Add more validation:

* ensure group is not empty
* ensure axis group with same name is created twice
* ensure group exists when adding axis

src/ecmcSafetyPlgWrap.cpp

@@ -37,13 +37,32 @@ int setCfgString(const char* cfgString) {
   return 0;
 }
 
+ecmcSS1SafetyGroup* getGroupFromName(const char *name) { 
+  // Find group by name
+  for(std::vector<ecmcSS1SafetyGroup*>::iterator psafetyGroup = safetyGroups.begin(); psafetyGroup != safetyGroups.end(); ++psafetyGroup) {
+    bool found = strcmp(name, (*psafetyGroup)->getName().c_str()) == 0;   
+    if(found) {
+      return (*psafetyGroup);
+    }
+  }
+  return NULL;
+}
+
+
 int createSafetyGroup(const char *name,
                       const char *ec_rampdown_cmd,
                       const char *ec_standstill_status,
                       int time_delay_ms) {
 
+  // ensure group does not already exist
+  ecmcSS1SafetyGroup* safetyGroup = getGroupFromName(name);
+  if( safetyGroup ) {
+    printf("Safety: Error, group %s already defined. Plugin will unload.\n");
+    throw std::runtime_error( "Safety: Error, group already defined.");
+  }
+
   // create new ecmcSS1SafetyGroup object
-  ecmcSS1SafetyGroup* safetyGroup = NULL;
+  safetyGroup = NULL;
 
   // create asynport name for new object ()
   memset(portNameBuffer, 0, ECMC_PLUGIN_MAX_PORTNAME_CHARS);
@@ -61,7 +80,6 @@ int createSafetyGroup(const char *name,
     if(safetyGroup) {
       delete safetyGroup;
     }
-    return ECMC_PLUGIN_SAFETY_ERROR_CODE;
   }
   
   safetyGroups.push_back(safetyGroup);
@@ -74,16 +92,17 @@ int addAxisToSafetyGroup(const char *groupName,
                          int axisId,
                          double veloLimit,
                          int standStillTimeMs) {
-  // Find group by name
-  for(std::vector<ecmcSS1SafetyGroup*>::iterator psafetyGroup = safetyGroups.begin(); psafetyGroup != safetyGroups.end(); ++psafetyGroup) {
-    bool found = strcmp(groupName, (*psafetyGroup)->getName().c_str()) == 0;   
-    if(found) {
-      (*psafetyGroup)->addAxis(axisId,veloLimit,standStillTimeMs);
-      return asynSuccess;
-    }
+  
+  ecmcSS1SafetyGroup* grp = getGroupFromName(groupName);
+
+  if( !grp ) {
+    printf("Safety: Error, group %s not found. Plugin will unload.\n",groupName);
+    throw std::runtime_error( "Safety: Error, group not found.");
   }
 
-  return asynError;
+  grp->addAxis(axisId,veloLimit,standStillTimeMs);
+  
+  return asynSuccess;
 }
 
 void deleteAllSafetyGroups() {
@@ -98,17 +117,26 @@ void deleteAllSafetyGroups() {
 }
 
 int validate() {
+  int groupCount = 0;
   for(std::vector<ecmcSS1SafetyGroup*>::iterator psafetyGroup = safetyGroups.begin(); psafetyGroup != safetyGroups.end(); ++psafetyGroup) {
     if(*psafetyGroup) {
       try {
         (*psafetyGroup)->validate();
+        groupCount++;
       }
       catch(std::exception& e) {
-        printf("Exception: %s. Plugin will unload.\n",e.what());
+        printf("Safety: %s. Plugin will unload.\n",e.what());
         return ECMC_PLUGIN_SAFETY_ERROR_CODE;
       }
     }
   }
+  
+  // Do not allow loaded plugin with no group configured
+  if(groupCount == 0) {
+    printf("Saftey: Error, group count 0. Plugin will unload.\n");
+    return ECMC_PLUGIN_SAFETY_ERROR_CODE;
+  }
+
   return 0;
 }
 
@@ -120,7 +148,7 @@ int executeSafetyGroups() {
         (*psafetyGroup)->execute();
       }
       catch(std::exception& e) {
-        printf("Exception: %s. Plugin will unload.\n",e.what());
+        printf("Safety: %s. Plugin will unload.\n",e.what());
         return ECMC_PLUGIN_SAFETY_ERROR_CODE;
       }
     }
@@ -165,7 +193,7 @@ int ecmcAddSS1SafetyGroup(const char* name, const char* ec_rampdown_cmd,const ch
   }
   if(time_delay_ms <= 0) {
     printf("Error: time_delay invalid.\n");
-    exit (1);
+    exit (EXIT_FAILURE);
   }
 
   try {
@@ -173,7 +201,7 @@ int ecmcAddSS1SafetyGroup(const char* name, const char* ec_rampdown_cmd,const ch
   }
   catch(std::exception& e) {
     printf("Exception: %s. Add safety group failed.\n",e.what());
-    exit (1);    
+    exit (EXIT_FAILURE);    
   }
 
   return asynSuccess;
@@ -224,24 +252,24 @@ int ecmcAddAxisToSafetyGroup(const char* name, int axis_id, double velo_lim, int
 
   if(axis_id <= 0) {
     printf("Error: Invalid axis id.\n");
-    exit (1);
+    exit(EXIT_FAILURE);
   }
 
   if(velo_lim < 0) {
     printf("Error: Invalid velocity limit.\n");
-    exit (1);
+    exit(EXIT_FAILURE);
   }
 
   if(stand_still_time < 0) {
     printf("Error: Invalid stand still filter time.\n");
-    exit (1);
+    exit(EXIT_FAILURE);
   }
   try {
     return addAxisToSafetyGroup(name,axis_id, velo_lim, stand_still_time);
   }
   catch(std::exception& e) {
     printf("Exception: %s. Add axis to safety group failed.\n",e.what());
-    exit (1);
+    exit(EXIT_FAILURE);
   }
 
   return asynSuccess;