Fixed number of commands bug in turboPmacAxis::init

The correct scale from counts to engeering units is Qxx00.

.gitea/workflows/action.yaml

@@ -0,0 +1,24 @@
+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
+  Build:
+    runs-on: linepics
+    steps:
+      - name: checkout repo
+        uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - run: |
+          sed -i 's/ARCH_FILTER=.*/ARCH_FILTER=linux%/' Makefile
+          echo -e "\nIGNORE_SUBMODULES += sinqmotor" >> Makefile
+          make install

.gitignore

@@ -0,0 +1,8 @@
+O.*
+.cvsignore
+.vscode
+src/.vscode
+utils/analyzeTcpDump/__pycache__
+utils/analyzeTcpDump/demo.pcap.json
+utils/analyzeTcpDump/demovenv
+utils/analyzeTcpDump/venv

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

Makefile

@@ -34,4 +34,4 @@ TEMPLATES += db/turboPmac.db
 DBDS += sinqMotor/src/sinqMotor.dbd
 DBDS += src/turboPmac.dbd
 
-USR_CFLAGS += -Wall -Wextra -Weffc++ -Wunused-result -Werror # -Wpedantic // Does not work because EPICS macros trigger warnings
+USR_CFLAGS += -Wall -Wextra -Wunused-result -Werror -fvisibility=hidden # -Wpedantic // Does not work because EPICS macros trigger warnings

src/pmacAsynIPPort.c

@@ -230,8 +230,7 @@ static asynStatus sendPmacGetBuffer(pmacPvt *pPmacPvt, asynUser *pasynUser,
 
 // =============================================================================
 
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
-                                           const char *hostInfo) {
+int pmacAsynIPPortConfigure(const char *portName, const char *hostInfo) {
     asynStatus status = asynSuccess;
     asynInterface *int32LowerLevelInterface = NULL;
     asynInterface *octetLowerLevelInterface = NULL;

src/pmacAsynIPPort.h

@@ -2,6 +2,7 @@
 #define asynInterposePmac_H
 
 #include <epicsExport.h>
+#include <macros.h>
 #include <shareLib.h>
 
 /*
@@ -25,8 +26,7 @@ extern "C" {
  * 172.23.243.156:1025)
  * @return status
  */
-epicsShareFunc int pmacAsynIPPortConfigure(const char *portName,
-                                           const char *hostInfo);
+int HIDDEN pmacAsynIPPortConfigure(const char *portName, const char *hostInfo);
 
 #ifdef __cplusplus
 }

src/turboPmacAxis.cpp

@@ -70,12 +70,13 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         axes.push_back(this);
     }
 
-    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>(
-        (turboPmacAxisImpl){.waitForHandshake = false,
-                            .enableDisable = false,
-                            .timeAtHandshake = 0,
-                            .axisStatus = 0,
-                            .needInit = false});
+    pTurboPmacA_ = std::make_unique<turboPmacAxisImpl>((turboPmacAxisImpl){
+        .waitForHandshake = false,
+        .enableDisable = false,
+        .timeAtHandshake = 0,
+        .axisStatus = 0,
+        .needInit = false,
+    });
 
     // Provide initial values for some parameter library entries
     status = pC_->setIntegerParam(axisNo_, pC_->rereadEncoderPosition(), 0);
@@ -132,9 +133,16 @@ asynStatus turboPmacAxis::init() {
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
-    int acoDelay = 0.0; // Offset time for the movement watchdog caused by
-                        // the air cushions in milliseconds.
-    int axStatus = 0;
+
+    // Conversion factor between engineering units (EU) and encoder counts
+    double counts_to_eu = 0.0;
+
+    // Deadband in counts. Can be a fraction of a count, hence double.
+    double deadband_counts = 0.0;
+
+    // Offset time for the movement watchdog caused by the air cushions in
+    // milliseconds.
+    int acoDelay = 0.0;
 
     // The parameter library takes some time to be initialized. Therefore we
     // wait until the status is not asynParamUndefined anymore.
@@ -163,12 +171,14 @@ asynStatus turboPmacAxis::init() {
 
     /*
     Read out the axis status, the current position, current and maximum speed,
-    acceleration and the air cushion delay.
+    acceleration, the air cushion delay, the scaling factor between counts and
+    engineering units ([Qxx00] = engineering units / counts) and the deadband
+    Ixx65.
     */
     snprintf(command, sizeof(command),
-             "P%2.2d00 Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22", axisNo_,
-             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
-    status = pC_->writeRead(axisNo_, command, response, 6);
+             "Q%2.2d10 Q%2.2d03 Q%2.2d04 Q%2.2d06 P%2.2d22 Q%2.2d00 I%2.2d65",
+             axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_, axisNo_);
+    status = pC_->writeRead(axisNo_, command, response, 7);
     if (status != asynSuccess) {
         asynPrint(
             pC_->pasynUser(), ASYN_TRACE_ERROR,
@@ -180,8 +190,9 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
-                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay);
+    nvals = sscanf(response, "%lf %lf %lf %lf %d %lf %lf", &motorPos,
+                   &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
+                   &counts_to_eu, &deadband_counts);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -191,7 +202,7 @@ asynStatus turboPmacAxis::init() {
     // here to mm/s^2.
     motorAccel = motorAccel * 1000;
 
-    if (nvals != 6) {
+    if (nvals != 8) {
         return pC_->couldNotParseResponse(command, response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
@@ -215,6 +226,26 @@ asynStatus turboPmacAxis::init() {
         return status;
     }
 
+    /*
+    Check if the new target position is within the range current position +/-
+    deadband. If that is the case, no movement command should be sent. This
+    functionality is implemented within the motor record itself, we just need to
+    populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
+
+    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
+    160). This value then needs to be converted into counts (by dividing it by
+    16). After words, the deadband in counts then need to be converted into
+    engineering units. For this, the scaling factor Qxx10 needs to be applied
+    (see SINQ_2G_MCU_SW_manual_rev7, p. 17):
+    [Qxx10] = engineering units (eu) / counts
+    deadband_eu = Qxx10 * Ixx65 / 16
+
+    The values of Qxx10 and Ixx65 are read out during initialization and are
+    assumed to not change during operation.
+    */
+    setAxisParamChecked(this, motorPositionDeadband,
+                        counts_to_eu * deadband_counts / 16.0);
+
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
@@ -521,11 +552,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
 
     errorStatus = handleError(error, userMessage, sizeof(userMessage));
 
-    // Update the parameter library
-    if (error != 0) {
-        setAxisParamChecked(this, motorStatusProblem, true);
-    }
-
     if (*moving == false) {
         setAxisParamChecked(this, motorMoveToHome, false);
     }
@@ -553,11 +579,6 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                                       int sizeUserMessage) {
     asynStatus status = asynError;
 
-    // Create the unique callsite identifier manually so it can be used later in
-    // the shouldBePrinted calls.
-    msgPrintControlKey keyError = msgPrintControlKey(
-        pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__);
-
     switch (error) {
     case 0:
         status = asynSuccess;
@@ -566,8 +587,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 1:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nTarget "
                       "position would exceed user limits.%s\n",
@@ -579,8 +601,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     case 5:
         // Command not possible
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis is "
@@ -594,8 +617,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
                             "moving. Please call the support.");
         break;
     case 8:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nAir cushion "
                       "feedback stopped during movement (P%2.2d01 = %d).%s\n",
@@ -609,8 +633,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     case 9:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nNo air cushion "
@@ -633,8 +658,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         which is not properly homed or if a bug occured.
         */
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nAxis hit the "
@@ -653,8 +679,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 11:
         // Following error
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nMaximum allowed "
@@ -671,8 +698,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
 
     case 12:
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nSecurity "
                       "input is triggered (P%2.2d01 = %d).%s\n",
@@ -690,8 +718,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 13:
         // Driver hardware error triggered
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nDriver "
                       "hardware error triggered.%s\n",
@@ -707,8 +736,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
     case 14:
         // EPICS should already prevent this issue in the first place,
         // since it contains the user limits
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
                       "Controller \"%s\", axis %d  => %s, line %d\nMove "
                       "command exceeds hardware limits (P%2.2d01 = %d).%s\n",
@@ -723,8 +753,9 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         break;
     default:
 
-        if (pC_->getMsgPrintControl().shouldBePrinted(keyError, true,
-                                                      pC_->pasynUser())) {
+        if (pC_->getMsgPrintControl().shouldBePrinted(
+                pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, true,
+                pC_->pasynUser())) {
             asynPrint(
                 pC_->pasynUser(), ASYN_TRACE_ERROR,
                 "Controller \"%s\", axis %d  => %s, line %d\nUnknown error "
@@ -735,10 +766,6 @@ asynStatus turboPmacAxis::handleError(int error, char *userMessage,
         setAxisParamChecked(this, motorMessageText, userMessage);
         break;
     }
-
-    if (status == asynSuccess) {
-        pC_->getMsgPrintControl().resetCount(keyError, pC_->pasynUser());
-    }
     return status;
 }
 
@@ -751,7 +778,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
 
     char command[pC_->MAXBUF_] = {0};
     char response[pC_->MAXBUF_] = {0};
-    double motorCoordinatesPosition = 0.0;
+    double motorTargetPosition = 0.0;
     double motorRecResolution = 0.0;
     double motorVelocity = 0.0;
     int enabled = 0;
@@ -772,13 +799,14 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     }
 
     // Convert from EPICS to user / motor units
-    motorCoordinatesPosition = position * motorRecResolution;
+    motorTargetPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
     asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
               "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
               "position %lf.\n",
-              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__, position);
+              pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
+              motorTargetPosition);
 
     // Check if the speed is allowed to be changed
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);
@@ -803,11 +831,11 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     if (relative) {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d02=%lf M%2.2d=2", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     } else {
         snprintf(&command[writeOffset], sizeof(command) - writeOffset,
                  "P%2.2d23=0 Q%2.2d01=%lf M%2.2d=1", axisNo_, axisNo_,
-                 motorCoordinatesPosition, axisNo_);
+                 motorTargetPosition, axisNo_);
     }
 
     // We don't expect an answer
@@ -819,7 +847,7 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
             "Controller \"%s\", axis %d  => %s, line %d\nStarting movement to "
             "target position %lf failed.\n",
             pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-            motorCoordinatesPosition);
+            motorTargetPosition);
         setAxisParamChecked(this, motorStatusProblem, true);
         return status;
     }

src/turboPmacAxis.h

@@ -4,15 +4,19 @@
 #include "turboPmacController.h"
 #include <memory>
 
-struct turboPmacAxisImpl;
+struct HIDDEN turboPmacAxisImpl;
 
-class turboPmacAxis : public sinqAxis {
+class HIDDEN turboPmacAxis : public sinqAxis {
   public:
     /**
      * @brief Construct a new turboPmacAxis
      *
      * @param pController         Pointer to the associated controller
      * @param axisNo              Index of the axis
+     * @param initialize          By setting this parameter to false, the
+     * initialization functions of the axes are not executed. This is e.g.
+     * necessary when this constructor is called from a children class
+     * constructor which performs its own initialization.
      */
     turboPmacAxis(turboPmacController *pController, int axisNo,
                   bool initialize = true);
@@ -24,6 +28,18 @@ class turboPmacAxis : public sinqAxis {
      */
     virtual ~turboPmacAxis();
 
+    /**
+     * @brief Readout of some values from the controller at IOC startup
+     *
+     * The following steps are performed:
+     * - Read out the motor status, motor position, velocity and acceleration
+     * from the MCU and store this information in the parameter library.
+     * - Set the enable PV according to the initial status of the axis.
+     *
+     * @return asynStatus
+     */
+    virtual asynStatus init();
+
     /**
      * @brief Implementation of the `stop` function from asynMotorAxis
      *
@@ -70,18 +86,6 @@ class turboPmacAxis : public sinqAxis {
                               double min_velocity, double max_velocity,
                               double acceleration);
 
-    /**
-     * @brief Readout of some values from the controller at IOC startup
-     *
-     * The following steps are performed:
-     * - Read out the motor status, motor position, velocity and acceleration
-     * from the MCU and store this information in the parameter library.
-     * - Set the enable PV according to the initial status of the axis.
-     *
-     * @return asynStatus
-     */
-    virtual asynStatus init();
-
     /**
      * @brief Implementation of the `doReset` function from sinqAxis.
      *

src/turboPmacController.cpp

@@ -41,13 +41,13 @@ struct turboPmacControllerImpl {
     // User for writing int32 values to the port driver.
     asynUser *pasynInt32SyncIOipPort;
 
-    // Indices of additional PVs
+    // Indices of additional ParamLib entries
     int rereadEncoderPosition;
     int readConfig;
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 3
+#define NUM_turboPmac_DRIVER_PARAMS 5
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,
@@ -254,9 +254,21 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
         pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
         pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
 
-    // if (strchr(command, '=')) {
-    //     usleep(20000);
-    // }
+    /*
+    If sth. is written to the controller, it needs some time to process the
+    command. However, the controller returns the acknowledgment via
+    pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
+    ready to receive the next command. In practice, this can result in commands
+    getting discarded on the driver side or in bringing the driver in undefined
+    states (e.g. stuck in status 1).
+
+    To prevent this, we wait for 20 ms after a write command to give the
+    controller enough time to process everything. A write command can be
+    identified by looking for the equal sign.
+    */
+    if (strchr(command, '=')) {
+        usleep(20000);
+    }
 
     msgPrintControlKey comKey =
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);

src/turboPmacController.h

@@ -15,11 +15,11 @@
 // Forward declaration of the controller class to resolve the cyclic dependency
 // between the controller and the axis .h-file. See
 // https://en.cppreference.com/w/cpp/language/class.
-class turboPmacAxis;
+class HIDDEN turboPmacAxis;
 
-struct turboPmacControllerImpl;
+struct HIDDEN turboPmacControllerImpl;
 
-class turboPmacController : public sinqController {
+class HIDDEN turboPmacController : public sinqController {
   public:
     /**
      * @brief Construct a new turboPmacController object. This function is meant
@@ -93,7 +93,8 @@ class turboPmacController : public sinqController {
      * @return asynStatus
      */
     asynStatus writeRead(int axisNo, const char *command, char *response,
-                         int numExpectedResponses);
+                         int numExpectedResponses)
+        __attribute__((visibility("hidden")));
 
     /**
      * @brief Specialized version of sinqController::couldNotParseResponse