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Removed connection object reference from data structure, can't use it.

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r1035 | ffr | 2006-08-01 13:09:41 +1000 (Tue, 01 Aug 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
2006-08-01 13:09:41 +10:00
committed by Douglas Clowes
parent 7d8657e41e
commit 69b09fe0fd
1 changed files with 6 additions and 6 deletions
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12
site_ansto/motor_dmc2280.c
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@ -79,7 +79,6 @@ typedef struct __MoDriv {
/* DMC-2280 specific fields */ /* DMC-2280 specific fields */
/*@observer@*//*@dependent@*/SConnection *pCon;
prs232 controller; prs232 controller;
int errorCode; int errorCode;
char units[256]; /**< physical units for axis */ char units[256]; /**< physical units for axis */
@ -91,6 +90,7 @@ typedef struct __MoDriv {
float maxDecel; /**< physical units per second^2 */ float maxDecel; /**< physical units per second^2 */
char axisLabel; char axisLabel;
char lastCmd[1024]; char lastCmd[1024];
char dmc2280Error[1024];
float home; /**< home position for axis, default=0 */ float home; /**< home position for axis, default=0 */
int motorHome; /**< motor home position in steps */ int motorHome; /**< motor home position in steps */
int noPowerSave; /**< Flag = 1 to leave motors on after a move */ int noPowerSave; /**< Flag = 1 to leave motors on after a move */
@ -227,7 +227,7 @@ static int DMC2280ReadChar(pDMC2280Driv self, /*@out@*/char *reply) {
'?' for an invalid command or '?' for an invalid command or
':' or space for a valid command */ ':' or space for a valid command */
static int DMC2280Send(pDMC2280Driv self, char *command) { static int DMC2280Send(pDMC2280Driv self, char *command) {
char cmdValid, pError[ERRLEN], reply[256]; char cmdValid, reply[256];
char *GetEMsg = "TC 1"; char *GetEMsg = "TC 1";
int status; int status;
@ -263,8 +263,7 @@ static int DMC2280Send(pDMC2280Driv self, char *command) {
} }
if (FAILURE == DMC2280Receive(self, reply)) if (FAILURE == DMC2280Receive(self, reply))
return HWFault; return HWFault;
snprintf(pError, ERRLEN, "DMC2280ERROR: Bad command '%s'", command); strncpy(self->dmc2280Error, reply, CMDLEN);
SCWrite(self->pCon, reply, eError);
SICSLogWrite(reply, eError); SICSLogWrite(reply, eError);
self->errorCode = BADCMD; self->errorCode = BADCMD;
return FAILURE; return FAILURE;
@ -581,7 +580,8 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
strncpy(error,"Motor still busy",(size_t)errLen); strncpy(error,"Motor still busy",(size_t)errLen);
break; break;
case BADCMD: case BADCMD:
snprintf(error, (size_t)errLen, "Bad command: '%s'", self->lastCmd); snprintf(error, (size_t)errLen, "Bad command: '%s'\ndmcError: ", self->lastCmd);
strncat(error, self->dmc2280Error, (size_t)errLen);
break; break;
case BADPAR: case BADPAR:
strncpy(error,"Bad parameter",(size_t)errLen); strncpy(error,"Bad parameter",(size_t)errLen);
@ -976,6 +976,7 @@ static void KillDMC2280(/*@only@*/void *pData){
pNew->name = NULL; pNew->name = NULL;
pNew->errorCode = 0; pNew->errorCode = 0;
pNew->lastCmd[0] = '\0'; pNew->lastCmd[0] = '\0';
pNew->dmc2280Error[0] = '\0';
pNew->absEncHome = 0; pNew->absEncHome = 0;
pNew->cntsPerX = 0; pNew->cntsPerX = 0;
/* Get hostname and port from the list of named parameters */ /* Get hostname and port from the list of named parameters */
@ -1008,7 +1009,6 @@ static void KillDMC2280(/*@only@*/void *pData){
return NULL; return NULL;
} }
strcpy(pNew->name, motor); strcpy(pNew->name, motor);
pNew->pCon = pCon;
pNew->home = 0.0; pNew->home = 0.0;
pNew->fLower = 0.0;//(float)atof(argv[2]); pNew->fLower = 0.0;//(float)atof(argv[2]);
pNew->fUpper = 100.0;//(float)atof(argv[3]); pNew->fUpper = 100.0;//(float)atof(argv[3]);