Added version check prototype

src/masterMacsController.cpp

@@ -12,6 +12,18 @@
 #include <string>
 #include <unistd.h>
 
+/*
+These two constants store the major and the minor firmware version this driver
+needs. The following constraints need to be fulfilled:
+Actual major version == FIRMWARE_MAJOR_VERSION
+Actual minor version >= FIRMWARE_MINOR_VERSION
+If one of these constraints is not fulfilled, the driver will shut down the IOC.
+If the firmware version cannot be read (e.g. because the variable used to do so
+does not exist yet), the conditions outlined above are seen as fulfilled.
+ */
+const int FIRMWARE_MAJOR_VERSION = 2;
+const int FIRMWARE_MINOR_VERSION = 2;
+
 struct masterMacsControllerImpl {
     double comTimeout;
 
@@ -65,6 +77,7 @@ masterMacsController::masterMacsController(const char *portName,
 
     // Initialization of local variables
     asynStatus status = asynSuccess;
+    char response[MAXBUF_] = {0};
 
     pMasterMacsC_ =
         std::make_unique<masterMacsControllerImpl>((masterMacsControllerImpl){
@@ -116,6 +129,55 @@ masterMacsController::masterMacsController(const char *portName,
         pasynOctetSyncIO->disconnect(pasynOctetSyncIOipPort());
         exit(-1);
     }
+
+    // =========================================================================
+
+    // Check the firmware version according to the conditions outlined in the
+    // comment for FIRMWARE_MAJOR_VERSION and FIRMWARE_MINOR_VERSION
+    status = read(0, 99, response);
+
+    if (status == asynSuccess) {
+
+        // Just interpret the version if the variable already exists
+        double versionRaw = 0.0;
+        int nvals = sscanf(response, "%lf", &versionRaw);
+        if (nvals == 1 && versionRaw != 0.0) {
+            // Discard decimal part
+            long long versionInt = (long long)versionRaw;
+
+            // Extract bugfix (last 3 digits)
+            // Currently not used, just here for completions sake
+            // int bugfix = versionInt % 1000;
+            versionInt /= 1000;
+
+            // Extract minor (next 3 digits)
+            int minor = versionInt % 1000;
+            versionInt /= 1000;
+
+            // Remaining is major
+            int major = (int)versionInt;
+
+            // Compare to target values
+            if (FIRMWARE_MAJOR_VERSION != major ||
+                FIRMWARE_MINOR_VERSION > minor) {
+                asynPrint(
+                    this->pasynUser(), ASYN_TRACE_ERROR,
+                    "Controller \"%s\" => %s, line %d\nFATAL ERROR (Incorrect "
+                    "version number of firmware: Expected major version equal "
+                    "to %d, got %d. Expected minor version equal to or larger "
+                    "than %d, got %d).\nTerminating IOC",
+                    portName, __PRETTY_FUNCTION__, __LINE__,
+                    FIRMWARE_MAJOR_VERSION, major, FIRMWARE_MINOR_VERSION,
+                    minor);
+                exit(-1);
+            }
+        }
+    } else {
+        asynPrint(this->pasynUser(), ASYN_TRACE_ERROR,
+                  "Controller \"%s\" => %s, line %d\nCould not read firmware "
+                  "version\n",
+                  portName, __PRETTY_FUNCTION__, __LINE__);
+    }
 }
 
 /*
@@ -199,12 +261,6 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
         comTimeout = pMasterMacsC_->comTimeout;
     }
 
-    masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
-        // We already did the error logging directly in getAxis
-        return asynError;
-    }
-
     // Build the full command depending on the inputs to this function
     if (isRead) {
         snprintf(fullCommand, MAXBUF_ - 1, "%dR%02d\x0D", axisNo, tcpCmd);
@@ -286,17 +342,23 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
     }
 
     // Log the overall status (communication successfull or not)
+    if (axisNo != 0) {
+        masterMacsAxis *axis = getMasterMacsAxis(axisNo);
+        if (axis == nullptr) {
+            // We already did the error logging directly in getAxis
+            return asynError;
+        }
+
         if (status == asynSuccess) {
             setAxisParamChecked(axis, motorStatusCommsError, false);
         } else {
-
             /*
             Since the communication failed, there is the possibility that the
             controller is not connected at all to the network. In that case, we
-        cannot be sure that the information read out in the init method of the
+            cannot be sure that the information read out in the init method of
-        axis is still up-to-date the next time we get a connection. Therefore,
+            the axis is still up-to-date the next time we get a connection.
-        an info flag is set which the axis object can use at the start of its
+            Therefore, an info flag is set which the axis object can use at the
-        poll method to try to initialize itself.
+            start of its poll method to try to initialize itself.
             */
             axis->setNeedInit(true);
 
@@ -314,6 +376,7 @@ asynStatus masterMacsController::writeRead(int axisNo, int tcpCmd,
                 setAxisParamChecked(axis, motorStatusCommsError, false);
             }
         }
+    }
 
     return status;
 }
@@ -334,7 +397,7 @@ asynStatus masterMacsController::parseResponse(
     bool responseValid = false;
     int responseStart = 0;
     asynStatus status = asynSuccess;
-    int prevConnected = 0;
+    int prevConnected = 1;
     char printableCommand[MAXBUF_] = {0};
     char printableResponse[MAXBUF_] = {0};
 
@@ -342,12 +405,14 @@ asynStatus masterMacsController::parseResponse(
         msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
     masterMacsAxis *axis = getMasterMacsAxis(axisNo);
-    if (axis == nullptr) {
+    if (axisNo != 0 && axis == nullptr) {
         return asynError;
     }
 
     // Was the motor previously connected?
+    if (axis != nullptr) {
         getAxisParamChecked(axis, motorConnected, &prevConnected);
+    }
 
     // We don't use strlen here since the C string terminator 0x00
     // occurs in the middle of the char array.
@@ -371,16 +436,19 @@ asynStatus masterMacsController::parseResponse(
                           "connected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
+                if (axis != nullptr) {
                     setAxisParamChecked(axis, motorConnected, true);
                     status = callParamCallbacks();
                     if (status != asynSuccess) {
                         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                                   "Controller \"%s\", axis %d => %s, line "
                                   "%d:\nCould not update parameter library\n",
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
                         return status;
                     }
                 }
+            }
 
             break;
         } else if (fullResponse[i] == '\x15') {
@@ -399,16 +467,19 @@ asynStatus masterMacsController::parseResponse(
                           "disconnected.\n",
                           portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
 
+                if (axis != nullptr) {
                     setAxisParamChecked(axis, motorConnected, false);
                     status = callParamCallbacks();
                     if (status != asynSuccess) {
                         asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
                                   "Controller \"%s\", axis %d => %s, line "
                                   "%d:\nCould not update parameter library\n",
-                              portName, axisNo, __PRETTY_FUNCTION__, __LINE__);
+                                  portName, axisNo, __PRETTY_FUNCTION__,
+                                  __LINE__);
                         return status;
                     }
                 }
+            }
             break;
         } else if (fullResponse[i] == '\x18') {
             // CAN