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some bugs fixed

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This commit is contained in:
Edward Emelianov
2021-10-18 17:24:03 +03:00
parent 81c94bcd1e
commit 68449bef89
30 changed files with 577 additions and 551 deletions
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24
LocCorr/pusirobo.c
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@@ -26,9 +26,9 @@
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <usefull_macros.h>
#include "config.h"
#include "debug.h"
#include "improc.h" // global variable stopwork
#include "pusirobo.h"
#include "socket.h"
@@ -327,7 +327,7 @@ static int chkRelay(){
relay = r;
ret = TRUE;
rtn:
FREE(ans);
free(ans);
return ret;
}
@@ -357,7 +357,7 @@ static int setSpeed(const char *mesg, const char *name){
LOGERR("no %s motor", name);
retval = FALSE;
}
FREE(ans);
if(ans) free(ans);
return retval;
}
@@ -403,11 +403,11 @@ static int pusi_connect_server(){
send_message_nocheck(registerVaxe);
send_message_nocheck(registerFocus);
send_message_nocheck(registerRelay);
int retval = TRUE;
if(!chkRelay()) retval = FALSE;
if(!setSpeed(setUspeed, "U")) retval = FALSE;
if(!setSpeed(setVspeed, "V")) retval = FALSE;
if(!setSpeed(setFspeed, "F")) retval = FALSE;
int retval = FALSE;
if(chkRelay()) retval = TRUE;
if(setSpeed(setUspeed, "U")) retval = TRUE;
if(setSpeed(setVspeed, "V")) retval = TRUE;
if(setSpeed(setFspeed, "F")) retval = TRUE;
if(!retval) pusi_disconnect();
else{
state = PUSI_RELAX;
@@ -460,7 +460,7 @@ static int moving_finished(const char *mesgstatus, volatile atomic_int *position
LOGDBG("%s not found in '%s'", CURPOSstatus, ans);
}
}
FREE(ans);
if(ans) free(ans);
return ret;
}
@@ -483,7 +483,7 @@ static int move_motor(const char *movecmd, int s){
LOGWARN("NO OK in %s", ans);
ret = FALSE;
}
FREE(ans);
if(ans) free(ans);
return ret;
}
@@ -968,6 +968,7 @@ static char *Umove(const char *val, char *buf, int buflen){
int Unfixed = Uposition + d + Fposition;
if(Unfixed > theconf.maxUsteps || Unfixed < -theconf.maxUsteps){
snprintf(buf, buflen, FAIL);
return buf;
}
dUmove = d;
snprintf(buf, buflen, OK);
@@ -978,6 +979,7 @@ static char *Vmove(const char *val, char *buf, int buflen){
int Vnfixed = Vposition + d + Fposition;
if(Vnfixed > theconf.maxVsteps || Vnfixed < -theconf.maxVsteps){
snprintf(buf, buflen, FAIL);
return buf;
}
dVmove = d;
snprintf(buf, buflen, OK);
@@ -1009,7 +1011,7 @@ static char *relaycmd(const char *val, char *buf, int buflen){
}
}
}
FREE(par);
free(par);
snprintf(buf, buflen, "%s", ans);
return buf;
}