Updated param lib accessors to use macro to reduce boilerplate

src/seleneAngleAxis.cpp

@@ -19,8 +19,13 @@ seleneAngleAxis::seleneAngleAxis(seleneGuideController *pController, int axisNo,
     // Selene guide motors cannot be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 0);
     if (status != asynSuccess) {
-        pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                                  __PRETTY_FUNCTION__, __LINE__);
+                  "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);
     }
 
     // Even though this happens already in sinqAxis, a default value for
@@ -38,6 +43,8 @@ seleneAngleAxis::seleneAngleAxis(seleneGuideController *pController, int axisNo,
     }
 }
 
+seleneAngleAxis::~seleneAngleAxis() {}
+
 asynStatus seleneAngleAxis::stop(double acceleration) {
     return liftAxis_->stop(acceleration);
 }
@@ -47,52 +54,37 @@ asynStatus seleneAngleAxis::doMove(double position, int relative,
                                    double acceleration) {
     double motorRecResolution = 0.0;
 
-    asynStatus pl_status = pC_->getDoubleParam(
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-        axisNo_, pC_->motorRecResolution(), &motorRecResolution);
+    setTargetPosition(position * motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    targetPosition_ = 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) {
 
     char errorMessage[pC_->MAXBUF_] = {0};
+    asynStatus status = asynSuccess;
 
     // In the doPoll method of `seleneLiftAxis`, the parameters
     // `motorStatusMoving` and `motorStatusDone` of this axis have already been
     // set accordingly.
-    int isMoving = 0;
+    getAxisParamChecked(this, motorStatusMoving, moving);
-
-    asynStatus pl_status =
-        pC_->getIntegerParam(axisNo(), pC_->motorStatusMoving(), &isMoving);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
-                                         axisNo(), __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    *moving = (isMoving != 0);
 
     double motPos = 0.0;
-    pl_status = motorPosition(&motPos);
+    status = motorPosition(&motPos);
-    if (pl_status != asynSuccess) {
+    if (status != asynSuccess) {
-        return pl_status;
+        return status;
     }
 
     /*
@@ -125,9 +117,9 @@ asynStatus seleneAngleAxis::doPoll(bool *moving) {
     double smallestHighLimit = std::numeric_limits<double>::infinity();
     double smallestLowLimit = std::numeric_limits<double>::infinity();
     double liftPosition = 0.0;
-    pl_status = liftAxis_->motorPosition(&liftPosition);
+    status = liftAxis_->motorPosition(&liftPosition);
-    if (pl_status != asynSuccess) {
+    if (status != asynSuccess) {
-        return pl_status;
+        return status;
     }
 
     for (int i = 0; i < liftAxis_->numAxes_; i++) {
@@ -136,9 +128,9 @@ asynStatus seleneAngleAxis::doPoll(bool *moving) {
         double leverArm = oAxis->xOffset() - liftAxis_->xPos();
 
         double motPos = 0.0;
-        pl_status = oAxis->motorPosition(&motPos);
+        status = oAxis->motorPosition(&motPos);
-        if (pl_status != asynSuccess) {
+        if (status != asynSuccess) {
-            return pl_status;
+            return status;
         }
 
         /*
@@ -175,52 +167,23 @@ asynStatus seleneAngleAxis::doPoll(bool *moving) {
         }
     }
 
-    pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
+    setAxisParamChecked(this, motorHighLimitFromDriver, smallestHighLimit);
-                                    smallestHighLimit);
+    setAxisParamChecked(this, motorLowLimitFromDriver, smallestLowLimit);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-
-    pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
-                                    smallestLowLimit);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorLowLimitFromDriver",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     // This axis should always be seen as enabled, since it is automatically
     // enabled before each movement and disabled afterwards
-    pl_status = setIntegerParam(pC_->motorEnableRBV(), 1);
+    setAxisParamChecked(this, motorEnableRBV, true);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorEnableRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     // If an error message is set in the liftAxis_, copy this message into this
     // axis.
-    pl_status =
+    getAxisParamChecked(liftAxis_, motorMessageText, &errorMessage);
-        pC_->getStringParam(liftAxis_->axisNo(), pC_->motorMessageText(),
-                            sizeof(errorMessage), errorMessage);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText",
-                                         liftAxis_->axisNo(),
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     if (strlen(errorMessage) != 0) {
-        pl_status = setStringParam(pC_->motorMessageText(), errorMessage);
+        setAxisParamChecked(this, motorMessageText, errorMessage);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
         return asynError;
     }
 
-    return pl_status;
+    return status;
 }
 
 asynStatus seleneAngleAxis::doReset() { return liftAxis_->reset(); }
@@ -228,13 +191,7 @@ asynStatus seleneAngleAxis::doReset() { return liftAxis_->reset(); }
 asynStatus seleneAngleAxis::enable(bool on) { return liftAxis_->enable(on); }
 
 asynStatus seleneAngleAxis::readEncoderType() {
-    asynStatus pl_status =
+    setAxisParamChecked(this, encoderType, IncrementalEncoder);
-        setStringParam(pC_->encoderType(), IncrementalEncoder);
-
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
     return asynSuccess;
 }
 

src/seleneAngleAxis.h

@@ -1,5 +1,6 @@
 #ifndef seleneAngleAxis_H
 #define seleneAngleAxis_H
+#include "seleneGuideController.h"
 #include "turboPmacAxis.h"
 
 // Forward declaration of the seleneLiftAxis class to resolve the cyclic
@@ -7,10 +8,6 @@
 // See https://en.cppreference.com/w/cpp/language/class.
 class seleneLiftAxis;
 
-// Forward declaration of the seleneGuideController class to resolve the cyclic
-// dependency. See https://en.cppreference.com/w/cpp/language/class.
-class seleneGuideController;
-
 /**
  * @brief Virtual axis for setting the angle of the Selene guide
  *
@@ -32,6 +29,8 @@ class seleneAngleAxis : public turboPmacAxis {
     seleneAngleAxis(seleneGuideController *pController, int axisNo,
                     seleneLiftAxis *liftAxis);
 
+    virtual ~seleneAngleAxis();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -100,13 +99,11 @@ 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
@@ -140,6 +137,11 @@ class seleneAngleAxis : public turboPmacAxis {
      */
     asynStatus rereadEncoder() { return asynSuccess; }
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual seleneGuideController *pController() override { return pC_; };
+
   protected:
     seleneGuideController *pC_;
     seleneLiftAxis *liftAxis_;

src/seleneGuideController.cpp

@@ -1,4 +1,7 @@
 #include "seleneGuideController.h"
+#include "seleneAngleAxis.h"
+#include "seleneLiftAxis.h"
+#include "seleneOffsetAxis.h"
 #include "turboPmacController.h"
 #include <epicsExport.h>
 #include <errlog.h>
@@ -48,6 +51,8 @@ seleneGuideController::seleneGuideController(
     }
 }
 
+seleneGuideController::~seleneGuideController() {}
+
 asynStatus seleneGuideController::writeInt32(asynUser *pasynUser,
                                              epicsInt32 value) {
     int function = pasynUser->reason;

src/seleneGuideController.h

@@ -8,11 +8,15 @@
 
 #ifndef seleneGuideController_H
 #define seleneGuideController_H
-#include "seleneAngleAxis.h"
-#include "seleneLiftAxis.h"
-#include "seleneOffsetAxis.h"
 #include "turboPmacController.h"
 
+// Forward declaration of the axis classes to resolve the cyclic
+// dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
+// See https://en.cppreference.com/w/cpp/language/class.
+class seleneAngleAxis;
+class seleneLiftAxis;
+class seleneOffsetAxis;
+
 class seleneGuideController : public turboPmacController {
 
   public:
@@ -34,6 +38,8 @@ class seleneGuideController : public turboPmacController {
                           int numAxes, double movingPollPeriod,
                           double idlePollPeriod, double comTimeout);
 
+    virtual ~seleneGuideController();
+
     /**
      * @brief Overloaded function of turboPmacController
      *

src/seleneLiftAxis.cpp

@@ -96,8 +96,13 @@ seleneLiftAxis::seleneLiftAxis(seleneGuideController *pC, int axis1No,
     // Selene guide motors cannot be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 0);
     if (status != asynSuccess) {
-        pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                                  __PRETTY_FUNCTION__, __LINE__);
+                  "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);
     }
 
     // Even though this happens already in sinqAxis, a default value for
@@ -115,6 +120,8 @@ seleneLiftAxis::seleneLiftAxis(seleneGuideController *pC, int axis1No,
     }
 }
 
+seleneLiftAxis::~seleneLiftAxis() {}
+
 asynStatus seleneLiftAxis::init() {
 
     // Local variable declaration
@@ -149,44 +156,17 @@ asynStatus seleneLiftAxis::init() {
     }
 
     // Assume the virtual axes are not moving at the start
-    status = setIntegerParam(pC_->motorStatusMoving(), 0);
+    setAxisParamChecked(this, motorStatusMoving, false);
-    if (status != asynSuccess) {
+    setAxisParamChecked(this, motorStatusDone, true);
-        return pC_->paramLibAccessFailed(status, "motorStatusMoving", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    status = setIntegerParam(pC_->motorStatusDone(), 1);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusDone", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
-    status = angleAxis_->setIntegerParam(pC_->motorStatusMoving(), 0);
+    setAxisParamChecked(angleAxis_, motorStatusMoving, false);
-    if (status != asynSuccess) {
+    setAxisParamChecked(angleAxis_, motorStatusDone, true);
-        return pC_->paramLibAccessFailed(status, "motorStatusMoving",
-                                         angleAxis_->axisNo(),
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    status = angleAxis_->setIntegerParam(pC_->motorStatusDone(), 1);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusDone",
-                                         angleAxis_->axisNo(),
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     // The virtual axes should always be seen as enabled, since the underlying
     // hardware is automatically enabled after sending a start command to the
     // controller and automatically disabled after the movement finished.
-    status = setIntegerParam(pC_->motorEnableRBV(), 1);
+    setAxisParamChecked(this, motorEnableRBV, true);
-    if (status != asynSuccess) {
+    setAxisParamChecked(angleAxis_, motorEnableRBV, true);
-        return pC_->paramLibAccessFailed(status, "motorEnableRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    status = angleAxis_->setIntegerParam(pC_->motorEnableRBV(), 1);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorEnableRBV_",
-                                         angleAxis_->axisNo(),
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     status = normalizePositions();
     if (status != asynSuccess) {
@@ -275,12 +255,7 @@ asynStatus seleneLiftAxis::normalizePositions() {
 }
 
 asynStatus seleneLiftAxis::doPoll(bool *moving) {
-
+    asynStatus status = asynSuccess;
-    // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
     char userMessage[pC_->MAXBUF_] = {0};
@@ -291,18 +266,12 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
 
     // =========================================================================
 
-    pl_status =
+    getAxisParamChecked(this, motorStatusDone, &wasDone);
-        pC_->getIntegerParam(axisNo(), pC_->motorStatusDone(), &wasDone);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
-                                         axisNo(), __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     const char *command = "P158";
-    rw_status = pC_->writeRead(axisNo_, command, response, 1);
+    status = pC_->writeRead(axisNo_, command, response, 1);
-    if (rw_status != asynSuccess) {
+    if (status != asynSuccess) {
-        return rw_status;
+        return status;
     }
 
     nvals = sscanf(response, "%d", &axStatus);
@@ -313,31 +282,12 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
     *moving = (axStatus != 0);
 
     // Set the moving status of seleneLiftAxis
-    pl_status = setIntegerParam(pC_->motorStatusMoving(), *moving);
+    setAxisParamChecked(this, motorStatusMoving, *moving);
-    if (pl_status != asynSuccess) {
+    setAxisParamChecked(this, motorStatusDone, !(*moving));
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    pl_status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusDone", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     // Set the moving status of seleneAngleAxis
-    pl_status = angleAxis_->setIntegerParam(pC_->motorStatusMoving(), *moving);
+    setAxisParamChecked(angleAxis_, motorStatusMoving, *moving);
-    if (pl_status != asynSuccess) {
+    setAxisParamChecked(angleAxis_, motorStatusDone, !(*moving));
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusMoving",
-                                         angleAxis_->axisNo(),
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    pl_status = angleAxis_->setIntegerParam(pC_->motorStatusDone(), !(*moving));
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorStatusDone",
-                                         angleAxis_->axisNo(),
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     /*
     If an seleneOffsetAxis is moving, the positions of the virtual axes
@@ -356,22 +306,17 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
 
         double motorRecResolution = 0.0;
 
-        asynStatus pl_status = pC_->getDoubleParam(
+        getAxisParamChecked(angleAxis_, motorRecResolution,
-            axisNo_, pC_->motorRecResolution(), &motorRecResolution);
+                            &motorRecResolution);
-        if (pl_status != asynSuccess) {
+
-            return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
+        status = offsetAxes_[2]->motorPosition(&offsetAx2Pos);
-                                             axisNo_, __PRETTY_FUNCTION__,
+        if (status != asynSuccess) {
-                                             __LINE__);
+            return status;
         }
 
-        pl_status = offsetAxes_[2]->motorPosition(&offsetAx2Pos);
+        status = offsetAxes_[3]->motorPosition(&offsetAx3Pos);
-        if (pl_status != asynSuccess) {
+        if (status != asynSuccess) {
-            return pl_status;
+            return status;
-        }
-
-        pl_status = offsetAxes_[3]->motorPosition(&offsetAx3Pos);
-        if (pl_status != asynSuccess) {
-            return pl_status;
         }
 
         deriveLiftAndAngle(
@@ -380,14 +325,14 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
             &angle);
 
         // Set the position values in the parameter library
-        pl_status = setMotorPosition(lift);
+        status = setMotorPosition(lift);
-        if (pl_status != asynSuccess) {
+        if (status != asynSuccess) {
-            return pl_status;
+            return status;
         }
 
-        pl_status = angleAxis_->setMotorPosition(angle);
+        status = angleAxis_->setMotorPosition(angle);
-        if (pl_status != asynSuccess) {
+        if (status != asynSuccess) {
-            return pl_status;
+            return status;
         }
 
         // Calculate the new liftPosition_ of all seleneOffsetAxis
@@ -412,45 +357,22 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
 
     // Set the limits for the lift axis
     double motPos = 0.0;
-    pl_status = motorPosition(&motPos);
+    status = motorPosition(&motPos);
-    if (pl_status != asynSuccess) {
+    if (status != asynSuccess) {
-        return pl_status;
+        return status;
     }
 
-    pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
+    setAxisParamChecked(this, motorHighLimitFromDriver,
                         motPos + smallestDistHighLimit);
-    if (pl_status != asynSuccess) {
+    setAxisParamChecked(this, motorLowLimitFromDriver,
-        return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-
-    pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
                         motPos - smallestDistLowLimit);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     // The virtual axes are in an error state, if at least one of the underlying
     // real axes is in an error state.
     for (int i = 0; i < numAxes_; i++) {
-        pl_status = pC_->getStringParam(offsetAxes_[i]->axisNo(),
+        setAxisParamChecked(offsetAxes_[i], motorMessageText, userMessage);
-                                        pC_->motorMessageText(),
-                                        sizeof(userMessage), userMessage);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorMessageText",
-                                             offsetAxes_[i]->axisNo(),
-                                             __PRETTY_FUNCTION__, __LINE__);
-        }
-
         if (strlen(userMessage) != 0) {
-            pl_status = setStringParam(pC_->motorMessageText(), userMessage);
+            setAxisParamChecked(this, motorMessageText, userMessage);
-            if (pl_status != asynSuccess) {
-                return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                                 axisNo_, __PRETTY_FUNCTION__,
-                                                 __LINE__);
-            }
             return asynError;
         }
     }
@@ -462,30 +384,22 @@ asynStatus seleneLiftAxis::doMove(double position, int relative,
                                   double min_velocity, double max_velocity,
                                   double acceleration) {
     double motorRecResolution = 0.0;
-    asynStatus status = asynSuccess;
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-
+    setTargetPosition(position * motorRecResolution);
-    status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
-                                 &motorRecResolution);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorRecResolution_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    targetPosition_ = position * motorRecResolution;
     targetSet_ = true;
-    status = startCombinedMoveFromVirtualAxis();
+    asynStatus 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 +408,18 @@ 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
@@ -532,34 +434,26 @@ asynStatus seleneLiftAxis::startCombinedMove() {
 
 asynStatus seleneLiftAxis::stop(double acceleration) {
     // Status of read-write-operations of ASCII commands to the controller
-    asynStatus rw_status = asynSuccess;
+    asynStatus status = asynSuccess;
-
-    // Status of parameter library operations
-    asynStatus pl_status = asynSuccess;
 
     char response[pC_->MAXBUF_] = {0};
 
     // =========================================================================
 
     // Stop all axes
-    rw_status = pC_->writeRead(axisNo_, "P150=8", response, 0);
+    status = pC_->writeRead(axisNo_, "P150=8", response, 0);
 
-    if (rw_status != 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__);
 
-        pl_status = setIntegerParam(pC_->motorStatusProblem(), true);
+        setAxisParamChecked(this, motorStatusProblem, true);
-        if (pl_status != asynSuccess) {
-            return pC_->paramLibAccessFailed(pl_status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
     }
 
-    return rw_status;
+    return status;
 }
 
 asynStatus seleneLiftAxis::doReset() {
@@ -572,24 +466,13 @@ asynStatus seleneLiftAxis::doReset() {
 }
 
 asynStatus seleneLiftAxis::enable(bool on) {
-    asynStatus pl_status = setStringParam(pC_->motorMessageText(),
+    setAxisParamChecked(this, motorMessageText,
                         "Axis cannot be enabled / disabled");
-    if (pl_status != asynSuccess) {
+    return asynSuccess;
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    return pl_status;
 }
 
 asynStatus seleneLiftAxis::readEncoderType() {
-    asynStatus pl_status =
+    setAxisParamChecked(this, encoderType, IncrementalEncoder);
-        setStringParam(pC_->encoderType(), IncrementalEncoder);
-
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "encoderType_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
     return asynSuccess;
 }
 

src/seleneLiftAxis.h

@@ -1,14 +1,11 @@
 #ifndef seleneLiftAxis_H
 #define seleneLiftAxis_H
 #include "seleneAngleAxis.h"
+#include "seleneGuideController.h"
 #include "seleneOffsetAxis.h"
 #include "turboPmacAxis.h"
 #include <array>
 
-// Forward declaration of the seleneGuideController class to resolve the cyclic
-// dependency. See https://en.cppreference.com/w/cpp/language/class.
-class seleneGuideController;
-
 /**
  * @brief Virtual axis for setting the height of the center of a Selene guide
  *
@@ -39,6 +36,8 @@ 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 +253,11 @@ 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
@@ -278,6 +275,11 @@ class seleneLiftAxis : public turboPmacAxis {
      */
     seleneOffsetAxis *offsetAxis(int idx);
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual seleneGuideController *pController() override { return pC_; };
+
   protected:
     std::array<seleneOffsetAxis *, numAxes_> offsetAxes_;
 

src/seleneOffsetAxis.cpp

@@ -50,18 +50,33 @@ seleneOffsetAxis::seleneOffsetAxis(seleneGuideController *pController,
 
     status = pC_->setIntegerParam(axisNo_, pC_->motorStatusDone(), 1);
     if (status != asynSuccess) {
-        pC_->paramLibAccessFailed(status, "motorStatusDone", axisNo_,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                                  __PRETTY_FUNCTION__, __LINE__);
+                  "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);
     }
     status = pC_->setIntegerParam(axisNo_, pC_->motorStatusMoving(), 0);
     if (status != asynSuccess) {
-        pC_->paramLibAccessFailed(status, "motorStatusMoving", axisNo_,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                                  __PRETTY_FUNCTION__, __LINE__);
+                  "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);
     }
     status = pC_->setDoubleParam(axisNo_, pC_->motorEncoderPosition(), 0.0);
     if (status != asynSuccess) {
-        pC_->paramLibAccessFailed(status, "motorEncoderPosition", axisNo_,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                                  __PRETTY_FUNCTION__, __LINE__);
+                  "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);
     }
 
     // Register the hook function during construction of the first axis
@@ -77,8 +92,13 @@ seleneOffsetAxis::seleneOffsetAxis(seleneGuideController *pController,
     // Selene guide motors cannot be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 0);
     if (status != asynSuccess) {
-        pC_->paramLibAccessFailed(status, "motorCanDisable", axisNo_,
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                                  __PRETTY_FUNCTION__, __LINE__);
+                  "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);
     }
 
     // Even though this happens already in sinqAxis, a default value for
@@ -96,6 +116,8 @@ seleneOffsetAxis::seleneOffsetAxis(seleneGuideController *pController,
     }
 }
 
+seleneOffsetAxis::~seleneOffsetAxis() {}
+
 asynStatus seleneOffsetAxis::init() {
 
     // Local variable declaration
@@ -130,16 +152,8 @@ asynStatus seleneOffsetAxis::init() {
     }
 
     // Read the initial limits from the paramlib
-    status = pC_->getDoubleParam(axisNo_, pC_->motorHighLimit(), &highLimit_);
+    getAxisParamChecked(this, motorHighLimit, &highLimit_);
-    if (status != asynSuccess) {
+    getAxisParamChecked(this, motorLowLimit, &lowLimit_);
-        return pC_->paramLibAccessFailed(status, "motorHighLimit", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-    status = pC_->getDoubleParam(axisNo_, pC_->motorLowLimit(), &lowLimit_);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorLowLimit", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     // The high limits read from the paramLib are divided by motorRecResolution,
     // hence we need to multiply them to undo this change.
@@ -149,15 +163,14 @@ 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) {
@@ -213,23 +226,9 @@ asynStatus seleneOffsetAxis::doPoll(bool *moving) {
 
     // Update the parameter library
     if (error != 0) {
-        status = setStringParam(pC_->motorMessageText(), userMessage);
+        setAxisParamChecked(this, motorMessageText, userMessage);
-        if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
-            return pC_->paramLibAccessFailed(status, "motorMessageText",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
     }
-        status = setIntegerParam(pC_->motorStatusProblem(), true);
-        if (status != asynSuccess) {
-            return pC_->paramLibAccessFailed(status, "motorStatusProblem_",
-                                             axisNo_, __PRETTY_FUNCTION__,
-                                             __LINE__);
-        }
-    }
-
-    // TODO: To be removed, once the real limits are derived
-    // highLimit = 10.0;
-    // lowLimit = -10.0;
 
     // Convert into lift coordinate system
     absoluteHighLimitLiftCS_ = highLimit - zOffset_;
@@ -250,20 +249,8 @@ asynStatus seleneOffsetAxis::doPoll(bool *moving) {
         relLowLimit = lowLimit - encoderPosition;
     }
 
-    status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
+    setAxisParamChecked(this, motorHighLimitFromDriver, relHighLimit);
-                                 relHighLimit);
+    setAxisParamChecked(this, motorLowLimitFromDriver, relLowLimit);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorHighLimitFromDriver_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-
-    status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
-                                 relLowLimit);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorLowLimit_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     /*
     If this axis is moving as a result of an individual move command to the axis
@@ -277,41 +264,22 @@ asynStatus seleneOffsetAxis::doPoll(bool *moving) {
         }
     }
 
-    status = setIntegerParam(pC_->motorStatusMoving(), *moving);
+    setAxisParamChecked(this, motorStatusMoving, *moving);
-    if (status != asynSuccess) {
+    setAxisParamChecked(this, motorStatusDone, !(*moving));
-        return pC_->paramLibAccessFailed(status, "motorStatusMoving_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
-
-    status = setIntegerParam(pC_->motorStatusDone(), !(*moving));
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorStatusDone_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     // Axis is always shown as enabled, since it is enabled automatically by the
     // controller when a move command P150=1 is sent and disabled once the
     // movement is completed.
-    status = setIntegerParam(pC_->motorEnableRBV(), 1);
+    setAxisParamChecked(this, motorEnableRBV, true);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorEnableRBV_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
-    }
 
     return errorStatus;
 }
 
 asynStatus
 seleneOffsetAxis::setPositionsFromEncoderPosition(double encoderPosition) {
-    asynStatus status = pC_->setDoubleParam(
+    setAxisParamChecked(this, motorAbsolutePositionRBV, encoderPosition);
-        axisNo_, pC_->motorAbsolutePositionRBV(), encoderPosition);
-    if (status != asynSuccess) {
-        return pC_->paramLibAccessFailed(status, "motorEncoderPosition",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
     absolutePositionLiftCS_ = encoderPosition - zOffset_;
-    return status;
+    return asynSuccess;
 }
 
 asynStatus seleneOffsetAxis::doMove(double position, int relative,
@@ -320,17 +288,10 @@ asynStatus seleneOffsetAxis::doMove(double position, int relative,
                                     double acceleration) {
 
     double motorRecResolution = 0.0;
-
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-    asynStatus pl_status = pC_->getDoubleParam(
-        axisNo_, pC_->motorRecResolution(), &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     // Set the target position
-    targetPosition_ = position * motorRecResolution;
+    setTargetPosition(position * motorRecResolution);
     targetSet_ = true;
     asynStatus status = liftAxis_->startCombinedMoveFromOffsetAxis();
     targetSet_ = false;
@@ -338,14 +299,9 @@ asynStatus seleneOffsetAxis::doMove(double position, int relative,
 }
 
 asynStatus seleneOffsetAxis::enable(bool on) {
-    asynStatus pl_status = setStringParam(pC_->motorMessageText(),
+    setAxisParamChecked(this, motorMessageText,
                         "Axis cannot be enabled / disabled");
-    if (pl_status != asynSuccess) {
+    return asynSuccess;
-        return pC_->paramLibAccessFailed(pl_status, "motorMessageText_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
-    return pl_status;
 }
 
 asynStatus seleneOffsetAxis::normalizePositions() {

src/seleneOffsetAxis.h

@@ -1,6 +1,7 @@
 #ifndef seleneOffsetAxis_H
 #define seleneOffsetAxis_H
 
+#include "seleneGuideController.h"
 #include "turboPmacAxis.h"
 
 // Forward declaration of the seleneLiftAxis class to resolve the cyclic
@@ -8,10 +9,6 @@
 // See https://en.cppreference.com/w/cpp/language/class.
 class seleneLiftAxis;
 
-// Forward declaration of the seleneGuideController class to resolve the cyclic
-// dependency. See https://en.cppreference.com/w/cpp/language/class.
-class seleneGuideController;
-
 /**
  * @brief Virtual axis for setting the offset of a motor of the Selene guide
  *
@@ -30,6 +27,8 @@ class seleneOffsetAxis : public turboPmacAxis {
     seleneOffsetAxis(seleneGuideController *pController, int axisNo,
                      double xPos, double zPos);
 
+    virtual ~seleneOffsetAxis();
+
     /**
      * @brief Initialize this offset axis
      *
@@ -79,13 +78,11 @@ 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
@@ -126,6 +123,11 @@ class seleneOffsetAxis : public turboPmacAxis {
      */
     double absoluteLowLimitLiftCS() { return absoluteLowLimitLiftCS_; }
 
+    /**
+     * @brief Return a pointer to the axis controller
+     */
+    virtual seleneGuideController *pController() override { return pC_; };
+
   protected:
     // True, if the target has been set from this axis
     bool targetSet_;