Made code compile with compiler flags

.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 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=${CI_COMMIT_TAG:-0.0.1}" >> Makefile
-    - make install
-    - cp -rT "/ioc/modules/seleneLift/$(ls -U /ioc/modules/seleneLift/ | head -1)" "./seleneLift-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-  artifacts:
-    name: "seleneLift-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}"
-    paths:
-      - "seleneLift-${CI_COMMIT_TAG:-$CI_COMMIT_SHORT_SHA}/*"
-    expire_in: 1 week
-  when: always
-  tags:
-    - sinq

Makefile

@@ -42,4 +42,5 @@ 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
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Wextra -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CXXFLAGS += -Wall -Wextra -Wunused-result -Wextra -Werror

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
@@ -45,17 +50,18 @@ asynStatus seleneAngleAxis::stop(double acceleration) {
 }
 
 asynStatus seleneAngleAxis::doMove(double position, int relative,
-                                   double min_velocity, double max_velocity,
+                                   double minVelocity, double maxVelocity,
                                    double acceleration) {
+
+    // Suppress unused variable warnings
+    (void)relative;
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+
     double motorRecResolution = 0.0;
 
-    asynStatus pl_status = pC_->getDoubleParam(
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-        axisNo_, pC_->motorRecResolution(), &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
     setTargetPosition(position * motorRecResolution);
     targetSet_ = true;
     return liftAxis_->startCombinedMoveFromVirtualAxis();
@@ -75,25 +81,17 @@ double seleneAngleAxis::targetPosition() {
 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;
     }
 
     /*
@@ -126,9 +124,9 @@ 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++) {
@@ -137,9 +135,9 @@ 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;
         }
 
         /*
@@ -176,52 +174,23 @@ 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(); }
@@ -229,13 +198,7 @@ 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

@@ -1,22 +1,19 @@
 #ifndef seleneAngleAxis_H
 #define seleneAngleAxis_H
+#include "seleneGuideController.h"
 #include "turboPmacAxis.h"
 
 // Forward declaration of the seleneLiftAxis class to resolve the cyclic
 // dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
 // See https://en.cppreference.com/w/cpp/language/class.
-class seleneLiftAxis;
+class HIDDEN 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
  *
  * Please see README.md for a detailed explanation.
  */
-class seleneAngleAxis : public turboPmacAxis {
+class HIDDEN seleneAngleAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new seleneAngleAxis.
@@ -51,12 +48,12 @@ class seleneAngleAxis : public turboPmacAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
+     * @param minVelocity
      * @param maxOffset_velocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
+    asynStatus doMove(double position, int relative, double minVelocity,
                       double maxOffset_velocity, double acceleration);
 
     /**
@@ -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>
@@ -20,7 +23,8 @@ seleneGuideController::seleneGuideController(
     const char *portName, const char *ipPortConfigName, int numAxes,
     double movingPollPeriod, double idlePollPeriod, double comTimeout)
     : turboPmacController(portName, ipPortConfigName, numAxes, movingPollPeriod,
-                          idlePollPeriod, NUM_seleneGuide_DRIVER_PARAMS)
+                          idlePollPeriod, comTimeout,
+                          NUM_seleneGuide_DRIVER_PARAMS)
 
 {
 
@@ -142,7 +146,8 @@ static const iocshArg *const CreateControllerArgs[] = {
     &CreateControllerArg0, &CreateControllerArg1, &CreateControllerArg2,
     &CreateControllerArg3, &CreateControllerArg4, &CreateControllerArg5};
 static const iocshFuncDef configSeleneGuideCreateController = {
-    "seleneGuideController", 6, CreateControllerArgs};
+    "seleneGuideController", 6, CreateControllerArgs,
+    "Create a new instance of a Selene controller."};
 static void configSeleneGuideCreateControllerCallFunc(const iocshArgBuf *args) {
     seleneGuideCreateController(args[0].sval, args[1].sval, args[2].ival,
                                 args[3].dval, args[4].dval, args[5].dval);

src/seleneGuideController.h

@@ -8,12 +8,16 @@
 
 #ifndef seleneGuideController_H
 #define seleneGuideController_H
-#include "seleneAngleAxis.h"
-#include "seleneLiftAxis.h"
-#include "seleneOffsetAxis.h"
 #include "turboPmacController.h"
 
-class seleneGuideController : public turboPmacController {
+// 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 HIDDEN seleneAngleAxis;
+class HIDDEN seleneLiftAxis;
+class HIDDEN seleneOffsetAxis;
+
+class HIDDEN seleneGuideController : public turboPmacController {
 
   public:
     /**

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
@@ -151,44 +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) {
@@ -277,12 +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};
@@ -293,18 +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);
@@ -315,31 +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
@@ -358,22 +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(
@@ -382,14 +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
@@ -414,45 +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;
         }
     }
@@ -461,20 +381,20 @@ asynStatus seleneLiftAxis::doPoll(bool *moving) {
 }
 
 asynStatus seleneLiftAxis::doMove(double position, int relative,
-                                  double min_velocity, double max_velocity,
+                                  double minVelocity, double maxVelocity,
                                   double acceleration) {
-    double motorRecResolution = 0.0;
-    asynStatus status = asynSuccess;
 
-    status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
+    // Suppress unused variable warnings
-                                 &motorRecResolution);
+    (void)relative;
-    if (status != asynSuccess) {
+    (void)minVelocity;
-        return pC_->paramLibAccessFailed(status, "motorRecResolution_", axisNo_,
+    (void)maxVelocity;
-                                         __PRETTY_FUNCTION__, __LINE__);
+    (void)acceleration;
-    }
+
+    double motorRecResolution = 0.0;
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
     setTargetPosition(position * motorRecResolution);
     targetSet_ = true;
-    status = startCombinedMoveFromVirtualAxis();
+    asynStatus status = startCombinedMoveFromVirtualAxis();
     targetSet_ = false;
     return status;
 }
@@ -521,34 +441,29 @@ 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
+    // Suppress unused variable warnings
-    rw_status = pC_->writeRead(axisNo_, "P150=8", response, 0);
+    (void)acceleration;
 
-    if (rw_status != asynSuccess) {
+    // Stop all axes
+    status = pC_->writeRead(axisNo_, "P150=8", response, 0);
+
+    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() {
@@ -561,30 +476,29 @@ asynStatus seleneLiftAxis::doReset() {
 }
 
 asynStatus seleneLiftAxis::enable(bool on) {
-    asynStatus pl_status = setStringParam(pC_->motorMessageText(),
+
+    // Suppress unused variable warnings
+    (void)on;
+
+    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;
 }
 
 asynStatus seleneLiftAxis::doHome(double minVelocity, double maxVelocity,
                                   double acceleration, int forwards) {
 
+    // Suppress unused variable warnings
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
+    (void)forwards;
+
     char response[pC_->MAXBUF_] = {0};
 
     // No answer expected
@@ -742,8 +656,9 @@ static const iocshArg *const CreateAxisArgs[] = {
     &CreateAxisArg3, &CreateAxisArg4, &CreateAxisArg5,
     &CreateAxisArg6, &CreateAxisArg7, &CreateAxisArg8,
 };
-static const iocshFuncDef configSeleneVirtualCreateAxes = {"seleneVirtualAxes",
+static const iocshFuncDef configSeleneVirtualCreateAxes = {
-                                                           9, CreateAxisArgs};
+    "seleneVirtualAxes", 9, CreateAxisArgs,
+    "Creates instances of Selene axes."};
 static void configSeleneVirtualCreateAxesCallFunc(const iocshArgBuf *args) {
     seleneVirtualCreateAxes(args[0].sval, args[1].ival, args[2].ival,
                             args[3].ival, args[4].ival, args[5].ival,

src/seleneLiftAxis.h

@@ -1,20 +1,17 @@
 #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
  *
  * Please see README.md for a detailed explanation.
  */
-class seleneLiftAxis : public turboPmacAxis {
+class HIDDEN seleneLiftAxis : public turboPmacAxis {
   public:
     static const int numAxes_ = 6;
 
@@ -68,12 +65,12 @@ class seleneLiftAxis : public turboPmacAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
+     * @param minVelocity
      * @param maxOffset_velocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
+    asynStatus doMove(double position, int relative, double minVelocity,
                       double maxOffset_velocity, double acceleration);
 
     /**
@@ -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
@@ -132,16 +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.
@@ -214,23 +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_;
@@ -251,20 +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
@@ -278,57 +264,36 @@ 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,
-                                    double min_velocity,
+                                    double minVelocity, double maxVelocity,
-                                    double maxOffset_velocity,
                                     double acceleration) {
 
-    double motorRecResolution = 0.0;
+    // Suppress unused variable warnings
+    (void)relative;
+    (void)minVelocity;
+    (void)maxVelocity;
+    (void)acceleration;
 
-    asynStatus pl_status = pC_->getDoubleParam(
+    double motorRecResolution = 0.0;
-        axisNo_, pC_->motorRecResolution(), &motorRecResolution);
+    getAxisParamChecked(this, motorRecResolution, &motorRecResolution);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorRecResolution_",
-                                         axisNo_, __PRETTY_FUNCTION__,
-                                         __LINE__);
-    }
 
     // Set the target position
     setTargetPosition(position * motorRecResolution);
@@ -339,14 +304,12 @@ asynStatus seleneOffsetAxis::doMove(double position, int relative,
 }
 
 asynStatus seleneOffsetAxis::enable(bool on) {
-    asynStatus pl_status = setStringParam(pC_->motorMessageText(),
+    // Suppress unused variable warnings
+    (void)on;
+
+    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() {
@@ -429,7 +392,8 @@ static const iocshArg *const CreateAxisArgs[] = {
     &CreateAxisArg3,
 };
 static const iocshFuncDef configSeleneOffsetAxisCreateAxis = {
-    "seleneOffsetAxis", 4, CreateAxisArgs};
+    "seleneOffsetAxis", 4, CreateAxisArgs,
+    "Creates a new instance of a Selene offset axis."};
 static void configSeleneOffsetAxisCreateAxisCallFunc(const iocshArgBuf *args) {
     seleneOffsetAxisCreateAxis(args[0].sval, args[1].ival, args[2].dval,
                                args[3].dval);

src/seleneOffsetAxis.h

@@ -1,23 +1,20 @@
 #ifndef seleneOffsetAxis_H
 #define seleneOffsetAxis_H
 
+#include "seleneGuideController.h"
 #include "turboPmacAxis.h"
 
 // Forward declaration of the seleneLiftAxis class to resolve the cyclic
 // dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
 // See https://en.cppreference.com/w/cpp/language/class.
-class seleneLiftAxis;
+class HIDDEN 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
  *
  * Please see README.md for a detailed explanation.
  */
-class seleneOffsetAxis : public turboPmacAxis {
+class HIDDEN seleneOffsetAxis : public turboPmacAxis {
   public:
     /**
      * @brief Construct a new selene Offset Axis object
@@ -54,12 +51,12 @@ class seleneOffsetAxis : public turboPmacAxis {
      *
      * @param position
      * @param relative
-     * @param min_velocity
+     * @param minVelocity
      * @param maxOffset_velocity
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
+    asynStatus doMove(double position, int relative, double minVelocity,
                       double maxOffset_velocity, double acceleration);
 
     /**
@@ -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_;