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SMCTaurusAxis: Mixup of controller and _controller
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One compiler complaint, that "controller" may be not initialized
in the constructor.
Rename "controller" into "controller_" in SMCTaurusAxis to
follow the more common pattern that "class variable xyz"
is named "xyz_" in the code and fix the contructor.
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@tboegi
tboegi committed Sep 2, 2024
1 parent 69ba0ba commit b03f23a
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Showing 2 changed files with 73 additions and 73 deletions.
144 changes: 72 additions & 72 deletions micosApp/src/SMCTaurusAxis.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@
*
* Initializes register numbers, etc.
*/
SMCTaurusAxis::SMCTaurusAxis(SMCTaurusController* _controller, int axisNo)
SMCTaurusAxis::SMCTaurusAxis(SMCTaurusController* controller, int axisNo)
: asynMotorAxis(controller, axisNo),
controller(_controller)
controller_(controller)
{
sprintf(controller->outString_, "%i getclperiod", (axisNo + 1));
controller->writeReadController();
Expand Down Expand Up @@ -53,13 +53,13 @@ asynStatus SMCTaurusAxis::sendAccelAndVelocity(double acceleration, double veloc
asynStatus status;

// Send the velocity
sprintf(controller->outString_, "%f %i snv", fabs(velocity * axisRes_), (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%f %i snv", fabs(velocity * axisRes_), (axisNo_ + 1));
status = controller_->writeController();

// Send the acceleration
// acceleration is in units/sec/sec
sprintf(controller->outString_, "%f %i sna", fabs(acceleration * axisRes_), (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%f %i sna", fabs(acceleration * axisRes_), (axisNo_ + 1));
status = controller_->writeController();
return status;
}

Expand All @@ -69,11 +69,11 @@ asynStatus SMCTaurusAxis::move(double position, int relative, double baseVelocit

sendAccelAndVelocity(acceleration, slewVelocity);
if (relative) {
sprintf(controller->outString_, "%f %i nr", (position * axisRes_), (axisNo_ + 1));
sprintf(controller_->outString_, "%f %i nr", (position * axisRes_), (axisNo_ + 1));
} else {
sprintf(controller->outString_, "%f %i nm", (position * axisRes_), (axisNo_ + 1));
sprintf(controller_->outString_, "%f %i nm", (position * axisRes_), (axisNo_ + 1));
}
status = controller->writeController();
status = controller_->writeController();
return status;
}

Expand All @@ -83,11 +83,11 @@ asynStatus SMCTaurusAxis::home(double baseVelocity, double slewVelocity, double

sendAccelAndVelocity(acceleration, slewVelocity);
if (forwards) {
sprintf(controller->outString_, "%i nrm", (axisNo_ + 1));
sprintf(controller_->outString_, "%i nrm", (axisNo_ + 1));
} else {
sprintf(controller->outString_, "%i ncal", (axisNo_ + 1));
sprintf(controller_->outString_, "%i ncal", (axisNo_ + 1));
}
status = controller->writeController();
status = controller_->writeController();
return status;
}

Expand All @@ -101,21 +101,21 @@ asynStatus SMCTaurusAxis::moveVelocity(double baseVelocity, double slewVelocity,
/* SMC Taurus does not have jog command. Move to a limit*/
if (slewVelocity > 0.) {
status = sendAccelAndVelocity(acceleration, slewVelocity);
sprintf(controller->outString_, "%f %i nm", posTravelLimit_, (axisNo_ + 1));
sprintf(controller_->outString_, "%f %i nm", posTravelLimit_, (axisNo_ + 1));
} else {
status = sendAccelAndVelocity(acceleration, (slewVelocity * -1.0));
sprintf(controller->outString_, "%f %i nm", negTravelLimit_, (axisNo_ + 1));
sprintf(controller_->outString_, "%f %i nm", negTravelLimit_, (axisNo_ + 1));
}
status = controller->writeController();
status = controller_->writeController();
return status;
}

asynStatus SMCTaurusAxis::stop(double acceleration )
{
asynStatus status;

sprintf(controller->outString_, "%i nabort", (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%i nabort", (axisNo_ + 1));
status = controller_->writeController();
return status;
}

Expand All @@ -125,8 +125,8 @@ asynStatus SMCTaurusAxis::setPosition(double position)

// The argument to the setnpos command is the distance from the current position of the
// desired origin, which is why the position needs to be multiplied by -1.0
sprintf(controller->outString_, "%f %i setnpos", (position * axisRes_ * -1.0), (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%f %i setnpos", (position * axisRes_ * -1.0), (axisNo_ + 1));
status = controller_->writeController();
return status;
}

Expand All @@ -135,19 +135,19 @@ asynStatus SMCTaurusAxis::setClosedLoop(bool closedLoop)
asynStatus status = asynSuccess;
if (closedLoop) {
// enable closed-loop control
sprintf(controller->outString_, "%i %i setcloop", closedLoop, (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%i %i setcloop", closedLoop, (axisNo_ + 1));
status = controller_->writeController();

// reinit so the closed-loop setting takes effect (this powers on the motor)
sprintf(controller->outString_, "%i init", (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%i init", (axisNo_ + 1));
status = controller_->writeController();

// a delay is required after the init command is sent
epicsThreadSleep(0.2);
} else {
// disable closed-loop control
sprintf(controller->outString_, "%i motoroff", (axisNo_ + 1));
status = controller->writeController();
sprintf(controller_->outString_, "%i motoroff", (axisNo_ + 1));
status = controller_->writeController();
}

return status;
Expand All @@ -156,35 +156,35 @@ asynStatus SMCTaurusAxis::setClosedLoop(bool closedLoop)
asynStatus SMCTaurusAxis::setHighLimit(double highLimit)
{
posTravelLimit_ = highLimit;
sprintf(controller->outString_, "%f %f %i setnlimit", negTravelLimit_, posTravelLimit_, (axisNo_ + 1));
controller->writeController();
sprintf(controller_->outString_, "%f %f %i setnlimit", negTravelLimit_, posTravelLimit_, (axisNo_ + 1));
controller_->writeController();
return asynSuccess;
}

asynStatus SMCTaurusAxis::setLowLimit(double lowLimit)
{
negTravelLimit_ = lowLimit;
sprintf(controller->outString_, "%f %f %i setnlimit", negTravelLimit_, posTravelLimit_, (axisNo_ + 1));
controller->writeController();
sprintf(controller_->outString_, "%f %f %i setnlimit", negTravelLimit_, posTravelLimit_, (axisNo_ + 1));
controller_->writeController();
return asynSuccess;
}

asynStatus SMCTaurusAxis::setLimitSwitches(int value)
{
sprintf(controller->outString_, "%i 0 %i setsw", value, (axisNo_ + 1));
controller->writeController();
sprintf(controller->outString_, "%i 1 %i setsw", value, (axisNo_ + 1));
controller->writeController();
sprintf(controller_->outString_, "%i 0 %i setsw", value, (axisNo_ + 1));
controller_->writeController();
sprintf(controller_->outString_, "%i 1 %i setsw", value, (axisNo_ + 1));
controller_->writeController();
return asynSuccess;
}

asynStatus SMCTaurusAxis::getLimitSwitches(int limitIndex, int* value)
{
int axis_1;
int axis_2;
sprintf(controller->outString_, "%i getsw", (axisNo_ + 1));
controller->writeReadController();
int status = sscanf(controller->inString_, "%i %i", &axis_1, &axis_2);
sprintf(controller_->outString_, "%i getsw", (axisNo_ + 1));
controller_->writeReadController();
int status = sscanf(controller_->inString_, "%i %i", &axis_1, &axis_2);
if(status != 2)
{
printf("Could not parse getsw response.\n");
Expand Down Expand Up @@ -228,46 +228,46 @@ asynStatus SMCTaurusAxis::poll(bool *moving)

// A different implementation for setting and reading current limit switches configuration.
// int limit_switches;
// controller->getIntegerParam(controller->SMCTaurusLimitType_, &limit_switches);
// controller->getAxis(0)->setLimitSwitches(limit_switches);
// controller_->getIntegerParam(controller_->SMCTaurusLimitType_, &limit_switches);
// controller_->getAxis(0)->setLimitSwitches(limit_switches);

// limit_switches = 0;
// controller->getAxis(0)->getLimitSwitches(0, &limit_switches);
// controller->setIntegerParam(controller->SMCTaurusLimit1Type_, limit_switches);
// controller_->getAxis(0)->getLimitSwitches(0, &limit_switches);
// controller_->setIntegerParam(controller_->SMCTaurusLimit1Type_, limit_switches);
// limit_switches = 0;
// controller->getAxis(0)->getLimitSwitches(1, &limit_switches);
// controller->setIntegerParam(controller->SMCTaurusLimit2Type_, limit_switches);
// controller_->getAxis(0)->getLimitSwitches(1, &limit_switches);
// controller_->setIntegerParam(controller_->SMCTaurusLimit2Type_, limit_switches);

// Read the current motor position
sprintf(controller->outString_, "%i np", (axisNo_ + 1));
comStatus = controller->writeReadController();
sprintf(controller_->outString_, "%i np", (axisNo_ + 1));
comStatus = controller_->writeReadController();
if (comStatus) goto skip;

// The response string is a double
position = atof( (char *) &controller->inString_);
setDoubleParam(controller->motorPosition_, (position / axisRes_) );
setDoubleParam(controller->motorEncoderPosition_, (position / axisRes_) );
position = atof( (char *) &controller_->inString_);
setDoubleParam(controller_->motorPosition_, (position / axisRes_) );
setDoubleParam(controller_->motorEncoderPosition_, (position / axisRes_) );

// Read the status of this motor
sprintf(controller->outString_, "%i nst", (axisNo_ + 1));
comStatus = controller->writeReadController();
sprintf(controller_->outString_, "%i nst", (axisNo_ + 1));
comStatus = controller_->writeReadController();
if (comStatus) goto skip;

// The response string is an int
axisStatus = atoi( (char *) &controller->inString_);
axisStatus = atoi( (char *) &controller_->inString_);

// Check the moving bit
done = !(axisStatus & 0x1);
setIntegerParam(controller->motorStatusDone_, done);
setIntegerParam(controller->motorStatusMoving_, !done);
setIntegerParam(controller_->motorStatusDone_, done);
setIntegerParam(controller_->motorStatusMoving_, !done);
*moving = done ? false:true;

// Read the commanded velocity and acceleration
sprintf(controller->outString_, "%i gnv", (axisNo_ + 1));
comStatus = controller->writeReadController();
sprintf(controller_->outString_, "%i gnv", (axisNo_ + 1));
comStatus = controller_->writeReadController();

sprintf(controller->outString_, "%i gna", (axisNo_ + 1));
comStatus = controller->writeReadController();
sprintf(controller_->outString_, "%i gna", (axisNo_ + 1));
comStatus = controller_->writeReadController();

// Check the limit bit (0x40)
if (axisStatus & 0x40)
Expand All @@ -286,10 +286,10 @@ asynStatus SMCTaurusAxis::poll(bool *moving)
if(axisStatus & 0x200)
{
asynPrint(this->pasynUser_, ASYN_TRACEIO_DRIVER, "%s: axis %i emergency stop switch active.\n",functionName, (axisNo_ + 1));
setIntegerParam(controller->motorStatusProblem_, 1);
setIntegerParam(controller_->motorStatusProblem_, 1);
}
else {
setIntegerParam(controller->motorStatusProblem_, 0);
setIntegerParam(controller_->motorStatusProblem_, 0);
}

// Check the device busy bit (0x400)
Expand All @@ -304,39 +304,39 @@ asynStatus SMCTaurusAxis::poll(bool *moving)
// Read switch confiruation
// Bit 0: polarity (0 = NO, 1 = NC)
// Bit 1: mask (0 = enabled, 1 = disabled)
sprintf(controller->outString_, "%i getsw", (axisNo_ + 1));
comStatus = controller->writeReadController();
sprintf(controller_->outString_, "%i getsw", (axisNo_ + 1));
comStatus = controller_->writeReadController();
if (comStatus) goto skip;
sscanf(controller->inString_, "%i %i", &lowLimitConfig_, &highLimitConfig_);
sscanf(controller_->inString_, "%i %i", &lowLimitConfig_, &highLimitConfig_);
ignoreLowLimit = lowLimitConfig_ & 0x2;
ignoreHighLimit = highLimitConfig_ & 0x2;

// Read status of switches 0=inactive 1=active
sprintf(controller->outString_, "%i getswst", (axisNo_ + 1));
comStatus = controller->writeReadController();
sprintf(controller_->outString_, "%i getswst", (axisNo_ + 1));
comStatus = controller_->writeReadController();
if (comStatus) goto skip;

// The response string is of the form "0 0"
sscanf(controller->inString_, "%i %i", &lowLimit, &highLimit);
sscanf(controller_->inString_, "%i %i", &lowLimit, &highLimit);
if (ignoreLowLimit)
setIntegerParam(controller->motorStatusLowLimit_, 0);
setIntegerParam(controller_->motorStatusLowLimit_, 0);
else
setIntegerParam(controller->motorStatusLowLimit_, lowLimit);
setIntegerParam(controller_->motorStatusLowLimit_, lowLimit);

if (ignoreHighLimit)
setIntegerParam(controller->motorStatusHighLimit_, 0);
setIntegerParam(controller_->motorStatusHighLimit_, 0);
else
setIntegerParam(controller->motorStatusHighLimit_, highLimit);
setIntegerParam(controller_->motorStatusHighLimit_, highLimit);

/*setIntegerParam(controller->motorStatusAtHome_, limit);*/
/*setIntegerParam(controller_->motorStatusAtHome_, limit);*/

// Check the drive power bit (0x100)
driveOn = (axisStatus & 0x100) ? 0 : 1;
setIntegerParam(controller->motorStatusPowerOn_, driveOn);
setIntegerParam(controller->motorStatusProblem_, 0);
setIntegerParam(controller_->motorStatusPowerOn_, driveOn);
setIntegerParam(controller_->motorStatusProblem_, 0);

skip:
setIntegerParam(controller->motorStatusProblem_, comStatus ? 1:0);
setIntegerParam(controller_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
}
Expand Down
2 changes: 1 addition & 1 deletion micosApp/src/SMCTaurusAxis.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ class epicsShareClass SMCTaurusAxis : public asynMotorAxis
void report(FILE *fp, int level);

private:
SMCTaurusController* controller;
SMCTaurusController* controller_;
asynStatus sendAccelAndVelocity(double accel, double velocity);
int motorForm_;
int polePairs_;
Expand Down

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