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Error check added for sendOnly() passing null pointer when comm. does not initialize at bootup.

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This commit is contained in:
Ron Sluiter
2009-11-19 23:00:09 +00:00
parent e6f2eaa771
commit 4e37ee8b9d
1 changed files with 47 additions and 30 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+47 -30
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@@ -2,9 +2,10 @@
FILENAME... drvMM4000Asyn.cc
USAGE... Motor record asyn driver level support for Newport MM4000.
Version: $Revision: 1.11 $
Modified By: $Author: rivers $
Last Modified: $Date: 2009-09-01 16:19:17 $
Version: $Revision$
Modified By: $Author$
Last Modified: $Date$
HeadURL: $URL$
*/
/*
@@ -44,10 +45,13 @@ Last Modified: $Date: 2009-09-01 16:19:17 $
* force a status update with a call to callCallback().
* - bug fix; limit commands reversed.
* - set motorAxisDirection.
* .05 11-19-09 rls - bug fix for sendOnly() passing null pointer
* (pController->pasynUser) if any communication error occurs
* at bootup.
*
*/
#include <stddef.h>
#include "epicsThread.h"
#include <stdlib.h>
@@ -68,13 +72,14 @@ Last Modified: $Date: 2009-09-01 16:19:17 $
#include "ellLib.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#include "errlog.h"
#include "drvSup.h"
#include "epicsExport.h"
#define DEFINE_MOTOR_PROTOTYPES 1
#include "motor_interface.h"
motorAxisDrvSET_t motorMM4000 =
motorAxisDrvSET_t motorMM4000 =
{
14,
motorAxisReport, /**< Standard EPICS driver report function (optional) */
@@ -161,7 +166,7 @@ static asynStatus sendAndReceive(MM4000Controller *pController, char *outputStri
#define MM4000_LOW_LIMIT 0x10 /* Minus Travel Limit. */
#define MM4000_HIGH_LIMIT 0x08 /* Plus Travel Limit. */
#define MM4000_DIRECTION 0x04 /* Motor direction: 0 - minus; 1 - plus. */
#define MM4000_POWER_ON 0x02 /* Motor power 0 - ON; 1 - OFF. */
#define MM4000_POWER_OFF 0x02 /* Motor power 0 - ON; 1 - OFF. */
#define MM4000_MOVING 0x01 /* In-motion indicator. */
@@ -203,7 +208,7 @@ static void motorAxisReport(int level)
for(j=0; j<pMM4000Controller[i].numAxes; j++) {
motorAxisReportAxis(&pMM4000Controller[i].pAxis[j], level);
}
}
}
}
@@ -233,7 +238,7 @@ static int motorAxisInit(void)
static int motorAxisSetLog( AXIS_HDL pAxis, motorAxisLogFunc logFunc, void * param )
{
if (pAxis == NULL)
if (pAxis == NULL)
{
if (logFunc == NULL)
{
@@ -409,7 +414,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
}
static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
double min_velocity, double max_velocity, double acceleration)
{
int status;
@@ -493,9 +498,9 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
* the record will prevent JOG motion beyond its soft limits
*/
if (velocity > 0.)
status = motorAxisMove(pAxis, pAxis->highLimit/pAxis->stepSize, 0, min_velocity, velocity, acceleration);
status = motorAxisMove(pAxis, pAxis->highLimit/pAxis->stepSize, 0, min_velocity, velocity, acceleration);
else
status = motorAxisMove(pAxis, pAxis->lowLimit/pAxis->stepSize, 0, min_velocity, -velocity, acceleration);
status = motorAxisMove(pAxis, pAxis->lowLimit/pAxis->stepSize, 0, min_velocity, -velocity, acceleration);
return status;
}
@@ -516,7 +521,7 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
char buff[100];
if (pAxis == NULL) return MOTOR_AXIS_ERROR;
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d to stop with accel=%f\n",
pAxis->card, pAxis->axis, acceleration);
@@ -535,7 +540,7 @@ static int motorAxisforceCallback(AXIS_HDL pAxis)
PRINT(pAxis->logParam, FLOW, "motorAxisforceCallback: request card %d, axis %d status update\n",
pAxis->card, pAxis->axis);
/* Force a status update. */
motorParam->forceCallback(pAxis->params);
@@ -596,7 +601,7 @@ static void MM4000Poller(MM4000Controller *pController)
comStatus = sendAndReceive(pController, "MS;", statusAllString, sizeof(statusAllString));
if (comStatus == 0)
comStatus = sendAndReceive(pController, "TP;", positionAllString, sizeof(positionAllString));
for (i=0; i<pController->numAxes; i++)
{
pAxis = &pController->pAxis[i];
@@ -633,6 +638,7 @@ static void MM4000Poller(MM4000Controller *pController)
motorParam->setInteger(params, motorAxisHighHardLimit, (axisStatus & MM4000_HIGH_LIMIT));
motorParam->setInteger(params, motorAxisLowHardLimit, (axisStatus & MM4000_LOW_LIMIT));
motorParam->setInteger(params, motorAxisDirection, (axisStatus & MM4000_DIRECTION));
motorParam->setInteger(params, motorAxisPowerOn, !(axisStatus & MM4000_POWER_OFF));
/*
* Parse motor position
@@ -648,7 +654,7 @@ static void MM4000Poller(MM4000Controller *pController)
pAxis->currentPosition = atof(p+3);
motorParam->setDouble(params, motorAxisPosition, (pAxis->currentPosition/pAxis->stepSize));
motorParam->setDouble(params, motorAxisEncoderPosn, (pAxis->currentPosition/pAxis->stepSize));
PRINT(pAxis->logParam, IODRIVER, "MM4000Poller: axis %d axisStatus=%x, position=%f\n",
PRINT(pAxis->logParam, IODRIVER, "MM4000Poller: axis %d axisStatus=%x, position=%f\n",
pAxis->axis, pAxis->axisStatus, pAxis->currentPosition);
/* We would like a way to query the actual velocity, but this is not possible. If we could we could
@@ -712,7 +718,7 @@ int MM4000AsynSetup(int num_controllers) /* number of MM4000 controllers in sy
return MOTOR_AXIS_ERROR;
}
numMM4000Controllers = num_controllers;
pMM4000Controller = (MM4000Controller *)calloc(numMM4000Controllers, sizeof(MM4000Controller));
pMM4000Controller = (MM4000Controller *)calloc(numMM4000Controllers, sizeof(MM4000Controller));
return MOTOR_AXIS_OK;
}
@@ -792,7 +798,7 @@ int MM4000AsynConfig(int card, /* Controller number */
printf("MM4000AsynConfig: invalid model = %s\n", pController->firmwareVersion);
return MOTOR_AXIS_ERROR;
}
sendAndReceive(pController, "TP;", inputBuff, sizeof(inputBuff));
/* The return string will tell us how many axes this controller has */
@@ -844,7 +850,7 @@ int MM4000AsynConfig(int card, /* Controller number */
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
pAxis->highLimit = atof(&inputBuff[3]);
}
pController->pollEventId = epicsEventMustCreate(epicsEventEmpty);
/* Create the poller thread for this controller */
@@ -863,27 +869,38 @@ static int sendOnly(MM4000Controller *pController, char *outputBuff)
size_t nActual;
asynStatus status;
status = pasynOctetSyncIO->write(pController->pasynUser, outputBuff,
nRequested, TIMEOUT, &nActual);
if (nActual != nRequested) status = asynError;
if (status != asynSuccess) {
asynPrint(pController->pasynUser, ASYN_TRACE_ERROR,
"drvMM4000Asyn:sendOnly: error sending command %d, sent=%d, status=%d\n",
outputBuff, nActual, status);
if (pController->pasynUser == NULL)
{
status = asynError;
errPrintf(-1, __FILE__, __LINE__, "*** Configuration error ***: pasynUser=NULL\n");
epicsThreadSleep(5.0);
}
else
{
status = pasynOctetSyncIO->write(pController->pasynUser, outputBuff,
nRequested, TIMEOUT, &nActual);
if (nActual != nRequested)
status = asynError;
if (status != asynSuccess)
{
asynPrint(pController->pasynUser, ASYN_TRACE_ERROR,
"drvMM4000Asyn:sendOnly: error sending command %d, sent=%d, status=%d\n",
outputBuff, nActual, status);
}
}
return(status);
}
static asynStatus sendAndReceive(MM4000Controller *pController, char *outputBuff, char *inputBuff, int inputSize)
static asynStatus sendAndReceive(MM4000Controller *pController, char *outputBuff, char *inputBuff, int inputSize)
{
int nWriteRequested=strlen(outputBuff);
size_t nWrite, nRead;
int eomReason;
asynStatus status;
status = pasynOctetSyncIO->writeRead(pController->pasynUser,
outputBuff, nWriteRequested,
status = pasynOctetSyncIO->writeRead(pController->pasynUser,
outputBuff, nWriteRequested,
inputBuff, inputSize,
TIMEOUT, &nWrite, &nRead, &eomReason);
if (nWrite != nWriteRequested) status = asynError;