Added motor target position record which allows to read out the motor

target position from within a driver.

db/sinqMotor.db

@@ -41,6 +41,16 @@ record(motor,"$(INSTR)$(M)")
     field(RMOD,"3") # Retry mode 3 ("In-Position"): This suppresses any retries from the motor record.
 }
 
+# This record holds a copy of the motor record target position field (.VAL) and allows to access
+# the value from within the driver via the index motorTargetPosition_.
+# This record is coupled to the parameter library via motorTargetPosition_ -> MOTOR_TARGET_POSITION.
+record(ao,"$(INSTR)$(M):TargetPosition") {
+    field(DOL,  "$(INSTR)$(M).VAL CP MS")
+    field(OMSL, "closed_loop")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(CONTROLLER),$(AXIS)) MOTOR_TARGET_POSITION")
+}
+
 # This PV allows force-stopping the motor record from within the driver by setting
 # the motorForceStop_ value in the parameter library to 1. It should be reset to 0 by the driver afterwards.
 # The implementation strategy is taken from https://epics.anl.gov/tech-talk/2022/msg00464.php.

src/sinqController.h

@@ -235,6 +235,7 @@ class epicsShareClass sinqController : public asynMotorController {
 
 #define FIRST_SINQMOTOR_PARAM motorMessageText_
     int motorMessageText_;
+    int motorTargetPosition_;
     int motorEnable_;
     int motorEnableRBV_;
     int motorCanDisable_;