Added destructor for controller

db/turboPmac.db

@@ -31,3 +31,14 @@ record(longout, "$(INSTR)FlushHardware") {
     field(PINI, "NO")
     field(VAL, "1")
 }
+
+# If this PV is set to 1 (default), the position limits are read out from the 
+# controller. Otherwise, the limits given in the substitution file (DHLM and
+# DLLM) are used. 
+# This record is coupled to the parameter library via limFromHardware -> LIM_FROM_HARDWARE.
+record(longout, "$(INSTR)$(M):LimFromHardware") {
+    field(DTYP, "asynInt32")
+    field(OUT, "@asyn($(CONTROLLER),$(AXIS),1) LIM_FROM_HARDWARE")
+    field(PINI, "YES")
+    field(VAL, "$(LIMFROMHARDWARE=1)")
+}

src/turboPmacAxis.cpp

@@ -609,19 +609,30 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
                                          __LINE__);
     }
 
-    pl_status = pC_->setDoubleParam(axisNo_, pC_->motorHighLimitFromDriver(),
+    int limFromHardware = 0;
-                                    highLimit);
+    pl_status =
+        pC_->getIntegerParam(axisNo_, pC_->limFromHardware(), &limFromHardware);
     if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorHighLimitFromDriver_",
+        return pC_->paramLibAccessFailed(pl_status, "limFromHardware", axisNo_,
+                                         __PRETTY_FUNCTION__, __LINE__);
+    }
+
+    if (limFromHardware != 0) {
+        pl_status = pC_->setDoubleParam(
+            axisNo_, pC_->motorHighLimitFromDriver(), highLimit);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(
+                pl_status, "motorHighLimitFromDriver_", axisNo_,
+                __PRETTY_FUNCTION__, __LINE__);
+        }
+
+        pl_status = pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(),
+                                        lowLimit);
+        if (pl_status != asynSuccess) {
+            return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_",
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-
-    pl_status =
-        pC_->setDoubleParam(axisNo_, pC_->motorLowLimitFromDriver(), lowLimit);
-    if (pl_status != asynSuccess) {
-        return pC_->paramLibAccessFailed(pl_status, "motorLowLimit_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     pl_status = setMotorPosition(currentPosition);
@@ -1419,7 +1430,7 @@ asynStatus turboPmacAxis::enable(bool on) {
 
     // Failed to change axis status within timeout_enable_disable => Send a
     // corresponding message
-    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d  => %s, line %d\nFailed to %s axis "
               "within %d seconds\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,

src/turboPmacAxis.h

@@ -24,6 +24,7 @@ class turboPmacAxis : public sinqAxis {
     /**
      * @brief Destroy the turboPmacAxis
      *
+     * This destructor is necessary in order to use the PIMPL idiom.
      */
     virtual ~turboPmacAxis();
 

src/turboPmacController.cpp

@@ -45,6 +45,7 @@ struct turboPmacControllerImpl {
     int rereadEncoderPosition;
     int readConfig;
     int flushHardware;
+    int limFromHardware;
 };
 #define NUM_turboPmac_DRIVER_PARAMS 3
 
@@ -114,6 +115,17 @@ turboPmacController::turboPmacController(const char *portName,
         exit(-1);
     }
 
+    status = createParam("LIM_FROM_HARDWARE", asynParamInt32,
+                         &pTurboPmacC_->limFromHardware);
+    if (status != asynSuccess) {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nFATAL ERROR (creating a "
+                  "parameter failed with %s).\nTerminating IOC",
+                  portName, __PRETTY_FUNCTION__, __LINE__,
+                  stringifyAsynStatus(status));
+        exit(-1);
+    }
+
     /*
     Define the end-of-string of a message coming from the device to EPICS.
     It is not necessary to append a terminator to outgoing messages, since
@@ -167,6 +179,8 @@ turboPmacController::turboPmacController(const char *portName,
     }
 }
 
+turboPmacController::~turboPmacController() {}
+
 /*
 Access one of the axes of the controller via the axis adress stored in asynUser.
 If the axis does not exist or is not a Axis, a nullptr is returned and an
@@ -506,6 +520,9 @@ int turboPmacController::rereadEncoderPosition() {
 }
 int turboPmacController::readConfig() { return pTurboPmacC_->readConfig; }
 int turboPmacController::flushHardware() { return pTurboPmacC_->flushHardware; }
+int turboPmacController::limFromHardware() {
+    return pTurboPmacC_->limFromHardware;
+}
 
 asynUser *turboPmacController::pasynInt32SyncIOipPort() {
     return pTurboPmacC_->pasynInt32SyncIOipPort;

src/turboPmacController.h

@@ -36,6 +36,13 @@ class turboPmacController : public sinqController {
                         double idlePollPeriod, double comTimeout,
                         int numExtraParams = 0);
 
+    /**
+     * @brief Destroy the controller. Its implementation is empty, however the
+     * destructor needs to be provided for handling turboPmacControllerImpl.
+     *
+     */
+    virtual ~turboPmacController();
+
     /**
      * @brief Get the axis object
      *
@@ -122,6 +129,7 @@ class turboPmacController : public sinqController {
     int rereadEncoderPosition();
     int readConfig();
     int flushHardware();
+    int limFromHardware();
 
     asynUser *pasynInt32SyncIOipPort();