---

usrmotintf.h

Go to the documentation of this file.

#ifndef USRMOTINTF_H
#define USRMOTINTF_H

/*
   usrmotintf.h

   Decls for interface functions (init, exit, read, write) for user
   processes which communicate with the real-time motion controller
   in emcmot.c

   Modification history:

   16-Aug-2000  FMP added usrmotAlter(); added #if 0 matching brackets
   to extern "C" bracket to satisfy autoindenters
   10-Aug-2000  FMP added decls for usrmotLoadComp,PrintComp()
   20-Aug-1998  FMP took logSize out of usrmotDumpLog(), since it's
   in the log header
   6-Jul-1998  FMP added usrmotIniLoad()
   28-May-1998  FMP added EMCMOT_COMM_SPLIT_READ_TIMEOUT
   13-Feb-1998  FMP added EMCMOT_COMM error values
   12-Feb-1998  FMP added usrmotReadEmcmotError()
   10-Jul-1997  FMP created from functions in usrmot.c
*/

#include "emcmot.h"             /* EMCMOT_STATUS,CMD */

/* ident tag */
#ifndef __GNUC__
#ifndef __attribute__
#define __attribute__(x)
#endif
#endif

static char  __attribute__((unused)) usrmotintf_h[] = "$Id: usrmotintf.h,v 1.9 2001/07/31 15:47:45 wshackle Exp $";

#ifdef __cplusplus
extern "C" {
#if 0
}
#endif
#endif

/* usrmotIniLoad() loads params (SHMEM_KEY, SHMEM_BASE_ADDRESS) 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 * s);

/* usrmotReadEmcmotConfig() gets the config info out of
   the emcmot controller and puts it in arg */
extern int usrmotReadEmcmotConfig(EMCMOT_CONFIG * s);

/* usrmotReadEmcmotDebug() gets the debug info out of
   the emcmot controller and puts it in arg */
extern int usrmotReadEmcmotDebug(EMCMOT_DEBUG * 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 s, int which);

/* usrmotPrintEmcmotConfig() prints the config in s, using which
   arg to select sub-prints */
extern void usrmotPrintEmcmotConfig(EMCMOT_CONFIG s, int which);

/* usrmotPrintEmcmotDebug() prints the debug in s, using which
   arg to select sub-prints */
extern void usrmotPrintEmcmotDebug(EMCMOT_DEBUG 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 */

/* usrmotWriteEmcmotCommand() writes the command to the emcmot process.
   Return values are as per the #defines above */
extern int usrmotWriteEmcmotCommand(EMCMOT_COMMAND * c);

/* usrmotInit() initializes communication with the emcmot process */
extern int usrmotInit(void);

/* usrmotExit() terminates communication with the emcmot process */
extern int usrmotExit(void);

/* usrmotDumpLog() dumps the logged data (if active) from the usrmot
   process into the named filename */
extern int usrmotDumpLog(const char * filename, int include_header);

/* usrmotLoadComp() loads the compensation data in file into the axis */
extern int usrmotLoadComp(int axis, const char * file);

/* usrmotAlter() loads the alter value to modify the axis position */
extern int usrmotAlter(int axis, double alter);

/* usrmotQueryAlter() sets the alter ptr to the current alter value */
extern int usrmotQueryAlter(int axis, double * alter);

/* usrmotPrintComp() prints the axis compensation data for axis */
extern int usrmotPrintComp(int axis);

#ifdef __cplusplus
#if 0
{
#endif
}
#endif

#endif /* USRMOTINTF_H */

---