From 3b96dd5a0bd179483d3e89af867a5c5beafa6f4f Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Wed, 30 Mar 2011 15:34:02 +0000
Subject: [PATCH] Add private pC_ variable; eliminate getController() method,
 just use pC_

---
 motorApp/MotorSimSrc/motorSimDriver.cpp | 30 ++++++++++---------------
 motorApp/MotorSimSrc/motorSimDriver.h   |  6 ++---
 2 files changed, 14 insertions(+), 22 deletions(-)

diff --git a/motorApp/MotorSimSrc/motorSimDriver.cpp b/motorApp/MotorSimSrc/motorSimDriver.cpp
index 0387562d..c38054a4 100644
--- a/motorApp/MotorSimSrc/motorSimDriver.cpp
+++ b/motorApp/MotorSimSrc/motorSimDriver.cpp
@@ -46,6 +46,7 @@ static int motorSimControllerListInitialized = 0;
 
 motorSimAxis::motorSimAxis(motorSimController *pController, int axis, double lowHardLimit, double hiHardLimit, double home, double start )
   : asynMotorAxis(pController, axis),
+    pC_(pController),
     lowHardLimit_(lowHardLimit), hiHardLimit_(hiHardLimit), home_(home)
 {
   route_pars_t pars;
@@ -270,7 +271,6 @@ void motorSimController::motorSimTask()
 asynStatus motorSimAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
 {
   route_pars_t pars;
-  motorSimController *pC = static_cast<motorSimController*>(pController_);
   static const char *functionName = "move";
 
   if (relative) position += endpoint_.axis[0].p + enc_offset_;
@@ -279,7 +279,7 @@ asynStatus motorSimAxis::move(double position, int relative, double minVelocity,
   if ((nextpoint_.axis[0].p >= hiHardLimit_  &&  position > nextpoint_.axis[0].p) ||
     (nextpoint_.axis[0].p <= lowHardLimit_ &&  position < nextpoint_.axis[0].p)  ) return asynError;
 
-  if (pC->movesDeferred_ == 0) { /*Normal move.*/
+  if (pC_->movesDeferred_ == 0) { /*Normal move.*/
     endpoint_.axis[0].p = position - enc_offset_;
     endpoint_.axis[0].v = 0.0;
   } else { /*Deferred moves.*/
@@ -292,12 +292,12 @@ asynStatus motorSimAxis::move(double position, int relative, double minVelocity,
   if (acceleration != 0) pars.axis[0].Amax = fabs(acceleration);
   routeSetParams( route_, &pars ); 
 
-  setIntegerParam(pC->motorStatusDone_, 0);
+  setIntegerParam(pC_->motorStatusDone_, 0);
   callParamCallbacks();
 
   asynPrint(pasynUser_, ASYN_TRACE_FLOW, 
             "%s:%s: Set driver %s, axis %d move to %f, min vel=%f, maxVel=%f, accel=%f\n",
-            driverName, functionName, pC->portName, axisNo_, position, minVelocity, maxVelocity, acceleration );
+            driverName, functionName, pC_->portName, axisNo_, position, minVelocity, maxVelocity, acceleration );
   return asynSuccess;
 }
 
@@ -369,11 +369,6 @@ asynStatus motorSimAxis::config(int hiHardLimit, int lowHardLimit, int home, int
   return asynSuccess;
 }
 
-motorSimController* motorSimAxis::getController()
-{
-  return static_cast<motorSimController*>(asynMotorAxis::getController());
-}
-
 asynStatus motorSimAxis::poll(int *moving)
 {
   return asynSuccess;
@@ -397,7 +392,6 @@ asynStatus motorSimAxis::poll(int *moving)
 
 void motorSimAxis::process(double delta )
 {
-  motorSimController *pC = getController();
   double lastpos;
   int done = 0;
 
@@ -446,14 +440,14 @@ void motorSimAxis::process(double delta )
     done = 0;
   }
 
-  setDoubleParam (pC->motorPosition_,         (nextpoint_.axis[0].p+enc_offset_));
-  setDoubleParam (pC->motorEncoderPosition_,  (nextpoint_.axis[0].p+enc_offset_));
-  setIntegerParam(pC->motorStatusDirection_,  (nextpoint_.axis[0].v >  0));
-  setIntegerParam(pC->motorStatusDone_,       done);
-  setIntegerParam(pC->motorStatusHighLimit_,  (nextpoint_.axis[0].p >= hiHardLimit_));
-  setIntegerParam(pC->motorStatusHome_,       (nextpoint_.axis[0].p == home_));
-  setIntegerParam(pC->motorStatusMoving_,     !done);
-  setIntegerParam(pC->motorStatusLowLimit_,   (nextpoint_.axis[0].p <= lowHardLimit_));
+  setDoubleParam (pC_->motorPosition_,         (nextpoint_.axis[0].p+enc_offset_));
+  setDoubleParam (pC_->motorEncoderPosition_,  (nextpoint_.axis[0].p+enc_offset_));
+  setIntegerParam(pC_->motorStatusDirection_,  (nextpoint_.axis[0].v >  0));
+  setIntegerParam(pC_->motorStatusDone_,       done);
+  setIntegerParam(pC_->motorStatusHighLimit_,  (nextpoint_.axis[0].p >= hiHardLimit_));
+  setIntegerParam(pC_->motorStatusHome_,       (nextpoint_.axis[0].p == home_));
+  setIntegerParam(pC_->motorStatusMoving_,     !done);
+  setIntegerParam(pC_->motorStatusLowLimit_,   (nextpoint_.axis[0].p <= lowHardLimit_));
   callParamCallbacks();
 }
 
diff --git a/motorApp/MotorSimSrc/motorSimDriver.h b/motorApp/MotorSimSrc/motorSimDriver.h
index f5c54348..07e86451 100644
--- a/motorApp/MotorSimSrc/motorSimDriver.h
+++ b/motorApp/MotorSimSrc/motorSimDriver.h
@@ -22,11 +22,8 @@ class motorSimAxis : public asynMotorAxis
 {
 public:
 
-  /* These are the functions we override from the base class */
-  class motorSimController* getController();
-
   /* These are the pure virtual functions that must be implemented */
-  motorSimAxis(motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
+  motorSimAxis(class motorSimController *pController, int axis, double lowLimit, double hiLimit, double home, double start);
   asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
   asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
   asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
@@ -40,6 +37,7 @@ public:
   void process(double delta );
 
 private:
+  motorSimController *pC_;
   ROUTE_ID route_;
   route_reroute_t reroute_;
   route_demand_t endpoint_;