Fixed another calling signature bug

src/sinqAxis.cpp

@@ -10,6 +10,8 @@
 #include <math.h>
 #include <unistd.h>
 
+#define getControllerMethod pController
+
 struct sinqAxisImpl {
     // Internal variables used in the movement timeout watchdog
     time_t expectedArrivalTime;
@@ -28,178 +30,6 @@ struct sinqAxisImpl {
     epicsTimeStamp lastPollTime;
 };
 
-// Generic fallback - if the compiler tries to compile this function, it fails.
-template <typename T>
-asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T writeValue,
-                        const char *callerFunctionName, int lineNumber) {
-    static_assert(
-        sizeof(T) == 0,
-        "no specialization of setAxisParam exists for the given type");
-    return asynError;
-}
-
-template <>
-asynStatus setAxisParam<int>(sinqAxis *axis, const char *indexName,
-                             int (sinqController::*func)(), int writeValue,
-                             const char *callerFunctionName, int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->setIntegerParam(indexValue, writeValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-template <>
-asynStatus setAxisParam<bool>(sinqAxis *axis, const char *indexName,
-                              int (sinqController::*func)(), bool writeValue,
-                              const char *callerFunctionName, int lineNumber) {
-    return setAxisParam(axis, indexName, func, static_cast<int>(writeValue),
-                        callerFunctionName, lineNumber);
-}
-
-template <>
-asynStatus
-setAxisParam<double>(sinqAxis *axis, const char *indexName,
-                     int (sinqController::*func)(), double writeValue,
-                     const char *callerFunctionName, int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->setDoubleParam(indexValue, writeValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-template <>
-asynStatus setAxisParam<char *>(sinqAxis *axis, const char *indexName,
-                                int (sinqController::*func)(), char *writeValue,
-                                const char *callerFunctionName,
-                                int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->setStringParam(indexValue, writeValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-template <>
-asynStatus setAxisParam<const char *>(sinqAxis *axis, const char *indexName,
-                                      int (sinqController::*func)(),
-                                      const char *writeValue,
-                                      const char *callerFunctionName,
-                                      int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->setStringParam(indexValue, writeValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-// Generic fallback - if the compiler tries to compile this function, it fails.
-template <typename T>
-asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T *readValue,
-                        const char *callerFunctionName, int lineNumber) {
-    static_assert(
-        sizeof(T) == 0,
-        "no specialization of getAxisParam exists for the given type");
-    return asynError;
-}
-
-template <>
-asynStatus getAxisParam<int>(sinqAxis *axis, const char *indexName,
-                             int (sinqController::*func)(), int *readValue,
-                             const char *callerFunctionName, int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->pController()->getIntegerParam(
-        axis->axisNo(), indexValue, readValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-template <>
-asynStatus getAxisParam<bool>(sinqAxis *axis, const char *indexName,
-                              int (sinqController::*func)(), bool *readValue,
-                              const char *callerFunctionName, int lineNumber) {
-    return getAxisParam(axis, indexName, func, (int *)readValue,
-                        callerFunctionName, lineNumber);
-}
-
-template <>
-asynStatus
-getAxisParam<double>(sinqAxis *axis, const char *indexName,
-                     int (sinqController::*func)(), double *readValue,
-                     const char *callerFunctionName, int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->pController()->getDoubleParam(
-        axis->axisNo(), indexValue, readValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-template <>
-asynStatus getAxisParam<char>(sinqAxis *axis, const char *indexName,
-                              int (sinqController::*func)(), char *readValue,
-                              const char *callerFunctionName, int lineNumber) {
-
-    int maxChars = 200;
-
-    int indexValue = (axis->pController()->*func)();
-    asynStatus status = axis->pController()->getStringParam(
-        axis->axisNo(), indexValue, maxChars, readValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-template <size_t N>
-asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), char (&readValue)[N],
-                        const char *callerFunctionName, int lineNumber) {
-    // Decay the array to char*
-    return getAxisParam<char>(axis, indexName, func,
-                              static_cast<char *>(readValue),
-                              callerFunctionName, lineNumber);
-}
-
-template <>
-asynStatus
-getAxisParam<std::string>(sinqAxis *axis, const char *indexName,
-                          int (sinqController::*func)(), std::string *readValue,
-                          const char *callerFunctionName, int lineNumber) {
-    int indexValue = (axis->pController()->*func)();
-
-    // Convert the pointer to a reference, since getStringParam expects the
-    // latter.
-    std::string &rReadValue = *readValue;
-
-    asynStatus status = axis->pController()->getStringParam(
-        axis->axisNo(), indexValue, rReadValue);
-    if (status != asynSuccess) {
-        return axis->pController()->paramLibAccessFailed(
-            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
-    }
-    return asynSuccess;
-}
-
-// =============================================================================
-
 sinqAxis::sinqAxis(class sinqController *pC, int axisNo)
     : asynMotorAxis((asynMotorController *)pC, axisNo), pC_(pC) {
     asynStatus status = asynSuccess;
@@ -821,6 +651,16 @@ asynStatus sinqAxis::setScaleMovTimeout(time_t scaleMovTimeout) {
     return asynSuccess;
 }
 
+bool sinqAxis::wasMoving() { return pSinqA_->wasMoving; }
+
+void sinqAxis::setWasMoving(bool wasMoving) { pSinqA_->wasMoving = wasMoving; }
+
+double sinqAxis::targetPosition() { return pSinqA_->targetPosition; }
+
+void sinqAxis::setTargetPosition(double targetPosition) {
+    pSinqA_->targetPosition = targetPosition;
+}
+
 // =============================================================================
 // IOC shell functions
 extern "C" {

src/sinqAxis.h

@@ -365,9 +365,52 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
     asynStatus assertConnected();
 
     /**
-     * @brief Return a pointer to the axis controller
+     * @brief Return a pointer to the axis controller.
+     *
+     * This function should be overriden in derived classes using the `override`
+     * keyword so the macros `getAxisParamChecked` and `setAxisParamChecked`
+     * work correctly:
+     *
+     * ```
+     * class mySpecialAxis : public sinqAxis {
+        public:
+            mySpecialController* getControllerMethod() override {
+                return mySpecialControllerPtr;
+            }
+        };
+     * ```
      */
-    sinqController *pController() { return pC_; };
+    virtual sinqController *pController() { return pC_; };
+
+    /**
+     * @brief Returns true, if the axis was moving in the last poll cycle, and
+     * false otherwise.
+     *
+     * @return true
+     * @return false
+     */
+    bool wasMoving();
+
+    /**
+     * @brief Override the wasMoving flag (normally, it is automatically updated
+     * during each poll).
+     *
+     */
+    void setWasMoving(bool wasMoving);
+
+    /**
+     * @brief Read out the last received target position in engineering units.
+     *
+     * @return double
+     */
+    double targetPosition();
+
+    /**
+     * @brief Override the targetPosition value (normally, it is automatically
+     * updated at every call of the move() method).
+     *
+     */
+    void setTargetPosition(double targetPosition);
 
   private:
     std::unique_ptr<sinqAxisImpl> pSinqA_;
@@ -377,6 +420,84 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
 // =============================================================================
 // Helper functions and definitions for the macro setAxisParamChecked
 
+template <typename T> struct TypeTag {};
+
+// Generic fallback - if the compiler tries to compile this function, it fails.
+template <typename A, typename C, typename T>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), T writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<void>) {
+    static_assert(sizeof(T) == 0, "Unsupported type for setAxisParamImpl");
+    return asynError;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), int writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<int>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setIntegerParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), bool writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<bool>) {
+    return setAxisParamImpl(axis, controller, indexName, func,
+                            static_cast<int>(writeValue), callerFunctionName,
+                            lineNumber, TypeTag<int>{});
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), double writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<double>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setDoubleParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), char *writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<char *>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setStringParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus setAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), const char *writeValue,
+                            const char *callerFunctionName, int lineNumber,
+                            TypeTag<const char *>) {
+    int indexValue = (controller->*func)();
+    asynStatus status = axis->setStringParam(indexValue, writeValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
 /**
  * @brief Helper function to set an integer / double / string parameter for an
  * axis in the paramLib
@@ -384,8 +505,11 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
  * This function should not be used directly, but rather through its macro
  * variant `setAxisParamChecked`.
  *
+ * @tparam A
+ * @tparam C
  * @tparam T
  * @param axis
+ * @param controller
  * @param indexName
  * @param func
  * @param writeValue
@@ -393,10 +517,13 @@ class epicsShareClass sinqAxis : public asynMotorAxis {
  * @param lineNumber
  * @return asynStatus
  */
-template <typename T>
-asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T writeValue,
-                        const char *callerFunctionName, int lineNumber);
+template <typename A, typename C, typename T>
+asynStatus setAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T writeValue,
+                        const char *callerFunctionName, int lineNumber) {
+    return setAxisParamImpl(axis, controller, indexName, func, writeValue,
+                            callerFunctionName, lineNumber, TypeTag<T>{});
+}
 
 /**
  * @brief Macro to set an paramLib parameter and error checking the return value
@@ -412,10 +539,10 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
  * expands into the following code:
  * ```
  * {
- * int indexValue = axis->pController()->motorStatusProblem_();
+ * int indexValue = controller->motorStatusProblem_();
  * asynStatus status = axis->setIntegerParam(indexValue, writeValue);
  * if (status != asynSuccess) {
- *     return axis->pController()->paramLibAccessFailed(
+ *     return controller->paramLibAccessFailed(
  *         status, "motorStatusProblem_", axis->axisNo(), __PRETTY_FUNCTION__,
  *         __LINE__);
  * }
@@ -424,23 +551,116 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
  * ```
  * =============================================================================
  */
-#define setAxisParamChecked(axis, indexGetterFunction, writeValue)             \
-    {                                                                          \
-        asynStatus setStatus = setAxisParam(                                   \
-            axis, #indexGetterFunction,                                        \
-            &std::remove_pointer<                                              \
-                decltype(axis->pController())>::type::indexGetterFunction,     \
+#define setAxisParamChecked(axis, indexSetterFunction, writeValue)             \
+    do {                                                                       \
+        auto *ctrlPtr = (axis)->pController();                                 \
+        using ControllerType =                                                 \
+            typename std::remove_pointer<decltype(ctrlPtr)>::type;             \
+        asynStatus setStatus =                                                 \
+            setAxisParam(axis, ctrlPtr, #indexSetterFunction,                  \
+                         static_cast<int (ControllerType::*)()>(               \
+                             &ControllerType::indexSetterFunction),            \
                          writeValue, __PRETTY_FUNCTION__, __LINE__);           \
-        if (setStatus != asynSuccess) {                                        \
+        if (setStatus != asynSuccess)                                          \
             return setStatus;                                                  \
-        }                                                                      \
-    }
+    } while (0)
 
 // =============================================================================
 // Helper functions and definitions for the macro getAxisParamChecked
 
+// Generic fallback - if the compiler tries to compile this function, it fails.
+template <typename A, typename C, typename T>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), T *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<void>) {
+    static_assert(
+        sizeof(T) == 0,
+        "no specialization of getAxisParam exists for the given type");
+    return asynError;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), int *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<int>) {
+    int indexValue = (controller->*func)();
+    asynStatus status =
+        controller->getIntegerParam(axis->axisNo(), indexValue, readValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), bool *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<bool>) {
+    int readValueInt = 0;
+    asynStatus status = getAxisParamImpl(axis, controller, indexName, func,
+                                         &readValueInt, callerFunctionName,
+                                         lineNumber, msgSize, TypeTag<int>{});
+    *readValue = readValueInt != 0;
+    return status;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), double *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<double>) {
+    int indexValue = (controller->*func)();
+    asynStatus status =
+        controller->getDoubleParam(axis->axisNo(), indexValue, readValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), char *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<char>) {
+
+    int indexValue = (controller->*func)();
+    asynStatus status = controller->getStringParam(axis->axisNo(), indexValue,
+                                                   msgSize, readValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
+template <typename A, typename C>
+asynStatus getAxisParamImpl(A *axis, C *controller, const char *indexName,
+                            int (C::*func)(), std::string *readValue,
+                            const char *callerFunctionName, int lineNumber,
+                            size_t msgSize, TypeTag<std::string>) {
+    int indexValue = (controller->*func)();
+
+    // Convert the pointer to a reference, since getStringParam expects the
+    // latter.
+    std::string &rReadValue = *readValue;
+
+    asynStatus status =
+        controller->getStringParam(axis->axisNo(), indexValue, rReadValue);
+    if (status != asynSuccess) {
+        return controller->paramLibAccessFailed(
+            status, indexName, axis->axisNo(), callerFunctionName, lineNumber);
+    }
+    return asynSuccess;
+}
+
 /**
- * @brief Helper function to set an integer / double / string parameter for an
+ * @brief Helper function to get an integer / double / string parameter for an
  * axis in the paramLib
  *
  * This function should not be used directly, but rather through its macro
@@ -448,6 +668,7 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
  *
  * @tparam T
  * @param axis
+ * @param controller
  * @param indexName
  * @param func
  * @param readValue
@@ -458,17 +679,48 @@ asynStatus setAxisParam(sinqAxis *axis, const char *indexName,
  * to.
  * @return asynStatus
  */
-template <typename T>
-asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
-                        int (sinqController::*func)(), T *readValue,
-                        const char *callerFunctionName, int lineNumber);
+template <typename A, typename C, typename T>
+asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), T *readValue,
+                        const char *callerFunctionName, int lineNumber) {
+    return getAxisParamImpl(axis, controller, indexName, func, readValue,
+                            callerFunctionName, lineNumber,
+                            controller->msgSize(), TypeTag<T>{});
+}
+
+/**
+ * @brief Helper function to get a string parameter for an
+ * axis in the paramLib into a char array
+ *
+ * This function should not be used directly, but rather through its macro
+ * variant `getAxisParamChecked`. It is a specialized variant of the general
+ * getAxisParam defined above for char arrays.
+ *
+ * @tparam A
+ * @tparam C
+ * @tparam N
+ * @param axis
+ * @param controller
+ * @param indexName
+ * @param func
+ * @param callerFunctionName
+ * @param lineNumber
+ * @return asynStatus
+ */
+template <typename A, typename C, size_t N>
+asynStatus getAxisParam(A *axis, C *controller, const char *indexName,
+                        int (C::*func)(), char (*readValue)[N],
+                        const char *callerFunctionName, int lineNumber) {
+    return getAxisParamImpl(axis, controller, indexName, func, *readValue,
+                            callerFunctionName, lineNumber, N, TypeTag<char>{});
+}
 
 /**
  * @brief Macro to get an paramLib parameter and error checking the return value
  *
  * This macro is a wrapper around `getIntegerParam` / `getDoubleParam` /
  * `getStringParam` which checks if the operation was successfull. If it wasn't,
- * it returns by calling the paramLibAccessFailed function.
+ * it returns by calling the paramLibAccessFailed function. In order
  *
  * For example, the following input:
  * ```
@@ -477,10 +729,10 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
  * expands into the following code:
  * ```
  * {
- * int indexValue = axis->pController()->motorStatusProblem_();
- * asynStatus status = axis->pController()->getIntegerParam(axis->axisNo(),
+ * int indexValue = controller->motorStatusProblem_();
+ * asynStatus status = controller->getIntegerParam(axis->axisNo(),
  * indexValue, readValue); if (status != asynSuccess) { return
- * axis->pController()->paramLibAccessFailed( status, "motorStatusProblem_",
+ * controller->paramLibAccessFailed( status, "motorStatusProblem_",
  * axis->axisNo(), __PRETTY_FUNCTION__,
  *         __LINE__);
  * }
@@ -490,15 +742,17 @@ asynStatus getAxisParam(sinqAxis *axis, const char *indexName,
  * =============================================================================
  */
 #define getAxisParamChecked(axis, indexGetterFunction, readValue)              \
-    {                                                                          \
-        asynStatus getStatus = getAxisParam(                                   \
-            axis, #indexGetterFunction,                                        \
-            &std::remove_pointer<                                              \
-                decltype(axis->pController())>::type::indexGetterFunction,     \
+    do {                                                                       \
+        auto *ctrlPtr = (axis)->pController();                                 \
+        using ControllerType =                                                 \
+            typename std::remove_pointer<decltype(ctrlPtr)>::type;             \
+        asynStatus getStatus =                                                 \
+            getAxisParam(axis, ctrlPtr, #indexGetterFunction,                  \
+                         static_cast<int (ControllerType::*)()>(               \
+                             &ControllerType::indexGetterFunction),            \
                          readValue, __PRETTY_FUNCTION__, __LINE__);            \
-        if (getStatus != asynSuccess) {                                        \
+        if (getStatus != asynSuccess)                                          \
             return getStatus;                                                  \
-        }                                                                      \
-    }
+    } while (0)
 
 #endif

src/sinqController.h

@@ -380,9 +380,17 @@ class epicsShareClass sinqController : public asynMotorController {
      */
     int outstandingForcedFastPolls();
 
-    // Maximum error message buffer size. This is an empirical value which must
-    // be large enough to avoid overflows for all commands to the device /
-    // responses from it.
+    /**
+     * @brief Return the maximum error message buffer size
+     *
+     * This is an empirical value which must be large enough to avoid overflows
+     * for all commands to the device / responses from it.
+     *
+     * @return uint32_t
+     */
+    uint32_t msgSize() { return MAXBUF_; }
+
+    // Maximum message size
     static const uint32_t MAXBUF_ = 200;
 
     // =========================================================================