The 2nd and 3rd parameter in send_mess() can and should
be a 'const char *' instead of just 'char *'.
Modern compilers complain here, so that the signature now
gets the const.
Update drivers from the following list to use the new send_mess():
modules/motorAcs
modules/motorAcsTech80
modules/motorAerotech
modules/motorFaulhaber
modules/motorIms
modules/motorKohzu
modules/motorMclennan
modules/motorMicos
modules/motorMicroMo
modules/motorNewFocus
modules/motorNewport
modules/motorOms
modules/motorOriel
modules/motorPI
modules/motorParker
modules/motorPiJena
modules/motorSmartMotor
modules/motorThorLabs
And while there, fix one more "const char *" in motordrvCom.cc
This is from Matthew Pearson, pearsonmr@ornl.gov
A number of users and staff have requested that the motor record have a
setpoint deadband field (eg. SPDB), which prevents any motion from
happening if the readback position is within SPDB.
Without a SPDB we have issues with motors moving unnecessarily.
For example, if the RBV is 0.001 and we set VAL to 0.0, if we have a
non-zero backlash correction then the motor will move unnecessarily
to take out backlash.
Even without backlash correction we often enable and disable the
drive amplifier for no good reason.
Currently the effective setpoint deadband is equal to MRES,
but this is often too small to be an effective setpoint deadband.
The new SPDB field would default to 0.0
The new code hooks into do_work():
When the new setpoint is within DPDB, set too_small and don't move.
The new code does not use snipptes like "abs(npos - rpos)", these
already produce warnings on 64 bit sytems.
abs() is declared to work on int, but we feed long values.
Simply compare the coordinates in engineering units.
Torsten Bögershausen