- A couple of small fixes for memory and initialization problems.
This is to make valgrind happy SKIPPED: psi/amorscan.c psi/el734hp.c psi/psi.c psi/tasscan.c
This commit is contained in:
142
motor.c
142
motor.c
@ -71,11 +71,11 @@
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#define INT 6
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#define PREC 7
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#define USRIGHTS 8
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#define SPEED 9
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#define SIGN 10
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#define ECOUNT 11
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#define POSCOUNT 12
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#define IGNOREFAULT 13
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#define SIGN 9
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#define ECOUNT 10
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#define POSCOUNT 11
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#define IGNOREFAULT 12
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#define MOVECOUNT 13
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/*------------------------------------------------------------------------
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a tiny structure used in CallBack work
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@ -179,6 +179,8 @@
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fputs(pBueffel,fd);
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sprintf(pBueffel,"%s poscount %f\n",name,
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ObVal(self->ParArray,POSCOUNT));
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sprintf(pBueffel,"%s movecount %f\n",name,
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ObVal(self->ParArray,MOVECOUNT));
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fputs(pBueffel,fd);
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return 1;
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}
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@ -348,138 +350,13 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
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}
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return newStatus;
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}
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/*-----------------------------------------------------------------------
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old version, kept for time being.
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----------------------------------------------------------------------*/
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static int eevaluateStatus(pMotor self, SConnection *pCon)
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{
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int iRet, iCode;
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MotCallback sCall;
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char pBueffel[256], pError[132];
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float fHard;
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iRet = self->pDriver->GetStatus(self->pDriver);
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if( (iRet == OKOK) || (iRet == HWIdle))
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{
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MotorGetSoftPosition(self,pCon,&sCall.fVal);
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sCall.pName = self->name;
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InvokeCallBack(self->pCall, MOTEND, &sCall);
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MotorGetHardPosition(self,pCon,&fHard);
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self->fPosition = fHard;
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if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
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{
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snprintf(pBueffel,131,"WARNING: %s off position by %f",
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self->name, absf(fHard - self->fTarget));
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SCWrite(pCon,pBueffel, eWarning);
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MotorInterrupt(pCon,ObVal(self->ParArray,INT));
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self->retryCount = 0;
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/*
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suppress HWPosFaults when ignore flag set
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*/
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if(ObVal(self->ParArray,IGNOREFAULT) > 0)
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{
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return HWIdle;
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}
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else
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{
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return HWPosFault;
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}
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}
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self->retryCount = 0;
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return HWIdle;
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}
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/* motor suggests a fault */
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else if(iRet == HWFault)
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{
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self->pDriver->GetError(self->pDriver,&iCode, pError,131);
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iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
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if(iRet == MOTFAIL)
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{
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snprintf(pBueffel,255,"ERROR: %s on %s",pError,self->name);
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SCWrite(pCon,pBueffel,eError);
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MotorInterrupt(pCon,ObVal(self->ParArray,INT));
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self->retryCount = 0;
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return HWFault;
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}
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else if(iRet == MOTREDO)
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{
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self->pDriver->RunTo(self->pDriver,self->fTarget);
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self->retryCount++;
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if(self->retryCount >= 3)
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{
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self->retryCount = 0;
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return HWFault;
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}
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return HWBusy;
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}
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else
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{
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self->retryCount = 0;
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return HWBusy;
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}
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}
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/* a positioning fault */
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else if(iRet == HWPosFault)
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{
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self->pDriver->GetError(self->pDriver,&iCode, pError,131);
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iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
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if(iRet == MOTFAIL)
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{
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snprintf(pBueffel,255,"ERROR: %s on %s",pError,self->name);
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SCWrite(pCon,pBueffel,eError);
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MotorInterrupt(pCon,ObVal(self->ParArray,INT));
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self->retryCount = 0;
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return HWFault;
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}
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else if(iRet == MOTREDO)
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{
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/*
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abort if to many positioning faults
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*/
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self->posFaultCount++;
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if(self->posFaultCount >= 4)
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{
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self->posFaultCount = 0;
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self->retryCount = 0;
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/*
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do not do pass on positioning fault errors when the
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appropriate flag has been set
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*/
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if(ObVal(self->ParArray,IGNOREFAULT) > 0)
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{
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return HWIdle;
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}
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else
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{
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return HWPosFault;
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}
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}
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self->pDriver->RunTo(self->pDriver,self->fTarget);
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return HWBusy;
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}
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else
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{
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return HWBusy;
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}
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}
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else if(iRet == HWWarn)
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{
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self->pDriver->GetError(self->pDriver,&iCode,pError,131);
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snprintf(pBueffel,255,"WARNING: %s on %s",pError,self->name);
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SCWrite(pCon,pBueffel,eStatus);
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return HWIdle;
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}
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self->retryCount = 0;
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return iRet;
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}
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/*---------------------------------------------------------------------*/
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static void handleMoveCallback(pMotor self, SConnection *pCon)
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{
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MotCallback sCall;
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self->posCount++;
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if(self->posCount >= ObVal(self->ParArray,POSCOUNT))
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if(self->posCount >= ObVal(self->ParArray,MOVECOUNT))
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{
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MotorGetSoftPosition(self,pCon,&sCall.fVal);
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sCall.pName = self->name;
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@ -536,11 +413,11 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
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ObParInit(pM->ParArray,INT,"interruptmode",INTCONT,usMugger);
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ObParInit(pM->ParArray,PREC,"precision",0.01,usMugger);
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ObParInit(pM->ParArray,USRIGHTS,"accesscode",(float)usUser,usMugger);
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ObParInit(pM->ParArray,SPEED,"speed",0.02,usInternal);
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ObParInit(pM->ParArray,SIGN,"sign",1.0,usMugger);
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ObParInit(pM->ParArray,ECOUNT,"failafter",3.0,usMugger);
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ObParInit(pM->ParArray,POSCOUNT,"maxretry",3.0,usMugger);
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ObParInit(pM->ParArray,IGNOREFAULT,"ignorefault",0.0,usMugger);
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ObParInit(pM->ParArray,MOVECOUNT,"movecount",10.0,usMugger);
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pDriv->GetPosition(pDriv,&(pM->fPosition));
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pM->fTarget = pM->fPosition;
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pM->endScriptID = 0;
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@ -878,6 +755,7 @@ extern void KillPiPiezo(void *pData);
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self->retryCount = 0;
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self->stopped = 0;
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self->fTarget = fHard;
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self->posCount = 0;
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iRet = self->pDriver->RunTo(self->pDriver,fHard);
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if(iRet != OKOK)
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{ /* try three times to fix it */
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