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Corrected compiler error when passing Asyn parameter(s).

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This commit is contained in:
David Kline
2005-04-14 18:36:19 +00:00
parent a03a4c70a4
commit 1a9f569836
1 changed files with 36 additions and 37 deletions
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73
acsApp/src/drvMCB4B.cc
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@@ -37,12 +37,12 @@
#ifdef __GNUG__ #ifdef __GNUG__
#ifdef DEBUG #ifdef DEBUG
volatile int drvMCB4BDebug = 0; volatile int drvMCB4BDebug = 0;
#define Debug(L, FMT, V...) { if(L <= drvMCB4BDebug) \ #define Debug(L, FMT, V...) { if(L <= drvMCB4BDebug) \
{ printf("%s(%d):",__FILE__,__LINE__); \ { printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } } printf(FMT,##V); } }
#else #else
#define Debug(L, FMT, V...) #define Debug(L, FMT, V...)
#endif #endif
#else #else
#define Debug() #define Debug()
@@ -51,10 +51,10 @@
/* Debugging notes: /* Debugging notes:
* drvMCB4BDebug == 0 No debugging information is printed * drvMCB4BDebug == 0 No debugging information is printed
* drvMCB4BDebug >= 1 Warning information is printed * drvMCB4BDebug >= 1 Warning information is printed
* drvMCB4BDebug >= 2 Time-stamped messages are printed for each string * drvMCB4BDebug >= 2 Time-stamped messages are printed for each string
* sent to and received from the controller * sent to and received from the controller
* drvMCB4BDebug >= 3 Additional debugging messages * drvMCB4BDebug >= 3 Additional debugging messages
*/ */
int MCB4B_num_cards = 0; int MCB4B_num_cards = 0;
@@ -131,7 +131,7 @@ static long report(int level)
if (motor_state[card]) { if (motor_state[card]) {
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate; cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
printf(" MCB4B controller %d, port=%s, id: %s \n", printf(" MCB4B controller %d, port=%s, id: %s \n",
card, cntrl->port, card, cntrl->port,
motor_state[card]->ident); motor_state[card]->ident);
} }
} }
@@ -215,21 +215,21 @@ STATIC int set_status(int card, int signal)
status.Bits.RA_PLUS_LS = 0; status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0; status.Bits.RA_MINUS_LS = 0;
if (response[5] == '1') { if (response[5] == '1') {
status.Bits.RA_PLUS_LS = 1; status.Bits.RA_PLUS_LS = 1;
status.Bits.RA_DIRECTION = 1; status.Bits.RA_DIRECTION = 1;
ls_active = true; ls_active = true;
} }
if (response[6] == '1') { if (response[6] == '1') {
status.Bits.RA_MINUS_LS = 1; status.Bits.RA_MINUS_LS = 1;
status.Bits.RA_DIRECTION = 0; status.Bits.RA_DIRECTION = 0;
ls_active = true; ls_active = true;
} }
/* encoder status */ /* encoder status */
status.Bits.EA_SLIP = 0; status.Bits.EA_SLIP = 0;
status.Bits.EA_POSITION = 0; status.Bits.EA_POSITION = 0;
status.Bits.EA_SLIP_STALL = 0; status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0; status.Bits.EA_HOME = 0;
/* Request the position of this motor */ /* Request the position of this motor */
sprintf(command, "#%02dP", signal); sprintf(command, "#%02dP", signal);
@@ -240,12 +240,12 @@ STATIC int set_status(int card, int signal)
if (motorData == motor_info->position) if (motorData == motor_info->position)
{ {
if (nodeptr != 0) /* Increment counter only if motor is moving. */ if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++; motor_info->no_motion_count++;
} }
else else
{ {
status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0; status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
motor_info->position = motorData; motor_info->position = motorData;
motor_info->encoder_position = motorData; motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0; motor_info->no_motion_count = 0;
@@ -260,11 +260,10 @@ STATIC int set_status(int card, int signal)
motor_info->velocity *= -1; motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true || rtn_state = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0; status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */ /* Test for post-move string. */
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && nodeptr->postmsgptr != 0)
nodeptr->postmsgptr != 0)
{ {
send_mess(card, nodeptr->postmsgptr, (char) NULL); send_mess(card, nodeptr->postmsgptr, (char) NULL);
/* The MCB4B always sends back a response, read it and discard */ /* The MCB4B always sends back a response, read it and discard */
@@ -284,7 +283,7 @@ STATIC int set_status(int card, int signal)
STATIC RTN_STATUS send_mess(int card, const char *com, char *name) STATIC RTN_STATUS send_mess(int card, const char *com, char *name)
{ {
struct MCB4Bcontroller *cntrl; struct MCB4Bcontroller *cntrl;
int nwrite; size_t nwrite;
/* Check that card exists */ /* Check that card exists */
if (!motor_state[card]) if (!motor_state[card])
@@ -313,7 +312,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, char *name)
STATIC int recv_mess(int card, char *com, int flag) STATIC int recv_mess(int card, char *com, int flag)
{ {
double timeout; double timeout;
int nread=0; size_t nread=0;
asynStatus status; asynStatus status;
struct MCB4Bcontroller *cntrl; struct MCB4Bcontroller *cntrl;
int flush; int flush;
@@ -338,11 +337,12 @@ STATIC int recv_mess(int card, char *com, int flag)
timeout = TIMEOUT; timeout = TIMEOUT;
} }
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser); if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE, status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
timeout, &nread, &eomReason); timeout, &nread, &eomReason);
if (nread < 1) com[0] = '\0'; if (nread < 1)
com[0] = '\0';
if (nread > 0) { if (nread > 0) {
Debug(2, "recv_mess: card %d, message = \"%s\"\n",\ Debug(2, "recv_mess: card %d, message = \"%s\"\n",\
card, com); card, com);
@@ -367,7 +367,7 @@ STATIC int recv_mess(int card, char *com, int flag)
/* MCB4BSetup() */ /* MCB4BSetup() */
/*****************************************************/ /*****************************************************/
RTN_STATUS RTN_STATUS
MCB4BSetup(int num_cards, /* maximum number of controllers in system */ MCB4BSetup(int num_cards, /* maximum number of controllers in system */
int scan_rate) /* polling rate - 1/60 sec units */ int scan_rate) /* polling rate - 1/60 sec units */
{ {
int itera; int itera;
@@ -379,9 +379,9 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */
/* Set motor polling task rate */ /* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60) if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate; targs.motor_scan_rate = scan_rate;
else else
targs.motor_scan_rate = SCAN_RATE; targs.motor_scan_rate = SCAN_RATE;
/* /*
* Allocate space for motor_state structure pointers. Note this must be done * Allocate space for motor_state structure pointers. Note this must be done
@@ -404,8 +404,8 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */
/* MCB4BConfig() */ /* MCB4BConfig() */
/*****************************************************/ /*****************************************************/
RTN_STATUS RTN_STATUS
MCB4BConfig(int card, /* card being configured */ MCB4BConfig(int card, /* card being configured */
const char *name) /* port name for asyn */ const char *name) /* port name for asyn */
{ {
struct MCB4Bcontroller *cntrl; struct MCB4Bcontroller *cntrl;
@@ -457,8 +457,7 @@ STATIC int motor_init()
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate; cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */ /* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL);
success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL);
Debug(1, "motor_init, return from pasynOctetSyncIO->connect for port %s = %d, pasynUser=%p\n",\ Debug(1, "motor_init, return from pasynOctetSyncIO->connect for port %s = %d, pasynUser=%p\n",\
cntrl->port, success_rtn, cntrl->pasynUser); cntrl->port, success_rtn, cntrl->pasynUser);
@@ -498,7 +497,7 @@ STATIC int motor_init()
/* send_mess(card_index, buff, 0); */ /* send_mess(card_index, buff, 0); */
/* Stop motor */ /* Stop motor */
sprintf(buff,"#%02dQ", motor_index); sprintf(buff,"#%02dQ", motor_index);
send_mess(card_index, buff, 0); send_mess(card_index, buff, 0);
recv_mess(card_index, buff, WAIT); /* Throw away response */ recv_mess(card_index, buff, WAIT); /* Throw away response */
strcpy(brdptr->ident, "MCB-4B"); strcpy(brdptr->ident, "MCB-4B");
motor_info->status.All = 0; motor_info->status.All = 0;
@@ -523,8 +522,8 @@ STATIC int motor_init()
Debug(3, "motor_init: spawning motor task\n"); Debug(3, "motor_init: spawning motor task\n");
epicsThreadCreate((char *) "tMCB4B", epicsThreadPriorityMedium, epicsThreadCreate((char *) "tMCB4B", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium), epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs); (EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK); return(OK);