Removed lastSpeed caching

After discussion with Sven Schlienger, I now send the new speed
unconditionally before each move command. This also means that the
caching of the last speed is no longer needed.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+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
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitlab-ci.yml

@@ -1,48 +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 --suppress=cert-STR07-C --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
-
-build_module:
-  stage: build
-  script:
-    - export SINQMOTOR_VERSION="$(grep 'sinqMotor_VERSION=' Makefile | cut -d= -f2)"
-    - git clone --depth 1 --branch "${SINQMOTOR_VERSION}" https://gitlab-ci-token:${CI_JOB_TOKEN}@git.psi.ch/sinq-epics-modules/sinqmotor.git
-    - pushd sinqmotor
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${SINQMOTOR_VERSION}" >> Makefile
-    - make install
-    - popd
-    - sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
-    - echo "LIBVERSION=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/masterMacs/$(ls -U /ioc/modules/masterMacs/ | head -1)" "./masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "masterMacs-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

src/masterMacsAxis.cpp

@@ -19,7 +19,6 @@ struct masterMacsAxisImpl {
     std::bitset<16> axisStatus;
     std::bitset<16> axisError;
 
-    double lastSetSpeed;
     bool waitForHandshake;
     time_t timeAtHandshake;
     bool needInit = true;
@@ -122,7 +121,6 @@ masterMacsAxis::masterMacsAxis(masterMacsController *pC, int axisNo)
     pMasterMacsA_ = std::make_unique<masterMacsAxisImpl>((masterMacsAxisImpl){
         .axisStatus = std::bitset<16>(0),
         .axisError = std::bitset<16>(0),
-        .lastSetSpeed = 0.0,
         .waitForHandshake = false,
         .timeAtHandshake = 0,
         .targetReachedUninitialized = true,
@@ -262,11 +260,6 @@ asynStatus masterMacsAxis::init() {
                                           __PRETTY_FUNCTION__, __LINE__);
     }
 
-    // Cache the motor speed. If this value differs from the one in the motor
-    // record at the start of a movement, the motor record value is sent to
-    // MasterMACS.
-    pMasterMacsA_->lastSetSpeed = motorVelocity;
-
     // Store the motor position in the parameter library
     pl_status = setMotorPosition(motorPosition);
     if (pl_status != asynSuccess) {
@@ -741,9 +734,7 @@ asynStatus masterMacsAxis::doMove(double position, int relative,
 
     // Set the new motor speed, if the user is allowed to do so and if the
     // motor speed changed since the last move command.
-    if (motorCanSetSpeed != 0 && pMasterMacsA_->lastSetSpeed != motorVelocity) {
-
-        pMasterMacsA_->lastSetSpeed = motorVelocity;
+    if (motorCanSetSpeed != 0) {
 
         snprintf(value, sizeof(value), "%lf", motorVelocity);
         status = pC_->write(axisNo_, 05, value);