Adjusted targetPosition function

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "turboPmac"]
+	path = turboPmac
+	url = https://gitea.psi.ch/lin-epics-modules/turboPmac

Makefile

@@ -12,12 +12,6 @@ REQUIRED+=motorBase
 # Specify the version of motorBase we want to build against
 motorBase_VERSION=7.2.2
 
-# Specify the version of sinqMotor we want to build against
-sinqMotor_VERSION=0.11.0
-
-# Specify the version of turboPmac we want to build against
-turboPmac_VERSION=0.10.0
-
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/seleneGuideController.h
 HEADERS += src/seleneLiftAxis.h
@@ -25,15 +19,27 @@ HEADERS += src/seleneAngleAxis.h
 HEADERS += src/seleneOffsetAxis.h
 
 # Source files to build
+SOURCES += turboPmac/sinqMotor/src/msgPrintControl.cpp
+SOURCES += turboPmac/sinqMotor/src/sinqAxis.cpp
+SOURCES += turboPmac/sinqMotor/src/sinqController.cpp
+SOURCES += turboPmac/src/pmacAsynIPPort.c
+SOURCES += turboPmac/src/turboPmacAxis.cpp
+SOURCES += turboPmac/src/turboPmacController.cpp
+SOURCES += turboPmac/src/pmacAsynIPPort.c
 SOURCES += src/seleneGuideController.cpp
 SOURCES += src/seleneLiftAxis.cpp
 SOURCES += src/seleneAngleAxis.cpp 
 SOURCES += src/seleneOffsetAxis.cpp
 
 # Store the record files
+TEMPLATES += turboPmac/sinqMotor/db/asynRecord.db
+TEMPLATES += turboPmac/sinqMotor/db/sinqMotor.db
+TEMPLATES += turboPmac/db/turboPmac.db
 TEMPLATES += db/seleneGuide.db
 
 # This file registers the motor-specific functions in the IOC shell.
+DBDS += turboPmac/sinqMotor/src/sinqMotor.dbd
+DBDS += turboPmac/src/turboPmac.dbd
 DBDS += src/seleneGuide.dbd
 
 USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings

README.md

@@ -90,13 +90,13 @@ seleneVirtualAxes("$(NAME)", 1, 2, 3, 4, 5, 6, 9, 10);
 # Parametrize the EPICS record database with the substitution file named after the motor controller.
 # In order to provide the PVs for absolute position and normalization, the 
 # corresponding `seleneGuide.db` file is loaded here as well.
-epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")
+epicsEnvSet("SINQDBPATH","$(seleneGuide_DB)/sinqMotor.db")
 dbLoadTemplate("$(TOP)/motors/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
+epicsEnvSet("SINQDBPATH","$(seleneGuide_DB)/turboPmac.db")
 dbLoadTemplate("$(TOP)/motors/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
 epicsEnvSet("SINQDBPATH","$(seleneGuide_DB)/seleneGuide.db")
 dbLoadTemplate("$(TOP)/motors/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLER=$(NAME)")
-dbLoadRecords("$(sinqMotor_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
+dbLoadRecords("$(seleneGuide_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
 ### Substitution file
@@ -243,7 +243,7 @@ $z_{iH} = z_i + \mathrm{DHLM}_i$
 
 $z_{iL} = z_i + \mathrm{DLLM}_i$
 
-If $z_{iH} would exceed the corresponding absolute high limit $z_{iH,abs}$, it is set to $z_{iH,abs}$. The same holds true for the lower limits.
+If $z_{iH}$ would exceed the corresponding absolute high limit $z_{iH,abs}$, it is set to $z_{iH,abs}$. The same holds true for the lower limits.
 
 #### Lift axis
 
@@ -277,6 +277,7 @@ For axes which are located behind the center of rotation (lever arm $x_i - x_{gu
 
 $\alpha_{6H} = -\arctan((z_{6L} - z_{guide} - \Delta z_6) / (x_6 - x_{guide}))$
 
+
 $\alpha_{6L} = -\arctan((z_{6H} - z_{guide} - \Delta z_6) / (x_6 - x_{guide}))$
 
 ### Versioning

src/seleneAngleAxis.cpp

@@ -22,8 +22,24 @@ seleneAngleAxis::seleneAngleAxis(seleneGuideController *pController, int axisNo,
         pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
                                   __PRETTY_FUNCTION__, __LINE__);
     }
+
+    // Even though this happens already in sinqAxis, a default value for
+    // motorMessageText is set here again, because apparently the sinqAxis
+    // constructor is not run before the string is accessed?
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
 }
 
+seleneAngleAxis::~seleneAngleAxis() {}
+
 asynStatus seleneAngleAxis::stop(double acceleration) {
     return liftAxis_->stop(acceleration);
 }
@@ -40,26 +56,25 @@ asynStatus seleneAngleAxis::doMove(double position, int relative,
                                          axisNo_, __PRETTY_FUNCTION__,
                                          __LINE__);
     }
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     targetSet_ = true;
     return liftAxis_->startCombinedMoveFromVirtualAxis();
     targetSet_ = false;
 }
 
-asynStatus seleneAngleAxis::targetPosition(double *targetPosition) {
-    asynStatus status = asynSuccess;
-
+double seleneAngleAxis::targetPosition() {
     if (targetSet_) {
-        *targetPosition = targetPosition_;
+        return turboPmacAxis::targetPosition();
     } else {
-        status = motorPosition(targetPosition);
+        double targetPos = 0;
+        motorPosition(&targetPos);
+        return targetPos;
     }
-    return status;
 }
 
 asynStatus seleneAngleAxis::doPoll(bool *moving) {
 
-    char userMessage[pC_->MAXBUF_] = {0};
+    char errorMessage[pC_->MAXBUF_] = {0};
 
     // In the doPoll method of `seleneLiftAxis`, the parameters
     // `motorStatusMoving` and `motorStatusDone` of this axis have already been
@@ -189,15 +204,15 @@ asynStatus seleneAngleAxis::doPoll(bool *moving) {
     // axis.
     pl_status =
         pC_->getStringParam(liftAxis_->axisNo(), pC_->motorMessageText(),
-                            sizeof(userMessage), userMessage);
+                            sizeof(errorMessage), errorMessage);
     if (pl_status != asynSuccess) {
         return pC_->paramLibAccessFailed(pl_status, "motorMessageText",
                                          liftAxis_->axisNo(),
                                          __PRETTY_FUNCTION__, __LINE__);
     }
 
-    if (strlen(userMessage) != 0) {
-        pl_status = setStringParam(pC_->motorMessageText(), userMessage);
+    if (strlen(errorMessage) != 0) {
+        pl_status = setStringParam(pC_->motorMessageText(), errorMessage);
         if (pl_status != asynSuccess) {
             return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
                                              axisNo_, __PRETTY_FUNCTION__,

src/seleneAngleAxis.h

@@ -32,6 +32,8 @@ class seleneAngleAxis : public turboPmacAxis {
     seleneAngleAxis(seleneGuideController *pController, int axisNo,
                     seleneLiftAxis *liftAxis);
 
+    virtual ~seleneAngleAxis();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -100,13 +102,11 @@ class seleneAngleAxis : public turboPmacAxis {
                       double acceleration, int forwards);
 
     /**
-     * @brief Read the target position from the axis and write it into the
-     * provided pointer.
+     * @brief Override of the superclass method
      *
-     * @param targetPosition
-     * @return asynStatus
+     * @return double
      */
-    asynStatus targetPosition(double *targetPosition);
+    double targetPosition();
 
     /**
      * @brief Set the offsets of axis 3 and 4 to zero and recalculate all other

src/seleneGuideController.cpp

@@ -48,6 +48,8 @@ seleneGuideController::seleneGuideController(
     }
 }
 
+seleneGuideController::~seleneGuideController() {}
+
 asynStatus seleneGuideController::writeInt32(asynUser *pasynUser,
                                              epicsInt32 value) {
     int function = pasynUser->reason;

src/seleneGuideController.h

@@ -34,6 +34,8 @@ class seleneGuideController : public turboPmacController {
                           int numAxes, double movingPollPeriod,
                           double idlePollPeriod, double comTimeout);
 
+    virtual ~seleneGuideController();
+
     /**
      * @brief Overloaded function of turboPmacController
      *

src/seleneLiftAxis.cpp

@@ -60,7 +60,7 @@ seleneLiftAxis::seleneLiftAxis(seleneGuideController *pC, int axis1No,
     for (int i = 0; i < numAxes_; i++) {
         oAxis = dynamic_cast<seleneOffsetAxis *>(pC->getAxis(axisNos[i]));
         if (oAxis == nullptr) {
-            asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nFATAL ERROR "
                       "(given axis number %d is not an instance of "
                       "seleneOffsetAxis).\nTerminating IOC.\n",
@@ -99,8 +99,24 @@ seleneLiftAxis::seleneLiftAxis(seleneGuideController *pC, int axis1No,
         pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
                                   __PRETTY_FUNCTION__, __LINE__);
     }
+
+    // Even though this happens already in sinqAxis, a default value for
+    // motorMessageText is set here again, because apparently the sinqAxis
+    // constructor is not run before the string is accessed?
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
 }
 
+seleneLiftAxis::~seleneLiftAxis() {}
+
 asynStatus seleneLiftAxis::init() {
 
     // Local variable declaration
@@ -118,7 +134,7 @@ asynStatus seleneLiftAxis::init() {
                                      &motorRecResolution);
         if (status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nInitializing the parameter library failed.\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -191,7 +207,7 @@ asynStatus seleneLiftAxis::normalizePositions() {
     double lift = 0.0;
     double angle = 0.0;
     asynStatus status = asynSuccess;
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
     double encoderPositions[6] = {0.0};
     double absolutePositions[6] = {0.0};
     int nvals = 0;
@@ -268,7 +284,8 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char response[pC_->MAXBUF_], userMessage[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
+    char userMessage[pC_->MAXBUF_] = {0};
 
     int nvals = 0;
     int axStatus = 0;
@@ -455,57 +472,41 @@ asynStatus seleneLiftAxis::doMove(double position, int relative,
         return pC_->paramLibAccessFailed(status, "motorRecResolution_", axisNo_,
                                          __PRETTY_FUNCTION__, __LINE__);
     }
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     targetSet_ = true;
     status = startCombinedMoveFromVirtualAxis();
     targetSet_ = false;
     return status;
 }
 
-asynStatus seleneLiftAxis::targetPosition(double *targetPosition) {
-    asynStatus status = asynSuccess;
-
+double seleneLiftAxis::targetPosition() {
     if (targetSet_) {
-        *targetPosition = targetPosition_;
+        return turboPmacAxis::targetPosition();
     } else {
-        status = motorPosition(targetPosition);
+        double targetPos = 0;
+        motorPosition(&targetPos);
+        return targetPos;
     }
-    return status;
 }
 
 asynStatus seleneLiftAxis::startCombinedMove() {
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
     double liftTargetPosition = 0.0;
     double angleTargetPosition = 0.0;
-    asynStatus status = asynSuccess;
 
     // =========================================================================
 
-    status = targetPosition(&liftTargetPosition);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    status = angleAxis_->targetPosition(&angleTargetPosition);
-    if (status != asynSuccess) {
-        return status;
-    }
-
-    errlogPrintf("Target lift: %lf, Target angle: %lf\n", liftTargetPosition,
-                 angleTargetPosition);
-
+    liftTargetPosition = targetPosition();
+    angleTargetPosition = angleAxis_->targetPosition();
     auto targetPositions =
         positionsFromLiftAndAngle(liftTargetPosition, angleTargetPosition);
 
     // Apply the offsets of the individual offset axes
     for (int i = 0; i < numAxes_; i++) {
-        double offsetTargetPosition = 0.0;
-        status = offsetAxes_[i]->targetPosition(&offsetTargetPosition);
-        if (status != asynSuccess) {
-            return status;
-        }
-        targetPositions[i] = targetPositions[i] + offsetTargetPosition;
+        targetPositions[i] =
+            targetPositions[i] + offsetAxes_[i]->targetPosition();
     }
 
     // Set all target positions and send the move command
@@ -514,8 +515,6 @@ asynStatus seleneLiftAxis::startCombinedMove() {
              targetPositions[0], targetPositions[1], targetPositions[2],
              targetPositions[3], targetPositions[4], targetPositions[5]);
 
-    errlogPrintf("%s\n", command);
-
     // No answer expected
     return pC_->writeRead(axisNo_, command, response, 0);
 }
@@ -527,7 +526,7 @@ asynStatus seleneLiftAxis::stop(double acceleration) {
     // Status of parameter library operations
     asynStatus pl_status = asynSuccess;
 
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -536,7 +535,7 @@ asynStatus seleneLiftAxis::stop(double acceleration) {
 
     if (rw_status != asynSuccess) {
         asynPrint(
-            pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+            pC_->pasynUser(), ASYN_TRACE_ERROR,
             "Controller \"%s\", axis %d  => %s, line %d\nStopping the movement "
             "failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
@@ -586,7 +585,7 @@ asynStatus seleneLiftAxis::readEncoderType() {
 asynStatus seleneLiftAxis::doHome(double minVelocity, double maxVelocity,
                                   double acceleration, int forwards) {
 
-    char response[pC_->MAXBUF_];
+    char response[pC_->MAXBUF_] = {0};
 
     // No answer expected
     return pC_->writeRead(axisNo_,

src/seleneLiftAxis.h

@@ -39,6 +39,8 @@ class seleneLiftAxis : public turboPmacAxis {
                    int axis3No, int axis4No, int axis5No, int axis6No,
                    int liftAxisNo, int angleAxisNo);
 
+    virtual ~seleneLiftAxis();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -254,13 +256,11 @@ class seleneLiftAxis : public turboPmacAxis {
     bool virtualAxisMovement() { return virtualAxisMovement_; }
 
     /**
-     * @brief Read the target position from the axis and write it into the
-     * provided pointer.
+     * @brief Override of the superclass method
      *
-     * @param targetPosition
-     * @return asynStatus
+     * @return double
      */
-    asynStatus targetPosition(double *targetPosition);
+    double targetPosition();
 
     /**
      * @brief Access the position of the lift axis

src/seleneOffsetAxis.cpp

@@ -80,8 +80,24 @@ seleneOffsetAxis::seleneOffsetAxis(seleneGuideController *pController,
         pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
                                   __PRETTY_FUNCTION__, __LINE__);
     }
+
+    // Even though this happens already in sinqAxis, a default value for
+    // motorMessageText is set here again, because apparently the sinqAxis
+    // constructor is not run before the string is accessed?
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\", axis %d => %s, line %d:\nFATAL ERROR "
+                  "(setting a parameter value failed "
+                  "with %s)\n. Terminating IOC",
+                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+                  pC_->stringifyAsynStatus(status));
+        exit(-1);
+    }
 }
 
+seleneOffsetAxis::~seleneOffsetAxis() {}
+
 asynStatus seleneOffsetAxis::init() {
 
     // Local variable declaration
@@ -99,7 +115,7 @@ asynStatus seleneOffsetAxis::init() {
                                      &motorRecResolution);
         if (status == asynParamUndefined) {
             if (now + maxInitTime < time(NULL)) {
-                asynPrint(pC_->asynUserSelf(), ASYN_TRACE_ERROR,
+                asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                           "Controller \"%s\", axis %d  => %s, line "
                           "%d\nInitializing the parameter library failed.\n",
                           pC_->portName, axisNo_, __PRETTY_FUNCTION__,
@@ -135,15 +151,14 @@ asynStatus seleneOffsetAxis::init() {
     return status;
 }
 
-asynStatus seleneOffsetAxis::targetPosition(double *targetPosition) {
-    asynStatus status = asynSuccess;
-
+double seleneOffsetAxis::targetPosition() {
     if (targetSet_) {
-        *targetPosition = targetPosition_;
+        return turboPmacAxis::targetPosition();
     } else {
-        status = motorPosition(targetPosition);
+        double targetPos = 0;
+        motorPosition(&targetPos);
+        return targetPos;
     }
-    return status;
 }
 
 asynStatus seleneOffsetAxis::doPoll(bool *moving) {
@@ -156,8 +171,9 @@ asynStatus seleneOffsetAxis::doPoll(bool *moving) {
     int error = 0;
     int nvals = 0;
 
-    char command[pC_->MAXBUF_], response[pC_->MAXBUF_],
-        userMessage[pC_->MAXBUF_];
+    char command[pC_->MAXBUF_] = {0};
+    char response[pC_->MAXBUF_] = {0};
+    char userMessage[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
@@ -198,6 +214,12 @@ asynStatus seleneOffsetAxis::doPoll(bool *moving) {
 
     // Update the parameter library
     if (error != 0) {
+        status = setStringParam(pC_->motorMessageText(), userMessage);
+        if (status != asynSuccess) {
+            return pC_->paramLibAccessFailed(status, "motorMessageText",
+                                             axisNo_, __PRETTY_FUNCTION__,
+                                             __LINE__);
+        }
         status = setIntegerParam(pC_->motorStatusProblem(), true);
         if (status != asynSuccess) {
             return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
@@ -207,8 +229,8 @@ asynStatus seleneOffsetAxis::doPoll(bool *moving) {
     }
 
     // TODO: To be removed, once the real limits are derived
-    //highLimit = 10.0;
-    //lowLimit = -10.0;
+    // highLimit = 10.0;
+    // lowLimit = -10.0;
 
     // Convert into lift coordinate system
     absoluteHighLimitLiftCS_ = highLimit - zOffset_;
@@ -309,7 +331,7 @@ asynStatus seleneOffsetAxis::doMove(double position, int relative,
     }
 
     // Set the target position
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     targetSet_ = true;
     asynStatus status = liftAxis_->startCombinedMoveFromOffsetAxis();
     targetSet_ = false;
@@ -368,7 +390,6 @@ asynStatus seleneOffsetAxisCreateAxis(const char *portName, int axisNo,
                      portName, __PRETTY_FUNCTION__, __LINE__);
         return asynError;
     }
-    // Unsafe cast of the pointer to an asynPortDriver
     asynPortDriver *apd = (asynPortDriver *)(ptr);
 
     // Safe downcast

src/seleneOffsetAxis.h

@@ -30,6 +30,8 @@ class seleneOffsetAxis : public turboPmacAxis {
     seleneOffsetAxis(seleneGuideController *pController, int axisNo,
                      double xPos, double zPos);
 
+    virtual ~seleneOffsetAxis();
+
     /**
      * @brief Initialize this offset axis
      *
@@ -79,13 +81,11 @@ class seleneOffsetAxis : public turboPmacAxis {
     asynStatus setPositionsFromEncoderPosition(double encoderPosition);
 
     /**
-     * @brief Read the target position from the axis and write it into the
-     * provided pointer.
+     * @brief Override of the superclass method
      *
-     * @param targetPosition
-     * @return asynStatus
+     * @return double
      */
-    asynStatus targetPosition(double *targetPosition);
+    double targetPosition();
 
     /**
      * @brief Set the offsets of axis 3 and 4 to zero and recalculate all other