- 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:
koennecke
2005-01-12 08:42:39 +00:00
parent 5e05be17e0
commit ef1de4589c
35 changed files with 2659 additions and 1203 deletions

142
motor.c
View File

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