motorStatusMoving flag
-    status = setIntegerParam(pC_->motorStatusMoving(), 0);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(this, motorStatusMoving, false);
 
     // Check if we are currently in the changer position and update the PV
     // accordingly
@@ -126,11 +126,7 @@ asynStatus detectorTowerLiftAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setIntegerParam(pC_->changeStateRBV(), positionState == 2);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "changeStateRBV", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(this, changeStateRBV, positionState == 2);
 
     return callParamCallbacks();
 }
@@ -146,15 +142,9 @@ asynStatus detectorTowerLiftAxis::poll(bool *moving) {
         status = pC_->pollDetectorAxes(moving, angleAxis(), this,
                                        angleAxis()->supportAxis());
     } else {
-        status = pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(),
-                                      (int *)moving);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusMoving",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        getAxisParamChecked(this, motorStatusMoving, moving);
     }
-    wasMoving_ = *moving;
+    setWasMoving(*moving);
     return status;
 }
 
@@ -170,59 +160,23 @@ asynStatus detectorTowerLiftAxis::doMove(double position, int relative,
                                          double min_velocity,
                                          double max_velocity,
                                          double acceleration) {
-
     double motorRecResolution = 0.0;
-    asynStatus plStatus = pC_->getDoubleParam(
-        axisNo_, pC_->motorRecResolution(), &motorRecResolution);
-    if (plStatus != asynSuccess) {
-        return pC_->paramLibAccessFailed(plStatus, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
 
     // 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;
-
+    waitingForStart_ = true;
     return asynSuccess;
 }
 
 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();
@@ -237,12 +191,7 @@ asynStatus detectorTowerLiftAxis::adjustOrigin(double newOrigin) {
 
     // =========================================================================
 
-    status =
-        pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "positionStateRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, positionStateRBV, &positionState);
 
     // If the axis is in changer position, it must be moved into working
     // position before any move can be started.
@@ -271,13 +220,8 @@ asynStatus detectorTowerLiftAxis::adjustOrigin(double newOrigin) {
                   "lift origin %lf failed.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   newOrigin);
-        status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        setAxisParamChecked(this, motorStatusProblem, true);
     }
 
     return status;
-}
+}

src/detectorTowerLiftAxis.h

@@ -1,14 +1,9 @@
 #ifndef detectorTowerLiftAxis_H
 #define detectorTowerLiftAxis_H
+#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 detectorTowerController;
-class detectorTowerAngleAxis;
-
-class detectorTowerLiftAxis : public turboPmacAxis {
+class HIDDEN detectorTowerLiftAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new detectorTowerAngleAxis
@@ -19,10 +14,6 @@ class detectorTowerLiftAxis : public turboPmacAxis {
     detectorTowerLiftAxis(detectorTowerController *pController, int axisNo,
                           detectorTowerAngleAxis *angleAxis);
 
-    /**
-     * @brief Destroy the turboPmacAxis
-     *
-     */
     virtual ~detectorTowerLiftAxis();
 
     /**
@@ -114,6 +105,15 @@ class detectorTowerLiftAxis : public turboPmacAxis {
      */
     asynStatus readEncoderType();
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual detectorTowerController *pController() override { return pC_; };
+
+    // True, if this axis has received a move command and the driver is
+    // currently starting a deferred movement.
+    bool waitingForStart_;
+
   protected:
     detectorTowerController *pC_;
     detectorTowerAngleAxis *angleAxis_;

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>
@@ -111,11 +112,7 @@ asynStatus detectorTowerSupportAxis::init() {
     }
 
     // Initialize the motorStatusMoving flag
-    status = setIntegerParam(pC_->motorStatusMoving(), 0);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    setAxisParamChecked(this, motorStatusMoving, false);
 
     // Check if we are currently in the changer position and update the PV
     // accordingly
@@ -126,12 +123,7 @@ asynStatus detectorTowerSupportAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    status = setIntegerParam(pC_->changeStateRBV(), positionState == 2);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "changeStateRBV", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
+    setAxisParamChecked(this, changeStateRBV, positionState == 2);
     return callParamCallbacks();
 }
 
@@ -147,15 +139,9 @@ asynStatus detectorTowerSupportAxis::poll(bool *moving) {
         status = pC_->pollDetectorAxes(moving, angleAxis(),
                                        angleAxis()->liftAxis(), this);
     } else {
-        status = pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(),
-                                      (int *)moving);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusMoving",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+        getAxisParamChecked(this, motorStatusMoving, moving);
     }
-    wasMoving_ = *moving;
+    setWasMoving(*moving);
     return status;
 }
 
@@ -186,12 +172,7 @@ asynStatus detectorTowerSupportAxis::adjustOrigin(double newOrigin) {
 
     // =========================================================================
 
-    status =
-        pC_->getIntegerParam(axisNo_, pC_->positionStateRBV(), &positionState);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "positionStateRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
+    getAxisParamChecked(this, positionStateRBV, &positionState);
 
     // If the axis is in changer position, it must be moved into working
     // position before any move can be started.
@@ -220,12 +201,8 @@ asynStatus detectorTowerSupportAxis::adjustOrigin(double newOrigin) {
                   "lift origin %lf failed.\n",
                   pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
                   newOrigin);
-        status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
+
+        setAxisParamChecked(this, motorStatusProblem, true);
     }
 
     return status;

src/detectorTowerSupportAxis.h

@@ -1,18 +1,13 @@
 #ifndef detectorTowerSupportAxis_H
 #define detectorTowerSupportAxis_H
+#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 detectorTowerController;
-class detectorTowerAngleAxis;
-
 /**
  * @brief Passive axis which is mostly controlled indirectly by the hardware
  *
  */
-class detectorTowerSupportAxis : public turboPmacAxis {
+class HIDDEN detectorTowerSupportAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new detectorTowerSupportAxis
@@ -24,10 +19,6 @@ class detectorTowerSupportAxis : public turboPmacAxis {
     detectorTowerSupportAxis(detectorTowerController *pController, int axisNo,
                              detectorTowerAngleAxis *angleAxis);
 
-    /**
-     * @brief Destroy the detectorTowerSupportAxis
-     *
-     */
     virtual ~detectorTowerSupportAxis();
 
     /**
@@ -116,6 +107,11 @@ class detectorTowerSupportAxis : public turboPmacAxis {
      */
     asynStatus readEncoderType();
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual detectorTowerController *pController() override { return pC_; };
+
   protected:
     detectorTowerController *pC_;
     detectorTowerAngleAxis *angleAxis_;