Adjusted targetPosition function

src/seleneAngleAxis.cpp

@@ -38,6 +38,8 @@ seleneAngleAxis::seleneAngleAxis(seleneGuideController *pController, int axisNo,
     }
 }
 
+seleneAngleAxis::~seleneAngleAxis() {}
+
 asynStatus seleneAngleAxis::stop(double acceleration) {
     return liftAxis_->stop(acceleration);
 }
@@ -54,21 +56,20 @@ 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) {
+double seleneAngleAxis::targetPosition() {
-    asynStatus status = asynSuccess;
-
     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) {

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
+     * @brief Override of the superclass method
-     * provided pointer.
      *
-     * @param targetPosition
+     * @return double
-     * @return asynStatus
      */
-    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

@@ -115,6 +115,8 @@ seleneLiftAxis::seleneLiftAxis(seleneGuideController *pC, int axis1No,
     }
 }
 
+seleneLiftAxis::~seleneLiftAxis() {}
+
 asynStatus seleneLiftAxis::init() {
 
     // Local variable declaration
@@ -470,22 +472,21 @@ 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) {
+double seleneLiftAxis::targetPosition() {
-    asynStatus status = asynSuccess;
-
     if (targetSet_) {
-        *targetPosition = targetPosition_;
+        return turboPmacAxis::targetPosition();
     } else {
-        status = motorPosition(targetPosition);
+        double targetPos = 0;
+        motorPosition(&targetPos);
+        return targetPos;
     }
-    return status;
 }
 
 asynStatus seleneLiftAxis::startCombinedMove() {
@@ -494,30 +495,18 @@ asynStatus seleneLiftAxis::startCombinedMove() {
     char response[pC_->MAXBUF_] = {0};
     double liftTargetPosition = 0.0;
     double angleTargetPosition = 0.0;
-    asynStatus status = asynSuccess;
 
     // =========================================================================
 
-    status = targetPosition(&liftTargetPosition);
+    liftTargetPosition = targetPosition();
-    if (status != asynSuccess) {
+    angleTargetPosition = angleAxis_->targetPosition();
-        return status;
-    }
-
-    status = angleAxis_->targetPosition(&angleTargetPosition);
-    if (status != asynSuccess) {
-        return status;
-    }
     auto targetPositions =
         positionsFromLiftAndAngle(liftTargetPosition, angleTargetPosition);
 
     // Apply the offsets of the individual offset axes
     for (int i = 0; i < numAxes_; i++) {
-        double offsetTargetPosition = 0.0;
+        targetPositions[i] =
-        status = offsetAxes_[i]->targetPosition(&offsetTargetPosition);
+            targetPositions[i] + offsetAxes_[i]->targetPosition();
-        if (status != asynSuccess) {
-            return status;
-        }
-        targetPositions[i] = targetPositions[i] + offsetTargetPosition;
     }
 
     // Set all target positions and send the move command

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
+     * @brief Override of the superclass method
-     * provided pointer.
      *
-     * @param targetPosition
+     * @return double
-     * @return asynStatus
      */
-    asynStatus targetPosition(double *targetPosition);
+    double targetPosition();
 
     /**
      * @brief Access the position of the lift axis

src/seleneOffsetAxis.cpp

@@ -96,6 +96,8 @@ seleneOffsetAxis::seleneOffsetAxis(seleneGuideController *pController,
     }
 }
 
+seleneOffsetAxis::~seleneOffsetAxis() {}
+
 asynStatus seleneOffsetAxis::init() {
 
     // Local variable declaration
@@ -149,15 +151,14 @@ asynStatus seleneOffsetAxis::init() {
     return status;
 }
 
-asynStatus seleneOffsetAxis::targetPosition(double *targetPosition) {
+double seleneOffsetAxis::targetPosition() {
-    asynStatus status = asynSuccess;
-
     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) {
@@ -330,7 +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;

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
+     * @brief Override of the superclass method
-     * provided pointer.
      *
-     * @param targetPosition
+     * @return double
-     * @return asynStatus
      */
-    asynStatus targetPosition(double *targetPosition);
+    double targetPosition();
 
     /**
      * @brief Set the offsets of axis 3 and 4 to zero and recalculate all other