lin-epics-modules/motorBase
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Protect against null axis pointer; error checking in axis constructor

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MarkRivers
2011-03-30 22:50:22 +00:00
parent 3b96dd5a0b
commit 09cd9210d0
1 changed files with 27 additions and 14 deletions
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motorApp/MotorSrc/asynMotorDriver.cpp
+27 -14
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@@ -19,17 +19,27 @@
static const char *driverName = "asynMotorDriver";
static void asynMotorPollerC(void *drvPvt);
asynMotorAxis::asynMotorAxis(class asynMotorController *pController, int axisNo)
: pC_(pController), axisNo_(axisNo), statusChanged_(1)
asynMotorAxis::asynMotorAxis(class asynMotorController *pC, int axisNo)
: pC_(pC), axisNo_(axisNo), statusChanged_(1)
{
if (!pController) return;
if ((axisNo < 0) || (axisNo >= pController->numAxes_)) return;
pController->pAxes_[axisNo] = this;
static const char *functionName = "asynMotorAxis::asynMotorAxis";
if (!pC) {
printf("%s:%s: Error, controller is NULL\n",
driverName, functionName);
return;
}
if ((axisNo < 0) || (axisNo >= pC->numAxes_)) {
printf("%s:%s: Error, axis=%d is not in range 0 to %d\n",
driverName, functionName, axisNo, pC->numAxes_-1);
return;
}
pC->pAxes_[axisNo] = this;
status_.status = 0;
// Create the asynUser, connect to this axis
pasynUser_ = pasynManager->createAsynUser(NULL, NULL);
pasynManager->connectDevice(pasynUser_, pController->portName, axisNo);
pasynManager->connectDevice(pasynUser_, pC->portName, axisNo);
}
asynMotorController::asynMotorController(const char *portName, int numAxes, int numParams,
@@ -43,7 +53,7 @@ asynMotorController::asynMotorController(const char *portName, int numAxes, int
numAxes_(numAxes)
{
static const char *functionName = "asynMotorDriver";
static const char *functionName = "asynMotorController::asynMotorController";
/* Create the base set of motor parameters */
createParam(motorMoveRelString, asynParamFloat64, &motorMoveRel_);
@@ -98,10 +108,11 @@ asynStatus asynMotorController::writeInt32(asynUser *pasynUser, epicsInt32 value
asynStatus status=asynSuccess;
asynMotorAxis *pAxis;
double accel;
static const char *functionName = "writeInt32";
static const char *functionName = "asynMotorController::writeInt32";
status = getAddress(pasynUser, &axis);
pAxis = pAxes_[axis];
pAxis = getAxis(pasynUser);
if (!pAxis) return asynError;
axis = pAxis->axisNo_;
/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
* status at the end, but that's OK */
@@ -137,9 +148,10 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
int axis;
int forwards;
asynStatus status = asynError;
static const char *functionName = "writeFloat64";
static const char *functionName = "asynMotorController::writeFloat64";
pAxis = getAxis(pasynUser);
if (!pAxis) return asynError;
axis = pAxis->axisNo_;
/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
@@ -213,7 +225,7 @@ asynStatus asynMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 v
asynStatus asynMotorController::readGenericPointer(asynUser *pasynUser, void *pointer)
{
static const char *functionName = "readGenericPointer";
static const char *functionName = "asynMotorController::readGenericPointer";
MotorStatus *pStatus = (MotorStatus *)pointer;
int axis;
@@ -230,7 +242,7 @@ asynStatus asynMotorController::readGenericPointer(asynUser *pasynUser, void *po
asynStatus asynMotorController::profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger)
{
static const char *functionName = "profileMove";
static const char *functionName = "asynMotorController::profileMove";
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: not implemented in this driver\n",
@@ -240,7 +252,7 @@ asynStatus asynMotorController::profileMove(asynUser *pasynUser, int npoints, do
asynStatus asynMotorController::triggerProfile(asynUser *pasynUser)
{
static const char *functionName = "triggerProfile";
static const char *functionName = "asynMotorController::triggerProfile";
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: not implemented in this driver\n",
@@ -320,6 +332,7 @@ void asynMotorController::asynMotorPoller()
this->poll();
for (i=0; i<numAxes_; i++) {
pAxis=getAxis(i);
if (!pAxis) continue;
pAxis->poll(&moving);
if (moving) anyMoving=1;
}