There are now zero warnings for weak checking with splint.
Reduced number of splint standard check warnings to 4 r1016 | ffr | 2006-06-01 17:07:33 +1000 (Thu, 01 Jun 2006) | 3 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
52b57c96cd
commit
38b6e44306
@@ -36,9 +36,10 @@
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/*@-incondefs@*/
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/* XXX Should this also free pData */
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int readRS232(prs232 self, /*@out@*/void *data, /*@out@*/int *dataLen);
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int readRS232TillTerm(prs232 self, /*@out@*/void *data, int *datalen);
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void KillRS232(/*@only@*/ void *pData);
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/*@only@*/ char *Tcl_GetVar2(Tcl_Interp *interp, char *name1, char *name2, int flags);
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/*@observer@*/ Tcl_Interp *InterpGetTcl(SicsInterp *pSics);
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/*@observer@*/ char *Tcl_GetVar2(Tcl_Interp *interp, char *name1, char *name2, int flags);
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/*@observer@*//*@dependent@*/ Tcl_Interp *InterpGetTcl(SicsInterp *pSics);
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/*@+incondefs@*/
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/*-----------------------------------------------------------------------
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The motor driver structure. Please note that the first set of fields has
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@@ -48,32 +49,30 @@ typedef struct __MoDriv {
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/* general motor driver interface
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fields. _REQUIRED!
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*/
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/*@-incondefs@*/
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float fUpper; /* upper limit */
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float fLower; /* lower limit */
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char *name;
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int (*GetPosition)(void *self,float *fPos);
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int (*RunTo)(void *self, float fNewVal);
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int (*GetStatus)(void *self);
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void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(void *self,int iError, float fNew);
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int (*Halt)(void *self);
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int (*GetDriverPar)(void *self, char *name,
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/*@owned@*/char *name;
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int (*GetPosition)(/*@dependent@*/void *self, float *fPos);
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int (*RunTo)(/*@dependent@*/void *self, float fNewVal);
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int (*GetStatus)(/*@dependent@*/void *self);
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void (*GetError)(/*@dependent@*/void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(/*@dependent@*/void *self,int iError, float fNew);
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int (*Halt)(/*@dependent@*/void *self);
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int (*GetDriverPar)(/*@dependent@*/void *self, char *name,
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float *value);
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int (*SetDriverPar)(void *self,SConnection *pCon,
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int (*SetDriverPar)(/*@dependent@*/void *self,SConnection *pCon,
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char *name, float newValue);
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void (*ListDriverPar)(void *self, char *motorName,
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void (*ListDriverPar)(/*@dependent@*/void *self, char *motorName,
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SConnection *pCon);
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void (*KillPrivate)(void *self);
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void (*KillPrivate)(/*@dependent@*/void *self);
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/*@+incondefs@*/
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/* DMC-2280 specific fields */
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SConnection *pCon;
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/*@observer@*//*@dependent@*/SConnection *pCon;
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prs232 controller;
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int iMotor;
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int errorCode;
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int oredMsr;
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int lastValue;
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int iConfig;
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char units[256]; /**< physical units for axis */
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float speed; /**< physical units per second */
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float maxSpeed; /**< physical units per second */
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@@ -134,14 +133,14 @@ typedef struct __MoDriv {
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#define DECEL "decel"
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#define MAXDECEL "maxDecel"
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static int DMC2280Receive(pDMC2280Driv self, /*@out@*/ char *reply);
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static int DMC2280Receive(/*@dependent@*/pDMC2280Driv self, /*@out@*/ char *reply);
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/** \brief Convert motor speed from physical units to steps/sec
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* \param self (r) provides access to the motor's data structure
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* \param speed in physical units, eg mm/sec degrees/sec
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* \return the speed in motor steps/sec
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*/
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static int motSpeed(pDMC2280Driv self, float speed) {
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static int motSpeed(/*@dependent@*/pDMC2280Driv self, float speed) {
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int motSpeed;
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motSpeed = abs((int)(speed * self->stepsPerX + 0.5));
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return motSpeed;
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@@ -152,7 +151,7 @@ static int motSpeed(pDMC2280Driv self, float speed) {
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* \param acceleration in physical units, eg mm/sec^2 degrees/sec^2
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* \return the acceleration in motor steps/sec^2
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*/
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static int motAccel(pDMC2280Driv self, float accel) {
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static int motAccel(/*@dependent@*/pDMC2280Driv self, float accel) {
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int motAccel;
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motAccel = abs((int)(accel * self->stepsPerX + 0.5));
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return motAccel;
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@@ -163,7 +162,7 @@ static int motAccel(pDMC2280Driv self, float accel) {
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* \param deceleration in physical units, eg mm/sec^2 degrees/sec^2
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* \return the deceleration in motor steps/sec^2
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*/
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static int motDecel(pDMC2280Driv self, float decel) {
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static int motDecel(/*@dependent@*/pDMC2280Driv self, float decel) {
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int motDecel;
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motDecel = abs((int)(decel * self->stepsPerX + 0.5));
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return motDecel;
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@@ -179,8 +178,9 @@ static int motDecel(pDMC2280Driv self, float decel) {
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* - FAILURE
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* \see SUCCESS FAILURE
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*/
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static int DMC2280ReadChar(pDMC2280Driv self, /*@out@*/char *reply) {
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static int DMC2280ReadChar(/*@dependent@*/pDMC2280Driv self, /*@out@*/char *reply) {
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int i, status, retries=20, dataLen=1;
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reply[0] = '\0';
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for (i=0; i<retries; i++) {
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status=readRS232(self->controller, reply, &dataLen);
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switch (status) {
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@@ -213,13 +213,15 @@ static int DMC2280ReadChar(pDMC2280Driv self, /*@out@*/char *reply) {
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/* First character returned by controller is
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'?' for an invalid command or
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':' or space for a valid command */
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static int DMC2280Send(pDMC2280Driv self, /*@unique@*/char *command) {
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static int DMC2280Send(/*@dependent@*/pDMC2280Driv self, /*@observer@*//*@dependent@*/char *command) {
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char cmdValid, pError[ERRLEN], reply[256];
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char *GetEMsg = "TC 1";
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int status;
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strncpy(self->lastCmd, command, CMDLEN);
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/*@+matchanyintegral@ let size_t from strlen match int */
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status = writeRS232(self->controller, command, strlen(command));
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/*@-matchanyintegral@*/
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if (status != 1) {
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self->errorCode = status;
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return FAILURE;
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@@ -234,7 +236,9 @@ static int DMC2280Send(pDMC2280Driv self, /*@unique@*/char *command) {
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case ' ':
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return SUCCESS;
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case '?':
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/*@+matchanyintegral@ let size_t from strlen match int */
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status = writeRS232(self->controller, GetEMsg, strlen(GetEMsg));
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/*@-matchanyintegral@*/
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if (status != 1) {
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self->errorCode = status;
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return FAILURE;
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@@ -264,8 +268,9 @@ static int DMC2280Send(pDMC2280Driv self, /*@unique@*/char *command) {
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* - FAILURE
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* \see SUCCESS FAILURE
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*/
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static int DMC2280Receive(pDMC2280Driv self, /*@out@*/char *reply) {
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static int DMC2280Receive(/*@dependent@*/pDMC2280Driv self, /*@out@*/char *reply) {
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int i, status, retries=20, dataLen=255;
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reply[0] = '\0';
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for (i=0; i<retries; i++) {
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status=readRS232TillTerm(self->controller, reply, &dataLen);
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switch (status) {
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@@ -292,7 +297,7 @@ static int DMC2280Receive(pDMC2280Driv self, /*@out@*/char *reply) {
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* - OKOK request succeeded
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* - HWFault request failed
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* */
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static int DMC2280GetPos(void *pData, float *fPos){
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static int DMC2280GetPos(/*@dependent@*/void *pData, float *fPos){
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pDMC2280Driv self = NULL;
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char reply[1024];
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char cmd[CMDLEN];
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@@ -330,7 +335,7 @@ static int DMC2280GetPos(void *pData, float *fPos){
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* - OKOK request succeeded
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* - HWFault request failed
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* */
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static int DMC2280Run(void *pData,float fValue){
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static int DMC2280Run(/*@dependent@*/void *pData,float fValue){
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pDMC2280Driv self = NULL;
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char axis;
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char cmd[CMDLEN], SH[CMDLEN], BG[CMDLEN], absPosCmd[CMDLEN];
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@@ -381,7 +386,7 @@ static int DMC2280Run(void *pData,float fValue){
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* - HWWarn There is a warning from the controller.
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* - HWIdle The motor has finished driving and is idle.
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*/
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static int DMC2280Status(void *pData){
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static int DMC2280Status(/*@dependent@*/void *pData){
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pDMC2280Driv self = NULL;
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char cmd[CMDLEN];
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int switches;
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@@ -462,7 +467,7 @@ static int DMC2280Status(void *pData){
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* \param *error error message
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* \param errLen maximum error message length allowed by abstract motor
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*/
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static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
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static void DMC2280Error(/*@dependent@*/void *pData, int *iCode, char *error, int errLen){
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pDMC2280Driv self = NULL;
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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@@ -530,7 +535,7 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
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* - MOTREDO try to redo the last move.
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* - MOTFAIL move failed, give up.
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*/
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static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
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static int DMC2280Fix(/*@dependent@*/void *pData, int iCode,/*@unused@*/ float fValue){
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pDMC2280Driv self = NULL;
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self = (pDMC2280Driv)pData;
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@@ -560,7 +565,7 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
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*
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* XXX Does abstract motor use the return values?
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*/
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static int DMC2280Halt(void *pData){
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static int DMC2280Halt(/*@dependent@*/void *pData){
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pDMC2280Driv self = NULL;
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char cmd[CMDLEN];
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@@ -593,7 +598,7 @@ static int DMC2280Halt(void *pData){
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* - 1 request succeeded
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* - 0 request failed
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* */
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static int DMC2280GetPar(void *pData, char *name,
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static int DMC2280GetPar(/*@dependent@*/void *pData, char *name,
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float *fValue){
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pDMC2280Driv self = NULL;
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@@ -651,7 +656,7 @@ static int DMC2280GetPar(void *pData, char *name,
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* - 1 request succeeded
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* - 0 request failed
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* */
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static int DMC2280SetPar(void *pData, SConnection *pCon,
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static int DMC2280SetPar(/*@dependent@*/void *pData, SConnection *pCon,
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char *name, float newValue){
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pDMC2280Driv self = NULL;
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char pError[ERRLEN];
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@@ -749,7 +754,7 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
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* \param *name (r) name of motor.
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* \param *pCon (r) connection object.
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*/
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static void DMC2280List(void *self, char *name, SConnection *pCon){
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static void DMC2280List(/*@dependent@*/void *self, char *name, SConnection *pCon){
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char buffer[BUFFLEN];
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snprintf(buffer, BUFFLEN, "%s.axis = %c\n", name, ((pDMC2280Driv)self)->axisLabel);
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@@ -775,7 +780,7 @@ static void DMC2280List(void *self, char *name, SConnection *pCon){
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/** \brief Free memory if motor is removed
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* \param *pData (rw) provides access to the motor's data structure
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*/
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static void KillDMC2280(void *pData){
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static void KillDMC2280(/*@only@*/void *pData){
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pDMC2280Driv self = NULL;
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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@@ -790,7 +795,7 @@ static void KillDMC2280(void *pData){
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* \param port DMC2280 port number
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* \return controller structure
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*/
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/*@null@ @only@*/ static prs232 DMC2280Connect(SConnection *pCon, char *host, int port) {
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/*@null@*/ /*@only@*/ static prs232 DMC2280Connect(/*@dependent@*/SConnection *pCon, char *host, int port) {
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prs232 controller=NULL;
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char pError[ERRLEN];
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int usecTimeout = 50000; /* 50msec timeout */
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@@ -828,7 +833,7 @@ static void KillDMC2280(void *pData){
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* - _OPTIONAL
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* \return a string with the parameter value
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*/
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/*@observer@*/static char *getParam(SConnection *pCon, Tcl_Interp *pTcl, char *params, char *parName, int mustHave ) {
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/*@observer@*/static char *getParam(/*@dependent@*/SConnection *pCon, Tcl_Interp *pTcl, char *params, char *parName, int mustHave ) {
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char *pPtr=NULL;
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char pError[ERRLEN];
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pPtr = Tcl_GetVar2(pTcl,params,parName,TCL_GLOBAL_ONLY);
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@@ -837,7 +842,7 @@ static void KillDMC2280(void *pData){
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SCWrite(pCon,pError, eError);
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}
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return pPtr;
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}
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}
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/** \brief Create a driver for the DMC2280 Galil controller.
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*
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@@ -855,8 +860,8 @@ static void KillDMC2280(void *pData){
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* \param *params (r) configuration parameter array.
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* \return a reference to Motordriver structure
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*/
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/*@null@*/ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params){
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/*@keep@*/ pDMC2280Driv pNew = NULL;
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/*@only@*//*@null@*/ MotorDriver *CreateDMC2280(/*@observer@*/SConnection *pCon, /*@observer@*/char *motor, /*@observer@*/char *params){
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pDMC2280Driv pNew = NULL;
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char *pPtr = NULL;
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char buffer[132];
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char pError[ERRLEN];
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@@ -877,30 +882,39 @@ static void KillDMC2280(void *pData){
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eError);
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return NULL;
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}
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pNew->controller = NULL;
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pNew->name = NULL;
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pNew->errorCode = 0;
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pNew->lastCmd = NULL;
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pNew->absEncHome = 0;
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pNew->cntsPerX = 0;
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/* Get hostname and port from the list of named parameters */
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if ((pPtr=getParam(pCon, interp, params,"port",1)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,"port",1)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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sscanf(pPtr,"%d",&port);
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if ((pPtr=getParam(pCon, interp, params,"host",1)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,"host",1)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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strncpy(buffer,pPtr, 131);
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/* Connect to the controller */
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memset(pNew,0,sizeof(DMC2280Driv));
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pNew->controller = DMC2280Connect(pCon, buffer,port);
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if( pNew->controller == NULL ) {
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snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor);
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SCWrite(pCon,pError,eError);
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goto FailedCreateDMC2280;
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SCWrite(pCon,pError,eError);
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KillDMC2280(pNew);
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return NULL;
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}
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/*FIXME Tell splint that there's no memory leak because pointers are being initialised here */
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/*@-mustfreeonly@*/
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pNew->name = (char *)malloc(sizeof(char)*(strlen(motor)+1));
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if (pNew->name == NULL) {
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(void) SCWrite(pCon,"ERROR: no memory to allocate motor driver",
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eError);
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free(pNew);
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KillDMC2280(pNew);
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return NULL;
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}
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strcpy(pNew->name, motor);
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@@ -918,26 +932,38 @@ static void KillDMC2280(void *pData){
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pNew->SetDriverPar = DMC2280SetPar;
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pNew->ListDriverPar = DMC2280List;
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pNew->KillPrivate = KillDMC2280;
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if ((pPtr=getParam(pCon, interp, params,UNITS,_REQUIRED)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,UNITS,_REQUIRED)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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sscanf(pPtr,"%s",pNew->units);
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if ((pPtr=getParam(pCon, interp, params,MAXSPEED,_REQUIRED)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,MAXSPEED,_REQUIRED)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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sscanf(pPtr,"%f",&(pNew->speed));
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pNew->maxSpeed = pNew->speed;
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if ((pPtr=getParam(pCon, interp, params,MAXACCEL,_REQUIRED)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,MAXACCEL,_REQUIRED)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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sscanf(pPtr,"%f",&(pNew->accel));
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pNew->maxAccel = pNew->accel;
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if ((pPtr=getParam(pCon, interp, params,MAXDECEL,_REQUIRED)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,MAXDECEL,_REQUIRED)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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sscanf(pPtr,"%f",&(pNew->decel));
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pNew->maxDecel = pNew->decel;
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if ((pPtr=getParam(pCon, interp, params,"axis",_REQUIRED)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,"axis",_REQUIRED)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
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}
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sscanf(pPtr,"%c",&(pNew->axisLabel));
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if ((pPtr=getParam(pCon, interp, params,"stepsPerX",_REQUIRED)) == NULL)
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goto FailedCreateDMC2280;
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if ((pPtr=getParam(pCon, interp, params,"stepsPerX",_REQUIRED)) == NULL) {
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KillDMC2280(pNew);
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return NULL;
|
||||
}
|
||||
sscanf(pPtr,"%d",&(pNew->stepsPerX));
|
||||
if ((pPtr=getParam(pCon, interp, params,"motorHome",_OPTIONAL)) == NULL)
|
||||
pNew->motorHome=0;
|
||||
@@ -956,7 +982,6 @@ static void KillDMC2280(void *pData){
|
||||
else
|
||||
sscanf(pPtr,"%d",&(pNew->cntsPerX));
|
||||
}
|
||||
/*@+mustfreeonly@*/
|
||||
|
||||
/* Set speed */
|
||||
snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
|
||||
@@ -972,10 +997,6 @@ static void KillDMC2280(void *pData){
|
||||
exit(EXIT_FAILURE);
|
||||
/* TODO Initialise current position and target to get a sensible initial list output */
|
||||
return (MotorDriver *)pNew;
|
||||
FailedCreateDMC2280:
|
||||
if (NULL != pNew)
|
||||
free(pNew);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user