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Merge pull request #2 from epics-motor/190920_send_mess_uses_const_char
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The 3rd parameter in send_mess(), "name" can and should
be a 'const char *' instead of just 'char *'.
Modern compilers complain here, so that the signature now
gets the const.
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@kmpeters
kmpeters authored Sep 25, 2019
2 parents 374a937 + 9fbd51f commit 6201b85
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Showing 4 changed files with 45 additions and 43 deletions.
24 changes: 12 additions & 12 deletions newportApp/src/drvESP300.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,7 @@ int ESP300_num_cards = 0;

/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static RTN_STATUS send_mess(int, const char *, const char *);
static int set_status(int, int);
static long report(int);
static long init();
Expand Down Expand Up @@ -225,7 +225,7 @@ static int set_status(int card, int signal)
status.All = motor_info->status.All;

sprintf(outbuff, "%.2dMD", signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);

if (charcnt == 1 && (inbuff[0] == '0' || inbuff[0] == '1'))
Expand Down Expand Up @@ -255,7 +255,7 @@ static int set_status(int card, int signal)

/* Get motor position. */
sprintf(outbuff, READ_POSITION, signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);

motorData = atof(inbuff) / cntrl->drive_resolution[signal];
Expand All @@ -279,7 +279,7 @@ static int set_status(int card, int signal)

/* Get travel limit switch status. */
sprintf(outbuff, "%.2dPH", signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
cptr = strchr(inbuff, 'H');
if (cptr == NULL)
Expand Down Expand Up @@ -318,7 +318,7 @@ static int set_status(int card, int signal)

/* Get motor power on/off status. */
sprintf(outbuff, "%.2dMO?", signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
power = atoi(inbuff) ? true : false;

Expand All @@ -331,7 +331,7 @@ static int set_status(int card, int signal)

/* Get error code. */
sprintf(outbuff, "%.2dTE?", signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
errcode = atoi(inbuff);
if (errcode != 0)
Expand All @@ -358,7 +358,7 @@ static int set_status(int card, int signal)
nodeptr->postmsgptr != 0)
{
strcpy(outbuff, nodeptr->postmsgptr);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
nodeptr->postmsgptr = NULL;
}

Expand All @@ -372,7 +372,7 @@ static int set_status(int card, int signal)
/* send a message to the ESP300 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
static RTN_STATUS send_mess(int card, const char *com, const char *name)
{
struct MMcontroller *cntrl;
size_t size;
Expand Down Expand Up @@ -638,7 +638,7 @@ static int motor_init()

do
{
send_mess(card_index, GET_IDENT, (char*) NULL);
send_mess(card_index, GET_IDENT, NULL);
status = recv_mess(card_index, buff, 1);
retry++;
/* Return value is length of response string */
Expand All @@ -648,11 +648,11 @@ static int motor_init()
errexit:
if (success_rtn == asynSuccess && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->localaddr = NULL;
brdptr->motor_in_motion = 0;
strcpy(brdptr->ident, &buff[1]); /* Skip "\n" */

send_mess(card_index, "ZU", (char*) NULL);
send_mess(card_index, "ZU", NULL);
recv_mess(card_index, buff, 1);
total_axis = buff[0] >> 4;
if (total_axis > 4)
Expand All @@ -664,7 +664,7 @@ static int motor_init()
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
sprintf(buff, STOP_AXIS, motor_index + 1); /* Stop motor */
send_mess(card_index, buff, (char*) NULL);
send_mess(card_index, buff, NULL);
/* Initialize. */
brdptr->motor_info[motor_index].motor_motion = NULL;
}
Expand Down
10 changes: 5 additions & 5 deletions newportApp/src/drvMM3000.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ int MM3000_num_cards = 0;

/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int, char const *, char *);
STATIC RTN_STATUS send_mess(int, const char *, const char *);
STATIC int set_status(int, int);
static long report(int);
static long init();
Expand Down Expand Up @@ -245,7 +245,7 @@ STATIC int set_status(int card, int signal)
status.All = motor_info->status.All;

sprintf(outbuff, "%dMS", signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
if (charcnt > 0)
{
Expand Down Expand Up @@ -310,7 +310,7 @@ STATIC int set_status(int card, int signal)
status.Bits.EA_HOME = 0;

sprintf(outbuff, "%dTP", signal + 1);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
if (charcnt > 0)
{
Expand Down Expand Up @@ -373,7 +373,7 @@ STATIC int set_status(int card, int signal)
nodeptr->postmsgptr != 0)
{
strcpy(outbuff, nodeptr->postmsgptr);
send_mess(card, outbuff, (char*) NULL);
send_mess(card, outbuff, NULL);
nodeptr->postmsgptr = NULL;
}

Expand All @@ -387,7 +387,7 @@ STATIC int set_status(int card, int signal)
/* send a message to the MM3000 board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char *name)
STATIC RTN_STATUS send_mess(int card, const char *com, const char *name)
{
struct MMcontroller *cntrl;
size_t size;
Expand Down
20 changes: 10 additions & 10 deletions newportApp/src/drvMM4000.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ volatile int drvMM4000ReadbackDelay = 0;

/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *name);
static RTN_STATUS send_mess(int, const char *, const char *name);
static void start_status(int card);
static int set_status(int card, int signal);
static long report(int level);
Expand Down Expand Up @@ -259,14 +259,14 @@ static void start_status(int card)
if (card >= 0)
{
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
send_mess(card, READ_STATUS, (char*) NULL);
send_mess(card, READ_STATUS, NULL);
status = recv_mess(card, cntrl->status_string, 1);
if (status > 0)
{
cntrl->status = NORMAL;
send_mess(card, READ_POSITION, (char*) NULL);
send_mess(card, READ_POSITION, NULL);
recv_mess(card, cntrl->position_string, 1);
send_mess(card, READ_FEEDBACK, (char*) NULL);
send_mess(card, READ_FEEDBACK, NULL);
recv_mess(card, cntrl->feedback_string, 1);
}
else
Expand All @@ -284,15 +284,15 @@ static void start_status(int card)
* responses. This minimizes the latency due to processing on each card
*/
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_STATUS, (char*) NULL);
send_mess(itera, READ_STATUS, NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
status = recv_mess(itera, cntrl->status_string, 1);
if (status > 0)
{
cntrl->status = NORMAL;
send_mess(itera, READ_FEEDBACK, (char*) NULL);
send_mess(itera, READ_FEEDBACK, NULL);
recv_mess(itera, cntrl->feedback_string, 1);
}
else
Expand All @@ -304,7 +304,7 @@ static void start_status(int card)
}
}
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_POSITION, (char*) NULL);
send_mess(itera, READ_POSITION, NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
Expand Down Expand Up @@ -388,7 +388,7 @@ static int set_status(int card, int signal)
if (motor_info->pid_present == YES && drvMM4000ReadbackDelay != 0)
{
epicsThreadSleep((double) drvMM4000ReadbackDelay/1000.0);
send_mess(card, READ_STATUS, (char*) NULL);
send_mess(card, READ_STATUS, NULL);
recv_mess(card, cntrl->status_string, 1);
pos = signal*5 + 3; /* Offset in status string */
mstat.All = cntrl->status_string[pos];
Expand Down Expand Up @@ -496,7 +496,7 @@ static int set_status(int card, int signal)
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char*) NULL);
send_mess(card, buff, NULL);
nodeptr->postmsgptr = NULL;
}

Expand All @@ -510,7 +510,7 @@ static int set_status(int card, int signal)
/* send a message to the MM4000 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
static RTN_STATUS send_mess(int card, const char *com, const char *name)
{
struct MMcontroller *cntrl;
size_t size;
Expand Down
34 changes: 18 additions & 16 deletions newportApp/src/drvPM500.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ static inline void Debug(int level, const char *format, ...) {

/* --- Local data. --- */
int PM500_num_cards = 0;
static char *PM500_axis_names[] = {"X", "Y", "Z", "A", "B", "C", "D", "E", "F",
static const char *PM500_axis_names[] = {"X", "Y", "Z", "A", "B", "C", "D", "E", "F",
"G", "H", "I"};

/* Local data required for every driver; see "motordrvComCode.h" */
Expand All @@ -108,7 +108,7 @@ static char *PM500_axis_names[] = {"X", "Y", "Z", "A", "B", "C", "D", "E", "F",

/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static RTN_STATUS send_mess(int, const char *, const char *);
static int set_status(int, int);
static long report(int);
static long init();
Expand Down Expand Up @@ -222,7 +222,8 @@ static int set_status(int card, int signal)
struct mess_node *nodeptr;
struct mess_info *motor_info;
/* Message parsing variables */
char *axis_name, status_char, dir_char, buff[BUFF_SIZE], response[BUFF_SIZE];
const char *axis_name;
char status_char, dir_char, buff[BUFF_SIZE], response[BUFF_SIZE];
int rtnval, rtn_state = 0;
double motorData;
bool ls_active;
Expand All @@ -236,7 +237,7 @@ static int set_status(int card, int signal)

/* Request the status and position of this motor */
sprintf(buff, "%sR", axis_name);
send_mess(card, buff, (char*) NULL);
send_mess(card, buff, NULL);
rtnval = recv_mess(card, response, 1);
if (rtnval > 0)
{
Expand Down Expand Up @@ -286,7 +287,7 @@ static int set_status(int card, int signal)

/* Set Motor On/Off status */
sprintf(buff, "%sM?", axis_name);
send_mess(card, buff, (char*) NULL);
send_mess(card, buff, NULL);
rtnval = recv_mess(card, response, 1);
status.Bits.EA_POSITION = (int) atof(&response[2]);

Expand Down Expand Up @@ -336,7 +337,7 @@ static int set_status(int card, int signal)
{
strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r");
send_mess(card, buff, (char*) NULL);
send_mess(card, buff, NULL);
nodeptr->postmsgptr = NULL;
}

Expand All @@ -350,7 +351,7 @@ static int set_status(int card, int signal)
/* send a message to the PM500 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
static RTN_STATUS send_mess(int card, const char *com, const char *name)
{
struct MMcontroller *cntrl;
size_t size;
Expand Down Expand Up @@ -543,7 +544,7 @@ static int motor_init()
pasynOctetSyncIO->flush(cntrl->pasynUser);

/* Send a SCUM 1 command to put device in this mode. */
send_mess(card_index, "SCUM 1", (char*) NULL);
send_mess(card_index, "SCUM 1", NULL);
recv_mess(card_index, buff, 1);

/* Set up basic controller parameters
Expand All @@ -564,21 +565,21 @@ static int motor_init()
* Bit 13=0, Eearly serial poll mapping
* Bit 14=0, No SRQ assertion
*/
send_mess(card_index, "SENAINT $AF", (char*) NULL);
send_mess(card_index, "SENAINT $AF", NULL);
recv_mess(card_index, buff, 1);

/* Send a message and read response from controller to see if
* it exists */
send_mess(card_index, GET_IDENT, (char*) NULL);
send_mess(card_index, GET_IDENT, NULL);
status = recv_mess(card_index, buff, 1);
/* Return value is length of response string */
}

if (success_rtn == asynSuccess && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->localaddr = NULL;
brdptr->motor_in_motion = 0;
send_mess(card_index, GET_IDENT, (char*) NULL); /* Read controller ID string */
send_mess(card_index, GET_IDENT, NULL); /* Read controller ID string */
recv_mess(card_index, buff, 1);
strncpy(brdptr->ident, &buff[2], 50); /* Skip "XD" */

Expand All @@ -588,8 +589,8 @@ static int motor_init()
{
int axis_name = (int) *PM500_axis_names[total_axis];
brdptr->motor_info[total_axis].motor_motion = NULL;
sprintf(buff, "%cSTAT?", axis_name);
send_mess(card_index, buff, (char*) NULL);
sprintf(buff, "%cSTAT?", axis_name); /* TB: Should this be "%sSTAT?" instead */
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
if (buff[1] == 'E')
break;
Expand All @@ -610,11 +611,12 @@ static int motor_init()
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
char *firmware, *axis_name = PM500_axis_names[motor_index];
char *firmware;
const char *axis_name = PM500_axis_names[motor_index];
double res = 0.0;

sprintf(buff, "%sCONFIG?", axis_name);
send_mess(card_index, buff, (char*) NULL);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
firmware = &buff[8];
Debug(3, "motor_init: firmware = %s\n", firmware);
Expand Down

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