From ab368d47a7d272fa6762a6102a9de3e43ce9356b Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Thu, 10 Aug 2006 16:50:39 +1000
Subject: [PATCH] Dynamically allocate errmsg buffer. Don't overwrite errorcode
 from read char fn.

r1057 | ffr | 2006-08-10 16:50:39 +1000 (Thu, 10 Aug 2006) | 3 lines
---
 site_ansto/motor_dmc2280.c | 29 +++++++++++++++++++++++++++--
 1 file changed, 27 insertions(+), 2 deletions(-)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index 1f8e5c7b..3e8d5a68 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -81,6 +81,7 @@ typedef struct __MoDriv {
   /* DMC-2280 specific fields */
   prs232 controller;
   int errorCode;
+  char *errorMsg; /**< Points to memory for error messages */ 
   char units[256]; /**<  physical units for axis */
   float speed; /**<  physical units per second */
   float maxSpeed; /**<  physical units per second */
@@ -244,7 +245,6 @@ static int DMC2280Send(pDMC2280Driv self, char *command) {
   }
 
   if (FAILURE == (status = DMC2280ReadChar(self, &cmdValid))) {
-    self->errorCode = status;
     return FAILURE;
   } else {
     switch (cmdValid) {
@@ -569,8 +569,24 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
   self = (pDMC2280Driv)pData;
   assert(self != NULL);
 
+  /* Allocate errLen bytes for error messages */
+  if (self->errorMsg == NULL) {
+    self->errorMsg = (char *) malloc(errLen);
+    if (self->errorMsg == NULL) {
+      *iCode = 0;
+      return; 
+    }
+  }
+  error = self->errorMsg;
   *iCode = self->errorCode;
   switch(*iCode){
+    case NOTCONNECTED:
+    case TIMEOUT:
+    case BADSEND:
+    case BADMEMORY:
+    case INCOMPLETE:
+      getRS232Error(*iCode, error, errLen);
+      break;
     case BADADR:
       strncpy(error,"Bad address",(size_t)errLen);
       break;
@@ -618,6 +634,7 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
       /* FIXME What's the default */
       break;
   }
+  self->errorCode = 0;
 }
 
 /** \brief Attempts to recover from an error. Implements the TryAndFixIt
@@ -644,6 +661,10 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
     case BADPAR:
       return MOTFAIL;
     case POSFAULT:
+    case BADSEND:  
+    case TIMEOUT:
+    case BADMEMORY: /* Won't happen if MonConnect sets the send terminator */
+    case INCOMPLETE:
       return MOTREDO;
     case NOTCONNECTED:
       initRS232(self->controller);
@@ -887,7 +908,10 @@ static void KillDMC2280(/*@only@*/void *pData){
   pDMC2280Driv self = NULL;
   self = (pDMC2280Driv)pData;
   assert(self != NULL);
-  free(self->name);
+  if (self->name) 
+    free(self->name);
+  if (self->errorMsg)
+    free(self->errorMsg);
   free(self); 
   return;
 }
@@ -973,6 +997,7 @@ static void KillDMC2280(/*@only@*/void *pData){
   pNew->controller = NULL;
   pNew->name = NULL;
   pNew->errorCode = 0;
+  pNew->errorMsg = NULL;
   pNew->lastCmd[0] = '\0';
   pNew->dmc2280Error[0] = '\0';
   pNew->absEncHome = 0;