Fixed issue in programUpload method

Limit update period to 200ms maximum
motorapp · Jun 29, 2016 · 57bb032 · 57bb032
1 parent a096345
commit 57bb032
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Showing 3 changed files with 16 additions and 2 deletions.
diff --git a/3-3/GalilSup/src/GalilController.cpp b/3-3/GalilSup/src/GalilController.cpp
@@ -173,6 +173,9 @@
 //                  Stop on motor inhibit now uses limit deceleration
 //                  Fixed axis speed change on stop
 //                  Removed display code parameter from GalilStartController
+// 29/06/16 M.Clift
+//                  Fixed issue in programUpload method
+//                  Limit update period to 200ms maximum
 
 #include <stdio.h>
 #include <math.h>
@@ -295,6 +298,7 @@ GalilController::GalilController(const char *portName, const char *address, doub
   numAxes_(0), unsolicitedQueue_(MAX_GALIL_AXES, MAX_GALIL_STRING_SIZE)
 {
   struct Galilmotor_enables *motor_enables = NULL;	//Convenience pointer to GalilController motor_enables[digport]
+  char mesg[MAX_GALIL_STRING_SIZE];			//Connected mesg
   unsigned i;
 
   // Create controller-specific parameters
@@ -430,6 +434,13 @@ GalilController::GalilController(const char *portName, const char *address, doub
   code_assembled_ = false;
   //We have not recieved a timeout yet
   consecutive_timeouts_ = 0;
+  //Parse update period
+  if (fabs(updatePeriod) > MAX_UPDATE_PERIOD)
+     {
+     sprintf(mesg, "Limiting UpdatePeriod to %dms maximum, ignoring specified updatePeriod", MAX_UPDATE_PERIOD);
+     setCtrlError(mesg);
+     updatePeriod = (updatePeriod < 0) ? -MAX_UPDATE_PERIOD : MAX_UPDATE_PERIOD;
+     }
   //Store period in ms between data records
   updatePeriod_ = fabs(updatePeriod);
   //Assume sync tcp mode will be used for now
@@ -4358,7 +4369,8 @@ asynStatus GalilController::programUpload(string *prog)
               //Search for terminating : character
               for (i = 0; i < nread; i++)
                  {
-                 done = (buf[i] == ':') ? true : false;
+                 if (i > 0)
+                    done = (buf[i-1] == 26 && buf[i] == ':') ? true : false;
                  if (done)
                     break; //Upload complete
                  }

diff --git a/3-3/GalilSup/src/GalilController.h b/3-3/GalilSup/src/GalilController.h
@@ -33,6 +33,7 @@
 #define SCALCARGS 16
 //Number of communication retries
 #define ALLOWED_TIMEOUTS 2
+#define MAX_UPDATE_PERIOD 200
 #define MAX_GALIL_UNSOLICTED_SIZE 29
 #define MAX_GALIL_STRING_SIZE 768
 #define MAX_GALIL_DATAREC_SIZE 768

diff --git a/3-3/iocBoot/iocGalil/galil.cmd b/3-3/iocBoot/iocGalil/galil.cmd
@@ -33,7 +33,8 @@ dbLoadTemplate("$(TOP)/GalilTestApp/Db/galil_profileMoveAxis.substitutions")
 #
 # 1. Const char *portName 	- The name of the asyn port that will be created for this controller
 # 2. Const char *address 	- The address of the controller
-# 3. double updatePeriod	- The time in ms between datarecords 2ms minimum.  Async if controller + bus supports it, otherwise is polled/synchronous.
+# 3. double updatePeriod	- The time in ms between datarecords 2ms min, 200ms max.  Async if controller + bus supports it, otherwise is polled/synchronous.
+#                       	- Recommend 50ms or less for ethernet
 #                       	- Specify negative updatePeriod < 0 to force synchronous tcp poll period.  Otherwise will try async udp mode first
 
 # Create a Galil controller