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/********************************************************************
* Description: usrmotintf.h
* Decls for interface functions (init, exit, read, write) for user
* processes which communicate with the real-time motion controller
* in emcmot.c
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef USRMOTINTF_H
#define USRMOTINTF_H
struct emcmot_status_t;
struct emcmot_command_t;
struct emcmot_config_t;
struct emcmot_debug_t;
struct emcmot_error_t;
#ifdef __cplusplus
extern "C" {
#endif
/* usrmotIniLoad() loads params (SHMEM_KEY) from
named ini file */
extern int usrmotIniLoad(const char *file);
/* usrmotReadEmcmotStatus() gets the status info out of
the emcmot controller and puts it in arg */
extern int usrmotReadEmcmotStatus(emcmot_status_t * s);
/* usrmotReadEmcmotConfig() gets the config info out of
the emcmot controller and puts it in arg */
extern int usrmotReadEmcmotConfig(emcmot_config_t * s);
/* usrmotReadEmcmotDebug() gets the debug info out of
the emcmot controller and puts it in arg */
extern int usrmotReadEmcmotDebug(emcmot_debug_t * s);
/* usrmotReadEmcmotError() gets the earliest queued error string out of
the emcmot controller and puts it in arg */
extern int usrmotReadEmcmotError(char *e);
/* usrmotPrintEmcmotStatus() prints the status in s, using which
arg to select sub-prints */
extern void usrmotPrintEmcmotStatus(emcmot_status_t *s, int which);
/* usrmotPrintEmcmotConfig() prints the config in s, using which
arg to select sub-prints */
extern void usrmotPrintEmcmotConfig(emcmot_config_t s, int which);
/* usrmotPrintEmcmotDebug() prints the debug in s, using which
arg to select sub-prints */
extern void usrmotPrintEmcmotDebug(emcmot_debug_t *s, int which);
/* values returned by usrmotWriteEmcmotCommand; negative values
are all errors */
#define EMCMOT_COMM_OK 0 /* went through and honored */
#define EMCMOT_COMM_ERROR_CONNECT -1 /* can't even connect */
#define EMCMOT_COMM_ERROR_TIMEOUT -2 /* connected, but send timeout */
#define EMCMOT_COMM_ERROR_COMMAND -3 /* sent, but can't run command now */
#define EMCMOT_COMM_SPLIT_READ_TIMEOUT -4 /* can't read without split */
#define EMCMOT_COMM_INVALID_MOTION_ID -5 /* do not queue a motion id MOTION_INVALID_ID */
/* usrmotWriteEmcmotCommand() writes the command to the emcmot process.
Return values are as per the #defines above */
extern int usrmotWriteEmcmotCommand(emcmot_command_t * c);
/* usrmotInit() initializes communication with the emcmot process */
extern int usrmotInit(const char *name);
/* usrmotExit() terminates communication with the emcmot process */
extern int usrmotExit(void);
/* usrmotLoadComp() loads the compensation data in file into the joint */
extern int usrmotLoadComp(int joint, const char *file, int type);
/* usrmotPrintComp() prints the joint compensation data for the specified joint */
extern int usrmotPrintComp(int joint);
#ifdef __cplusplus
}
#endif
#endif /* USRMOTINTF_H */
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