Made some functions virtual so they can be overwritten in subclasses

by the poll.

src/turboPmacAxis.cpp

@@ -71,6 +71,20 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         exit(-1);
     }
 
+    // Even though this happens already in sinqAxis, a default value for
+    // motorMessageText is set here again, because apparently the sinqAxis
+    // constructor is not run before the string is accessed?
+    status = setStringParam(pC_->motorMessageText(), "");
+    if (status != asynSuccess) {
+        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
+                  "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);
+    }
+
     // turboPmac motors can always be disabled
     status = pC_->setIntegerParam(axisNo_, pC_->motorCanDisable(), 1);
     if (status != asynSuccess) {

src/turboPmacAxis.h

@@ -31,7 +31,7 @@ class turboPmacAxis : public sinqAxis {
      * value is currently not used.
      * @return asynStatus
      */
-    asynStatus stop(double acceleration);
+    virtual asynStatus stop(double acceleration);
 
     /**
      * @brief Implementation of the `doHome` function from sinqAxis. The
@@ -43,8 +43,8 @@ class turboPmacAxis : public sinqAxis {
      * @param forwards
      * @return asynStatus
      */
-    asynStatus doHome(double minVelocity, double maxVelocity,
-                      double acceleration, int forwards);
+    virtual asynStatus doHome(double minVelocity, double maxVelocity,
+                              double acceleration, int forwards);
 
     /**
      * @brief Implementation of the `doPoll` function from sinqAxis. The
@@ -53,7 +53,7 @@ class turboPmacAxis : public sinqAxis {
      * @param moving
      * @return asynStatus
      */
-    asynStatus doPoll(bool *moving);
+    virtual asynStatus doPoll(bool *moving);
 
     /**
      * @brief Implementation of the `doMove` function from sinqAxis. The
@@ -66,8 +66,9 @@ class turboPmacAxis : public sinqAxis {
      * @param acceleration
      * @return asynStatus
      */
-    asynStatus doMove(double position, int relative, double min_velocity,
-                      double max_velocity, double acceleration);
+    virtual asynStatus doMove(double position, int relative,
+                              double min_velocity, double max_velocity,
+                              double acceleration);
 
     /**
      * @brief Readout of some values from the controller at IOC startup
@@ -79,7 +80,7 @@ class turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus init();
+    virtual asynStatus init();
 
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
@@ -87,7 +88,7 @@ class turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    asynStatus doReset();
+    virtual asynStatus doReset();
 
     /**
      * @brief Enable / disable the axis.
@@ -95,7 +96,7 @@ class turboPmacAxis : public sinqAxis {
      * @param on
      * @return asynStatus
      */
-    asynStatus enable(bool on);
+    virtual asynStatus enable(bool on);
 
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis from
@@ -103,14 +104,14 @@ class turboPmacAxis : public sinqAxis {
      *
      * @return asynStatus
      */
-    asynStatus readEncoderType();
+    virtual asynStatus readEncoderType();
 
     /**
      * @brief Trigger a rereading of the encoder position.
      *
      * @return asynStatus
      */
-    asynStatus rereadEncoder();
+    virtual asynStatus rereadEncoder();
 
     /**
      * @brief Interpret the error code and populate the user message accordingly