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SICS-750 Restrict sensitive motor commands to debug+manager or initialization

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This commit is contained in:
Douglas Clowes
2014-06-19 14:27:57 +10:00
parent 1da5fc9062
commit 881fce1feb
1 changed files with 59 additions and 52 deletions
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111
site_ansto/motor_dmc2280.c
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@@ -34,12 +34,15 @@
#include <errno.h>
#include "anstoutil.h"
#include "action.h"
#include "sicsglobal.h"
#define UNITSLEN 256
#define TEXTPARLEN 1024
#define CMDLEN 1024
#define STATE_TRACE (200)
#define MAGIC_MAN (isDuringInitialization || (self->debug && SCMatchRights(pCon, usMugger)))
extern double DoubleTime(void);
/** \brief Used to ensure that the getDMCSetting function is called
@@ -4810,77 +4813,77 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
}
if (strcasecmp("hardlowerlim", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->fLower = newValue;
return 1;
}
if (strcasecmp("hardupperlim", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->fUpper = newValue;
return 1;
}
if (strcasecmp("stepsPerX", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->stepsPerX = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("cntsPerX", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->cntsPerX = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("bias_bias", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->bias_bias = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("bias_bits", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->bias_bits = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("rotary_count", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->rotary_count = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("rotary_bits", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->rotary_bits = newValue;
return 1;
}
if (strcasecmp("motorPollFast", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->motorPollFast = newValue;
return 1;
}
if (strcasecmp("motorPollSlow", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->motorPollSlow = newValue;
return 1;
}
if (strcasecmp("airPollTimer", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
self->airPollTimer = newValue;
return 1;
@@ -6081,27 +6084,29 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
SCWrite(pCon, line, eValue);
return 1;
}
if (self->positions) {
free(self->positions);
self->positions = NULL;
self->posit_count = 0;
}
if (self->posit_count > 0) {
self->posit_count = 0;
}
if (argc > 2 && strcasecmp("erase", argv[2]) == 0) {
char line[132];
snprintf(line, 132, "%s.posit_count = %d", self->name, self->posit_count);
SCWrite(pCon, line, eValue);
if ((MAGIC_MAN)) {
if (self->positions) {
free(self->positions);
self->positions = NULL;
self->posit_count = 0;
}
if (self->posit_count > 0) {
self->posit_count = 0;
}
if (argc > 2 && strcasecmp("erase", argv[2]) == 0) {
char line[132];
snprintf(line, 132, "%s.posit_count = %d", self->name, self->posit_count);
SCWrite(pCon, line, eValue);
return 1;
}
self->posit_count = argc - 2;
self->positions = malloc(self->posit_count * sizeof(*self->positions));
int i;
for (i = 0; i < self->posit_count; ++i) {
self->positions[i] = strtod(argv[i + 2], NULL);
}
return 1;
}
self->posit_count = argc - 2;
self->positions = malloc(self->posit_count * sizeof(*self->positions));
int i;
for (i = 0; i < self->posit_count; ++i) {
self->positions[i] = strtod(argv[i + 2], NULL);
}
return 1;
}
else if(strcasecmp("position_names", argv[1]) == 0) {
if (argc == 2) {
@@ -6115,37 +6120,39 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
SCWrite(pCon, line, eValue);
return 1;
}
if (self->position_names) {
if ((MAGIC_MAN)) {
if (self->position_names) {
int i;
for (i = 0; i < self->posit_name_count; ++i) {
free(self->position_names[i]);
self->position_names[i] = NULL;
}
free(self->position_names);
self->position_names = NULL;
self->posit_name_count = 0;
}
if (self->posit_name_count > 0) {
self->posit_name_count = 0;
}
if (argc > 2 && strcasecmp("erase", argv[2]) == 0) {
char line[132];
snprintf(line, 132, "%s.posit_name_count = %d", self->name, self->posit_name_count);
SCWrite(pCon, line, eValue);
return 1;
}
self->posit_name_count = argc - 2;
self->position_names = malloc(self->posit_name_count * sizeof(*self->position_names));
int i;
for (i = 0; i < self->posit_name_count; ++i) {
free(self->position_names[i]);
self->position_names[i] = NULL;
self->position_names[i] = strdup(argv[i + 2]);
}
free(self->position_names);
self->position_names = NULL;
self->posit_name_count = 0;
}
if (self->posit_name_count > 0) {
self->posit_name_count = 0;
}
if (argc > 2 && strcasecmp("erase", argv[2]) == 0) {
char line[132];
snprintf(line, 132, "%s.posit_name_count = %d", self->name, self->posit_name_count);
SCWrite(pCon, line, eValue);
return 1;
}
self->posit_name_count = argc - 2;
self->position_names = malloc(self->posit_name_count * sizeof(*self->position_names));
int i;
for (i = 0; i < self->posit_name_count; ++i) {
self->position_names[i] = strdup(argv[i + 2]);
}
return 1;
}
if (self->abs_encoder && strcasecmp("absEncHome", argv[1]) == 0) {
if (argc > 2) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
if (!(MAGIC_MAN))
return 0;
long lValue = strtol(argv[2], NULL, 10);
self->absEncHome = lValue;