WIP

GNUmakefile

@@ -41,5 +41,5 @@ SOURCES += $(SRC_DIR)/ecmcSafetyGroup.cpp
 HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
 DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
 SCRIPTS += $(BASE_DIR)/scripts/startup.cmd
-SCRIPTS += $(BASE_DIR)/scripts/addSafetyAxisToGroup.cmd
+#SCRIPTS += $(BASE_DIR)/scripts/addSafetyAxisToGroup.cmd
 TEMPLATES += $(wildcard $(DB_DIR)/*.template)

src/ecmcPluginSafety.c

@@ -26,25 +26,24 @@ extern "C" {
 #include "ecmcSafetyPlgDefs.h"
 #include "ecmcSafetyPlgWrap.h"
 
-static int    lastEcmcError   = 0;
-static char*  lastConfStr         = NULL;
+static int lastEcmcError = 0;
+static int alreadyLoaded = 0;
 
-static alreadyLoaded = 0;
 /** Optional. 
  *  Will be called once after successfull load into ecmc.
  *  Return value other than 0 will be considered error.
  *  configStr can be used for configuration parameters.
  **/
-int safetyConstruct(const char *configStr)
+int safetyConstruct(char *configStr)
 {
   
   if(alreadyLoaded) {
     return  ECMC_PLUGIN_ALREADY_LOADED_ERROR_CODE;
   }
   
-  lastConfStr = strdup(configStr);  
   alreadyLoaded = 1;
-  return 0;
+  
+  return setCfgString(configStr);
 }
 
 /** Optional function.
@@ -53,9 +52,6 @@ int safetyConstruct(const char *configStr)
 void safetyDestruct(void)
 {
   deleteAllSafetyGroups();
-  if(lastConfStr){
-    free(lastConfStr);
-  }
 }
 
 /** Optional function.

src/ecmcSafetyGroup.cpp

@@ -38,6 +38,7 @@ ecmcSafetyGroup::ecmcSafetyGroup(const char *name,
                                  const char *ec_rampdown_cmd,
                                  const char *ec_standstill_status,
                                  int time_delay_ms,
+                                 const char *cfg_string,
                                  char* portName) 
                 : asynPortDriver(portName,
                    1, /* maxAddr */
@@ -57,6 +58,7 @@ ecmcSafetyGroup::ecmcSafetyGroup(const char *name,
   name_                 = name;
   ecRampDownCmdName_    = ec_rampdown_cmd;
   ecAxesStandStillStat_ = ec_standstill_status;
+  cfgString_            = cfg_string;
   delayMs_              = time_delay_ms;
   status_               = 0;
   asynStatusId_         = -1;
@@ -65,11 +67,12 @@ ecmcSafetyGroup::ecmcSafetyGroup(const char *name,
   dataSourcesLinked_    = 0;
   // Config defaults
   cfgDbgMode_           = 0;
-
   initAsyn();
+  printf("Safety group %s created: rampdown cmd=%s, axis at standstill=%s,cfg str=%s\n",
+         name_.c_str(),ecRampDownCmdName_.c_str(),ecAxesStandStillStat_.c_str(),cfgString_.c_str());
 }
 
-ecmcSafetyGroup::~ecmcSafetyGroup() {   
+ecmcSafetyGroup::~ecmcSafetyGroup() {
 }
 
 //void ecmcSafetyGroup::parseConfigStr(char *configStr) {
@@ -183,6 +186,7 @@ void ecmcSafetyGroup::addAxis(int axisId) {
     throw std::out_of_range("Invalid axis id"); 
   }
 
+  printf("Added axis %d to safety group \"%s\"\n",axisId,name_.c_str());
   return;
 }
 

src/ecmcSafetyGroup.h

@@ -32,6 +32,7 @@ class ecmcSafetyGroup : public asynPortDriver {
                   const char *ec_rampdown_cmd,
                   const char *ec_standstill_status,
                   int time_delay_ms,
+                  const char *cfg_string,
                   char* portName);
                       
   ~ecmcSafetyGroup();  
@@ -65,6 +66,8 @@ class ecmcSafetyGroup : public asynPortDriver {
   std::string           name_;
   std::string           ecRampDownCmdName_;
   std::string           ecAxesStandStillStat_;
+  std::string           cfgString_;
+
   int                   delayMs_;
   // Some generic utility functions
   static uint8_t        getUint8(uint8_t* data);

src/ecmcSafetyPlgWrap.cpp

@@ -30,6 +30,13 @@ static std::vector<ecmcSafetyGroup*>  safetyGroups;
 static int safetyGroupsCounter = 0;
 static char portNameBuffer[ECMC_PLUGIN_MAX_PORTNAME_CHARS];
 
+static const char *configString = NULL;
+
+int setCfgString(const char* cfgString) {
+  configString = cfgString;
+  return 0;
+}
+
 int createSafetyGroup(const char *name,
                       const char *ec_rampdown_cmd,
                       const char *ec_standstill_status,
@@ -43,7 +50,12 @@ int createSafetyGroup(const char *name,
   snprintf (portNameBuffer, ECMC_PLUGIN_MAX_PORTNAME_CHARS,
             ECMC_PLUGIN_PORTNAME_PREFIX "_%d", safetyGroupsCounter);
   try {
-    safetyGroup = new ecmcSafetyGroup(name, ec_rampdown_cmd,ec_standstill_status,time_delay_ms,portNameBuffer);
+    safetyGroup = new ecmcSafetyGroup(name,
+                                      ec_rampdown_cmd,
+                                      ec_standstill_status,
+                                      time_delay_ms,
+                                      configString,
+                                      portNameBuffer);
   }
   catch(std::exception& e) {
     if(safetyGroup) {
@@ -165,8 +177,8 @@ int ecmcAddSafetyGroup(const char* name, const char* ec_rampdown_cmd,const char*
   }
 
   try {
+    printf("############ 1:\n");
     createSafetyGroup(name,ec_rampdown_cmd,ec_standstill_status, time_delay_ms);
-    
   }
   catch(std::exception& e) {
     printf("Exception: %s. Add safety group failed.\n",e.what());

src/ecmcSafetyPlgWrap.h

@@ -17,6 +17,9 @@
 extern "C" {
 # endif  // ifdef __cplusplus
 
+// Set config string from plugin load
+int setCfgString(const char* cfgString);
+
 /** \brief Create new Safetry group
  *
  *  \param[in] name      Name of safety group.\n