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simmot_n.cc

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/*
*       New C++ File starts here.
*       This file should be named simmot_n.cpp
*/

// Include all NML, CMS, and RCS classes and functions
#include "rcs.hh"

// Include command and status message definitions
#include "simmot_n.h"
#include "amplifier.h"
#include "dcmotor2.h"
#include "encoder.h"

// Forward Function Prototypes
void simmot_status_struct_update(CMS *cms, simmot_status_struct *x);
void AMPLIFIER_STRUCT_update(CMS *cms, AMPLIFIER_STRUCT *x);
void DC_MOTOR_STRUCT_update(CMS *cms, DC_MOTOR_STRUCT *x);
void ENCODER_STRUCT_update(CMS *cms, ENCODER_STRUCT *x);
void simmot_command_struct_update(CMS *cms, simmot_command_struct *x);

/*
*       NML/CMS Format function : simmot_format
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
int simmot_format(NMLTYPE type, void *buffer, CMS *cms)
{
        switch(type)
        {
        case SIMMOT_COMMAND_TYPE:
                ((SIMMOT_COMMAND *) buffer)->update(cms);
                break;
        case SIMMOT_STATUS_TYPE:
                ((SIMMOT_STATUS *) buffer)->update(cms);
                break;

        default:
                return(0);
        }
        return 1;
}


// NML Symbol Lookup Function
const char *simmot_symbol_lookup(int type)
{
        switch(type)
        {
        case SIMMOT_COMMAND_TYPE:
                return "SIMMOT_COMMAND";
        case SIMMOT_STATUS_TYPE:
                return "SIMMOT_STATUS";
        default:
                return"UNKNOWN";
                break;
        }
        return(NULL);
}

/*
*       NML/CMS Update function for simmot_status_struct
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void simmot_status_struct_update(CMS *cms,simmot_status_struct *x)
{
        cms->update(x->initialized);
        cms->update(x->cmd_count);
        cms->update(x->ampOutput,8);
        for(int i_amplifier = 0;i_amplifier < 8 ;i_amplifier++)
                AMPLIFIER_STRUCT_update(cms,&(x->amplifier[i_amplifier]));
        for(int i_dcmotor = 0;i_dcmotor < 8 ;i_dcmotor++)
                DC_MOTOR_STRUCT_update(cms,&(x->dcmotor[i_dcmotor]));
        for(int i_encoder = 0;i_encoder < 8 ;i_encoder++)
                ENCODER_STRUCT_update(cms,&(x->encoder[i_encoder]));

}


/*
*       NML/CMS Update function for DC_MOTOR_STRUCT
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void DC_MOTOR_STRUCT_update(CMS *cms,DC_MOTOR_STRUCT *x)
{
        cms->update(x->Ra);
        cms->update(x->La);
        cms->update(x->Kb);
        cms->update(x->Jm);
        cms->update(x->Bm);
        cms->update(x->a);
        cms->update(x->b);
        cms->update(x->c);
        cms->update(x->fourac_minus_b_squared);
        cms->update(x->sa_real);
        cms->update(x->sb_real);
        cms->update(x->sa_img);
        cms->update(x->sb_img);
        cms->update(x->sa_time_factor);
        cms->update(x->sb_time_factor);
        cms->update(x->order);
        cms->update(x->wo);
        cms->update(x->dwo);
        cms->update(x->last_ea);
        cms->update(x->A);
        cms->update(x->B);
        cms->update(x->delta_thm);
        cms->update(x->ia);
        cms->update(x->dia);
        cms->update(x->wm);
        cms->update(x->dwm);
        cms->update(x->thm);
        cms->update(x->dthm);
        cms->update(x->lastTime);
        cms->update(x->configured);
        cms->update(x->cycleTime);
        cms->update(x->offset);
        cms->update(x->revsPerUnit);

}


/*
*       NML/CMS Update function for SIMMOT_STATUS
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void SIMMOT_STATUS::update(CMS *cms)
{
        simmot_status_struct_update(cms,&data);

}


/*
*       NML/CMS Update function for AMPLIFIER_STRUCT
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void AMPLIFIER_STRUCT_update(CMS *cms,AMPLIFIER_STRUCT *x)
{
        cms->update(x->gain);
        cms->update(x->maxOutputCurrent);
        cms->update(x->loadResistance);
        cms->update(x->configured);
        cms->update(x->enabled);
        cms->update(x->tripped);

}


/*
*       NML/CMS Update function for ENCODER_STRUCT
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void ENCODER_STRUCT_update(CMS *cms,ENCODER_STRUCT *x)
{
        cms->update(x->countsPerRev);
        cms->update(x->configured);
        cms->update(x->counts);
        cms->update(x->calibrating);
        cms->update(x->offset);
        cms->update(x->lastPosition);
        cms->update(x->index);

}


/*
*       NML/CMS Update function for simmot_command_struct
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void simmot_command_struct_update(CMS *cms,simmot_command_struct *x)
{
        for(int i_amplifier = 0;i_amplifier < 8 ;i_amplifier++)
                AMPLIFIER_STRUCT_update(cms,&(x->amplifier[i_amplifier]));
        for(int i_dcmotor = 0;i_dcmotor < 8 ;i_dcmotor++)
                DC_MOTOR_STRUCT_update(cms,&(x->dcmotor[i_dcmotor]));
        for(int i_encoder = 0;i_encoder < 8 ;i_encoder++)
                ENCODER_STRUCT_update(cms,&(x->encoder[i_encoder]));

}


/*
*       NML/CMS Update function for SIMMOT_COMMAND
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
void SIMMOT_COMMAND::update(CMS *cms)
{
        simmot_command_struct_update(cms,&data);

}

/*
*       Constructor for SIMMOT_STATUS
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
SIMMOT_STATUS::SIMMOT_STATUS()
        : NMLmsg(SIMMOT_STATUS_TYPE,sizeof(SIMMOT_STATUS))
{
        /*
        * If the class simmot_status_struct does not initialize its members,
        * then the members of data should be initialized here.
        */


}

/*
*       Constructor for SIMMOT_COMMAND
*       Automatically generated by RCS Java Diagnostics Tool.
*       on Tue Oct 24 13:02:56 GMT-5:00 2000
*/
SIMMOT_COMMAND::SIMMOT_COMMAND()
        : NMLmsg(SIMMOT_COMMAND_TYPE,sizeof(SIMMOT_COMMAND))
{
        /*
        * If the class simmot_command_struct does not initialize its members,
        * then the members of data should be initialized here.
        */


}

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