From 167aa48aeae4ba9a8c4c50c7f7097ff227ae0667 Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Wed, 9 Dec 2009 15:52:51 +0000 Subject: [PATCH] dos2unix reformatting required before setting svn:eol-style to "native". --- motorApp/NewportSrc/XPS_C8_drivers.cpp | 16454 +++++++++++------------ 1 file changed, 8227 insertions(+), 8227 deletions(-) diff --git a/motorApp/NewportSrc/XPS_C8_drivers.cpp b/motorApp/NewportSrc/XPS_C8_drivers.cpp index 0eb71607..6fd97b70 100644 --- a/motorApp/NewportSrc/XPS_C8_drivers.cpp +++ b/motorApp/NewportSrc/XPS_C8_drivers.cpp @@ -1,8243 +1,8243 @@ -//////////////////////////////////////////////////////////////////// -// Created source file XPS_C8_drivers.cpp for API description -// - - -#include -#include -#include -#include -#include "Socket.h" - -#ifdef _WIN32 - #ifdef _DLL /* _DLL is defined by EPICS if we are being compiled to call DLLs */ - #define DLL _declspec(dllexport) - #else - #define DLL - #endif - #include "strtok_r.h" -#else - #define DLL -#endif - - -#include "XPS_C8_drivers.h" - - - -#define SIZE_SMALL 256 -#define SIZE_NOMINAL 512 -#define SIZE_BIG 2048 -#define SIZE_HUGE 32768 - -#define SIZE_EXECUTE_METHOD 1024 - -#define SIZE_NAME 100 - - -#ifdef __cplusplus -extern "C" -{ -#endif - - -#define DLL_VERSION "Library version for XPS-C8 Firmware V2.1.0" - -/***********************************************************************/ -int __stdcall TCP_ConnectToServer(char *Ip_Address, int Ip_Port, double TimeOut) -{ - return (ConnectToServer(Ip_Address, Ip_Port, TimeOut)); -} -/***********************************************************************/ -void __stdcall TCP_SetTimeout(int SocketIndex, double Timeout) -{ - SetTCPTimeout(SocketIndex, Timeout); -} -/***********************************************************************/ -void __stdcall TCP_CloseSocket(int SocketIndex) -{ - CloseSocket(SocketIndex); -} -/***********************************************************************/ -char * __stdcall TCP_GetError(int SocketIndex) -{ - return (GetError(SocketIndex)); -} -/***********************************************************************/ -char * __stdcall GetLibraryVersion(void) -{ - return (DLL_VERSION); -} - -/*********************************************************************** - * ElapsedTimeGet : Return elapsed time from controller power on - * - * - Parameters : - * int SocketIndex - * double *ElapsedTime - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ElapsedTimeGet (int SocketIndex, double * ElapsedTime) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "ElapsedTimeGet (double *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", ElapsedTime); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ErrorStringGet : Return the error string corresponding to the error code - * - * - Parameters : - * int SocketIndex - * int ErrorCode - * char *ErrorString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ErrorStringGet (int SocketIndex, int ErrorCode, char * ErrorString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "ErrorStringGet (%d,char *)", ErrorCode); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ErrorString, pt); - ptNext = strchr (ErrorString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * FirmwareVersionGet : Return firmware version - * - * - Parameters : - * int SocketIndex - * char *Version - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall FirmwareVersionGet (int SocketIndex, char * Version) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "FirmwareVersionGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (Version, pt); - ptNext = strchr (Version, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * TCLScriptExecute : Execute a TCL script from a TCL file - * - * - Parameters : - * int SocketIndex - * char *TCLFileName - * char *TaskName - * char *ParametersList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall TCLScriptExecute (int SocketIndex, char * TCLFileName, char * TaskName, char * ParametersList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "TCLScriptExecute (%s,%s,%s)", TCLFileName, TaskName, ParametersList); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * TCLScriptExecuteAndWait : Execute a TCL script from a TCL file and wait the end of execution to return - * - * - Parameters : - * int SocketIndex - * char *TCLFileName - * char *TaskName - * char *InputParametersList - * char *OutputParametersList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall TCLScriptExecuteAndWait (int SocketIndex, char * TCLFileName, char * TaskName, char * InputParametersList, char * OutputParametersList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "TCLScriptExecuteAndWait (%s,%s,%s,char *)", TCLFileName, TaskName, InputParametersList); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (OutputParametersList, pt); - ptNext = strchr (OutputParametersList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * TCLScriptKill : Kill TCL Task - * - * - Parameters : - * int SocketIndex - * char *TaskName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall TCLScriptKill (int SocketIndex, char * TaskName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "TCLScriptKill (%s)", TaskName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * TimerGet : Get a timer - * - * - Parameters : - * int SocketIndex - * char *TimerName - * int *FrequencyTicks - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall TimerGet (int SocketIndex, char * TimerName, int * FrequencyTicks) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "TimerGet (%s,int *)", TimerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", FrequencyTicks); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * TimerSet : Set a timer - * - * - Parameters : - * int SocketIndex - * char *TimerName - * int FrequencyTicks - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall TimerSet (int SocketIndex, char * TimerName, int FrequencyTicks) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "TimerSet (%s,%d)", TimerName, FrequencyTicks); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * Reboot : Reboot the controller - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall Reboot (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "Reboot ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * Login : Log in - * - * - Parameters : - * int SocketIndex - * char *Name - * char *Password - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall Login (int SocketIndex, char * Name, char * Password) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "Login (%s,%s)", Name, Password); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * CloseAllOtherSockets : Close all socket beside the one used to send this command - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall CloseAllOtherSockets (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "CloseAllOtherSockets ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventAdd : ** OBSOLETE ** Add an event - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *EventName - * char *EventParameter - * char *ActionName - * char *ActionParameter1 - * char *ActionParameter2 - * char *ActionParameter3 - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventAdd (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter, char * ActionName, char * ActionParameter1, char * ActionParameter2, char * ActionParameter3) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventAdd (%s,%s,%s,%s,%s,%s,%s)", PositionerName, EventName, EventParameter, ActionName, ActionParameter1, ActionParameter2, ActionParameter3); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventGet : ** OBSOLETE ** Read events and actions list - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *EventsAndActionsList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventGet (int SocketIndex, char * PositionerName, char * EventsAndActionsList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventGet (%s,char *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (EventsAndActionsList, pt); - ptNext = strchr (EventsAndActionsList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventRemove : ** OBSOLETE ** Delete an event - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *EventName - * char *EventParameter - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventRemove (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventRemove (%s,%s,%s)", PositionerName, EventName, EventParameter); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventWait : ** OBSOLETE ** Wait an event - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *EventName - * char *EventParameter - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventWait (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventWait (%s,%s,%s)", PositionerName, EventName, EventParameter); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedConfigurationTriggerSet : Configure one or several events - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *ExtendedEventName - * char *EventParameter1 - * char *EventParameter2 - * char *EventParameter3 - * char *EventParameter4 - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedConfigurationTriggerSet (int SocketIndex, int NbElements, char * ExtendedEventNameList, char * EventParameter1List, char * EventParameter2List, char * EventParameter3List, char * EventParameter4List) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; +//////////////////////////////////////////////////////////////////// +// Created source file XPS_C8_drivers.cpp for API description +// + + +#include +#include +#include +#include +#include "Socket.h" + +#ifdef _WIN32 + #ifdef _DLL /* _DLL is defined by EPICS if we are being compiled to call DLLs */ + #define DLL _declspec(dllexport) + #else + #define DLL + #endif + #include "strtok_r.h" +#else + #define DLL +#endif + + +#include "XPS_C8_drivers.h" + + + +#define SIZE_SMALL 256 +#define SIZE_NOMINAL 512 +#define SIZE_BIG 2048 +#define SIZE_HUGE 32768 + +#define SIZE_EXECUTE_METHOD 1024 + +#define SIZE_NAME 100 + + +#ifdef __cplusplus +extern "C" +{ +#endif + + +#define DLL_VERSION "Library version for XPS-C8 Firmware V2.1.0" + +/***********************************************************************/ +int __stdcall TCP_ConnectToServer(char *Ip_Address, int Ip_Port, double TimeOut) +{ + return (ConnectToServer(Ip_Address, Ip_Port, TimeOut)); +} +/***********************************************************************/ +void __stdcall TCP_SetTimeout(int SocketIndex, double Timeout) +{ + SetTCPTimeout(SocketIndex, Timeout); +} +/***********************************************************************/ +void __stdcall TCP_CloseSocket(int SocketIndex) +{ + CloseSocket(SocketIndex); +} +/***********************************************************************/ +char * __stdcall TCP_GetError(int SocketIndex) +{ + return (GetError(SocketIndex)); +} +/***********************************************************************/ +char * __stdcall GetLibraryVersion(void) +{ + return (DLL_VERSION); +} + +/*********************************************************************** + * ElapsedTimeGet : Return elapsed time from controller power on + * + * - Parameters : + * int SocketIndex + * double *ElapsedTime + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ElapsedTimeGet (int SocketIndex, double * ElapsedTime) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "ElapsedTimeGet (double *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", ElapsedTime); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ErrorStringGet : Return the error string corresponding to the error code + * + * - Parameters : + * int SocketIndex + * int ErrorCode + * char *ErrorString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ErrorStringGet (int SocketIndex, int ErrorCode, char * ErrorString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "ErrorStringGet (%d,char *)", ErrorCode); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ErrorString, pt); + ptNext = strchr (ErrorString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * FirmwareVersionGet : Return firmware version + * + * - Parameters : + * int SocketIndex + * char *Version + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall FirmwareVersionGet (int SocketIndex, char * Version) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "FirmwareVersionGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (Version, pt); + ptNext = strchr (Version, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * TCLScriptExecute : Execute a TCL script from a TCL file + * + * - Parameters : + * int SocketIndex + * char *TCLFileName + * char *TaskName + * char *ParametersList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall TCLScriptExecute (int SocketIndex, char * TCLFileName, char * TaskName, char * ParametersList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "TCLScriptExecute (%s,%s,%s)", TCLFileName, TaskName, ParametersList); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * TCLScriptExecuteAndWait : Execute a TCL script from a TCL file and wait the end of execution to return + * + * - Parameters : + * int SocketIndex + * char *TCLFileName + * char *TaskName + * char *InputParametersList + * char *OutputParametersList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall TCLScriptExecuteAndWait (int SocketIndex, char * TCLFileName, char * TaskName, char * InputParametersList, char * OutputParametersList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "TCLScriptExecuteAndWait (%s,%s,%s,char *)", TCLFileName, TaskName, InputParametersList); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (OutputParametersList, pt); + ptNext = strchr (OutputParametersList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * TCLScriptKill : Kill TCL Task + * + * - Parameters : + * int SocketIndex + * char *TaskName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall TCLScriptKill (int SocketIndex, char * TaskName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "TCLScriptKill (%s)", TaskName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * TimerGet : Get a timer + * + * - Parameters : + * int SocketIndex + * char *TimerName + * int *FrequencyTicks + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall TimerGet (int SocketIndex, char * TimerName, int * FrequencyTicks) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "TimerGet (%s,int *)", TimerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", FrequencyTicks); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * TimerSet : Set a timer + * + * - Parameters : + * int SocketIndex + * char *TimerName + * int FrequencyTicks + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall TimerSet (int SocketIndex, char * TimerName, int FrequencyTicks) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "TimerSet (%s,%d)", TimerName, FrequencyTicks); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * Reboot : Reboot the controller + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall Reboot (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "Reboot ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * Login : Log in + * + * - Parameters : + * int SocketIndex + * char *Name + * char *Password + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall Login (int SocketIndex, char * Name, char * Password) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "Login (%s,%s)", Name, Password); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * CloseAllOtherSockets : Close all socket beside the one used to send this command + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall CloseAllOtherSockets (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "CloseAllOtherSockets ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventAdd : ** OBSOLETE ** Add an event + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *EventName + * char *EventParameter + * char *ActionName + * char *ActionParameter1 + * char *ActionParameter2 + * char *ActionParameter3 + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventAdd (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter, char * ActionName, char * ActionParameter1, char * ActionParameter2, char * ActionParameter3) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventAdd (%s,%s,%s,%s,%s,%s,%s)", PositionerName, EventName, EventParameter, ActionName, ActionParameter1, ActionParameter2, ActionParameter3); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventGet : ** OBSOLETE ** Read events and actions list + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *EventsAndActionsList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventGet (int SocketIndex, char * PositionerName, char * EventsAndActionsList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventGet (%s,char *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (EventsAndActionsList, pt); + ptNext = strchr (EventsAndActionsList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventRemove : ** OBSOLETE ** Delete an event + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *EventName + * char *EventParameter + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventRemove (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventRemove (%s,%s,%s)", PositionerName, EventName, EventParameter); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventWait : ** OBSOLETE ** Wait an event + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *EventName + * char *EventParameter + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventWait (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventWait (%s,%s,%s)", PositionerName, EventName, EventParameter); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedConfigurationTriggerSet : Configure one or several events + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *ExtendedEventName + * char *EventParameter1 + * char *EventParameter2 + * char *EventParameter3 + * char *EventParameter4 + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedConfigurationTriggerSet (int SocketIndex, int NbElements, char * ExtendedEventNameList, char * EventParameter1List, char * EventParameter2List, char * EventParameter3List, char * EventParameter4List) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, ExtendedEventNameList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray1)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, ExtendedEventNameList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray1)[SIZE_NAME]; stringArray1 = new char [NbElements][SIZE_NAME]; - memset(stringArray1,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, EventParameter1List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray1[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray2)[SIZE_NAME]; + memset(stringArray1,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, EventParameter1List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray1[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray2)[SIZE_NAME]; stringArray2 = new char [NbElements][SIZE_NAME]; - memset(stringArray2,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, EventParameter2List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray2[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray3)[SIZE_NAME]; + memset(stringArray2,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, EventParameter2List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray2[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray3)[SIZE_NAME]; stringArray3 = new char [NbElements][SIZE_NAME]; - memset(stringArray3,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, EventParameter3List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray3[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray4)[SIZE_NAME]; + memset(stringArray3,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, EventParameter3List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray3[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray4)[SIZE_NAME]; stringArray4 = new char [NbElements][SIZE_NAME]; - memset(stringArray4,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, EventParameter4List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray4[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedConfigurationTriggerSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,%s,%s,%s,%s", stringArray0[i], stringArray1[i], stringArray2[i], stringArray3[i], stringArray4[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - delete [] stringArray1; - delete [] stringArray2; - delete [] stringArray3; - delete [] stringArray4; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedConfigurationTriggerGet : Read the event configuration - * - * - Parameters : - * int SocketIndex - * char *EventTriggerConfiguration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedConfigurationTriggerGet (int SocketIndex, char * EventTriggerConfiguration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedConfigurationTriggerGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (EventTriggerConfiguration, pt); - ptNext = strchr (EventTriggerConfiguration, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedConfigurationActionSet : Configure one or several actions - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *ExtendedActionName - * char *ActionParameter1 - * char *ActionParameter2 - * char *ActionParameter3 - * char *ActionParameter4 - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedConfigurationActionSet (int SocketIndex, int NbElements, char * ExtendedActionNameList, char * ActionParameter1List, char * ActionParameter2List, char * ActionParameter3List, char * ActionParameter4List) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray4,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, EventParameter4List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray4[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedConfigurationTriggerSet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s,%s,%s,%s,%s", stringArray0[i], stringArray1[i], stringArray2[i], stringArray3[i], stringArray4[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + delete [] stringArray1; + delete [] stringArray2; + delete [] stringArray3; + delete [] stringArray4; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedConfigurationTriggerGet : Read the event configuration + * + * - Parameters : + * int SocketIndex + * char *EventTriggerConfiguration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedConfigurationTriggerGet (int SocketIndex, char * EventTriggerConfiguration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedConfigurationTriggerGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (EventTriggerConfiguration, pt); + ptNext = strchr (EventTriggerConfiguration, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedConfigurationActionSet : Configure one or several actions + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *ExtendedActionName + * char *ActionParameter1 + * char *ActionParameter2 + * char *ActionParameter3 + * char *ActionParameter4 + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedConfigurationActionSet (int SocketIndex, int NbElements, char * ExtendedActionNameList, char * ActionParameter1List, char * ActionParameter2List, char * ActionParameter3List, char * ActionParameter4List) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, ExtendedActionNameList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray1)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, ExtendedActionNameList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray1)[SIZE_NAME]; stringArray1 = new char [NbElements][SIZE_NAME]; - memset(stringArray1,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, ActionParameter1List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray1[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray2)[SIZE_NAME]; + memset(stringArray1,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, ActionParameter1List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray1[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray2)[SIZE_NAME]; stringArray2 = new char [NbElements][SIZE_NAME]; - memset(stringArray2,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, ActionParameter2List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray2[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray3)[SIZE_NAME]; + memset(stringArray2,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, ActionParameter2List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray2[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray3)[SIZE_NAME]; stringArray3 = new char [NbElements][SIZE_NAME]; - memset(stringArray3,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, ActionParameter3List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray3[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - char (*stringArray4)[SIZE_NAME]; + memset(stringArray3,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, ActionParameter3List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray3[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + char (*stringArray4)[SIZE_NAME]; stringArray4 = new char [NbElements][SIZE_NAME]; - memset(stringArray4,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, ActionParameter4List, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray4[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedConfigurationActionSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,%s,%s,%s,%s", stringArray0[i], stringArray1[i], stringArray2[i], stringArray3[i], stringArray4[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - delete [] stringArray1; - delete [] stringArray2; - delete [] stringArray3; - delete [] stringArray4; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedConfigurationActionGet : Read the action configuration - * - * - Parameters : - * int SocketIndex - * char *ActionConfiguration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedConfigurationActionGet (int SocketIndex, char * ActionConfiguration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedConfigurationActionGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ActionConfiguration, pt); - ptNext = strchr (ActionConfiguration, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedStart : Launch the last event and action configuration and return an ID - * - * - Parameters : - * int SocketIndex - * int *ID - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedStart (int SocketIndex, int * ID) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedStart (int *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", ID); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedAllGet : Read all event and action configurations - * - * - Parameters : - * int SocketIndex - * char *EventActionConfigurations - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedAllGet (int SocketIndex, char * EventActionConfigurations) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedAllGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (EventActionConfigurations, pt); - ptNext = strchr (EventActionConfigurations, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedGet : Read the event and action configuration defined by ID - * - * - Parameters : - * int SocketIndex - * int ID - * char *EventTriggerConfiguration - * char *ActionConfiguration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedGet (int SocketIndex, int ID, char * EventTriggerConfiguration, char * ActionConfiguration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedGet (%d,char *,char *)", ID); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (EventTriggerConfiguration, pt); - ptNext = strchr (EventTriggerConfiguration, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ActionConfiguration, pt); - ptNext = strchr (ActionConfiguration, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedRemove : Remove the event and action configuration defined by ID - * - * - Parameters : - * int SocketIndex - * int ID - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedRemove (int SocketIndex, int ID) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedRemove (%d)", ID); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventExtendedWait : Wait events from the last event configuration - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventExtendedWait (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventExtendedWait ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringConfigurationGet : Read different mnemonique type - * - * - Parameters : - * int SocketIndex - * char *Type - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringConfigurationGet (int SocketIndex, char * Type) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringConfigurationGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (Type, pt); - ptNext = strchr (Type, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringConfigurationSet : Configuration acquisition - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *Type - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringConfigurationSet (int SocketIndex, int NbElements, char * TypeList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray4,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, ActionParameter4List, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray4[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedConfigurationActionSet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s,%s,%s,%s,%s", stringArray0[i], stringArray1[i], stringArray2[i], stringArray3[i], stringArray4[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + delete [] stringArray1; + delete [] stringArray2; + delete [] stringArray3; + delete [] stringArray4; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedConfigurationActionGet : Read the action configuration + * + * - Parameters : + * int SocketIndex + * char *ActionConfiguration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedConfigurationActionGet (int SocketIndex, char * ActionConfiguration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedConfigurationActionGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ActionConfiguration, pt); + ptNext = strchr (ActionConfiguration, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedStart : Launch the last event and action configuration and return an ID + * + * - Parameters : + * int SocketIndex + * int *ID + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedStart (int SocketIndex, int * ID) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedStart (int *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", ID); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedAllGet : Read all event and action configurations + * + * - Parameters : + * int SocketIndex + * char *EventActionConfigurations + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedAllGet (int SocketIndex, char * EventActionConfigurations) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedAllGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (EventActionConfigurations, pt); + ptNext = strchr (EventActionConfigurations, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedGet : Read the event and action configuration defined by ID + * + * - Parameters : + * int SocketIndex + * int ID + * char *EventTriggerConfiguration + * char *ActionConfiguration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedGet (int SocketIndex, int ID, char * EventTriggerConfiguration, char * ActionConfiguration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedGet (%d,char *,char *)", ID); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (EventTriggerConfiguration, pt); + ptNext = strchr (EventTriggerConfiguration, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ActionConfiguration, pt); + ptNext = strchr (ActionConfiguration, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedRemove : Remove the event and action configuration defined by ID + * + * - Parameters : + * int SocketIndex + * int ID + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedRemove (int SocketIndex, int ID) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedRemove (%d)", ID); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventExtendedWait : Wait events from the last event configuration + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventExtendedWait (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventExtendedWait ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringConfigurationGet : Read different mnemonique type + * + * - Parameters : + * int SocketIndex + * char *Type + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringConfigurationGet (int SocketIndex, char * Type) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringConfigurationGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (Type, pt); + ptNext = strchr (Type, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringConfigurationSet : Configuration acquisition + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *Type + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringConfigurationSet (int SocketIndex, int NbElements, char * TypeList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, TypeList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringConfigurationSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s", stringArray0[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringCurrentNumberGet : Maximum number of samples and current number during acquisition - * - * - Parameters : - * int SocketIndex - * int *CurrentNumber - * int *MaximumSamplesNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringCurrentNumberGet (int *,int *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", CurrentNumber); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", MaximumSamplesNumber); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringStopAndSave : Stop acquisition and save data - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringStopAndSave (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringStopAndSave ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringDataAcquire : Acquire a configured data - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringDataAcquire (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringDataAcquire ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringDataGet : Get a data line from gathering buffer - * - * - Parameters : - * int SocketIndex - * int IndexPoint - * char *DataBufferLine - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringDataGet (int SocketIndex, int IndexPoint, char * DataBufferLine) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringDataGet (%d,char *)", IndexPoint); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (DataBufferLine, pt); - ptNext = strchr (DataBufferLine, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringReset : Empty the gathered data in memory to start new gathering from scratch - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringReset (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringReset ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringExternalConfigurationSet : Configuration acquisition - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *Type - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringExternalConfigurationSet (int SocketIndex, int NbElements, char * TypeList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, TypeList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringConfigurationSet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s", stringArray0[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringCurrentNumberGet : Maximum number of samples and current number during acquisition + * + * - Parameters : + * int SocketIndex + * int *CurrentNumber + * int *MaximumSamplesNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringCurrentNumberGet (int *,int *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", CurrentNumber); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", MaximumSamplesNumber); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringStopAndSave : Stop acquisition and save data + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringStopAndSave (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringStopAndSave ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringDataAcquire : Acquire a configured data + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringDataAcquire (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringDataAcquire ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringDataGet : Get a data line from gathering buffer + * + * - Parameters : + * int SocketIndex + * int IndexPoint + * char *DataBufferLine + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringDataGet (int SocketIndex, int IndexPoint, char * DataBufferLine) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringDataGet (%d,char *)", IndexPoint); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (DataBufferLine, pt); + ptNext = strchr (DataBufferLine, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringReset : Empty the gathered data in memory to start new gathering from scratch + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringReset (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringReset ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringExternalConfigurationSet : Configuration acquisition + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *Type + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringExternalConfigurationSet (int SocketIndex, int NbElements, char * TypeList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, TypeList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExternalConfigurationSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s", stringArray0[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringExternalConfigurationGet : Read different mnemonique type - * - * - Parameters : - * int SocketIndex - * char *Type - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringExternalConfigurationGet (int SocketIndex, char * Type) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExternalConfigurationGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (Type, pt); - ptNext = strchr (Type, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringExternalCurrentNumberGet : Maximum number of samples and current number during acquisition - * - * - Parameters : - * int SocketIndex - * int *CurrentNumber - * int *MaximumSamplesNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringExternalCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExternalCurrentNumberGet (int *,int *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", CurrentNumber); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", MaximumSamplesNumber); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringExternalStopAndSave : Stop acquisition and save data - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringExternalStopAndSave (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExternalStopAndSave ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GlobalArrayGet : Get global array value - * - * - Parameters : - * int SocketIndex - * int Number - * char *ValueString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GlobalArrayGet (int SocketIndex, int Number, char * ValueString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GlobalArrayGet (%d,char *)", Number); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ValueString, pt); - ptNext = strchr (ValueString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GlobalArraySet : Set global array value - * - * - Parameters : - * int SocketIndex - * int Number - * char *ValueString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GlobalArraySet (int SocketIndex, int Number, char * ValueString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GlobalArraySet (%d,%s)", Number, ValueString); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GPIOAnalogGet : Read analog input or analog output for one or few input - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *GPIOName - * double *AnalogValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GPIOAnalogGet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogValue[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, TypeList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringExternalConfigurationSet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s", stringArray0[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringExternalConfigurationGet : Read different mnemonique type + * + * - Parameters : + * int SocketIndex + * char *Type + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringExternalConfigurationGet (int SocketIndex, char * Type) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringExternalConfigurationGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (Type, pt); + ptNext = strchr (Type, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringExternalCurrentNumberGet : Maximum number of samples and current number during acquisition + * + * - Parameters : + * int SocketIndex + * int *CurrentNumber + * int *MaximumSamplesNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringExternalCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringExternalCurrentNumberGet (int *,int *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", CurrentNumber); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", MaximumSamplesNumber); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringExternalStopAndSave : Stop acquisition and save data + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringExternalStopAndSave (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringExternalStopAndSave ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GlobalArrayGet : Get global array value + * + * - Parameters : + * int SocketIndex + * int Number + * char *ValueString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GlobalArrayGet (int SocketIndex, int Number, char * ValueString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GlobalArrayGet (%d,char *)", Number); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ValueString, pt); + ptNext = strchr (ValueString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GlobalArraySet : Set global array value + * + * - Parameters : + * int SocketIndex + * int Number + * char *ValueString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GlobalArraySet (int SocketIndex, int Number, char * ValueString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GlobalArraySet (%d,%s)", Number, ValueString); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GPIOAnalogGet : Read analog input or analog output for one or few input + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *GPIOName + * double *AnalogValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GPIOAnalogGet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogValue[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogGet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,double *", stringArray0[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &AnalogValue[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GPIOAnalogSet : Set analog output for one or few output - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *GPIOName - * double AnalogOutputValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GPIOAnalogSet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogOutputValue[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "GPIOAnalogGet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s,double *", stringArray0[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &AnalogValue[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GPIOAnalogSet : Set analog output for one or few output + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *GPIOName + * double AnalogOutputValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GPIOAnalogSet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogOutputValue[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,%.13g", stringArray0[i], AnalogOutputValue[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GPIOAnalogGainGet : Read analog input gain (1, 2, 4 or 8) for one or few input - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *GPIOName - * int *AnalogInputGainValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GPIOAnalogGainGet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "GPIOAnalogSet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s,%.13g", stringArray0[i], AnalogOutputValue[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GPIOAnalogGainGet : Read analog input gain (1, 2, 4 or 8) for one or few input + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *GPIOName + * int *AnalogInputGainValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GPIOAnalogGainGet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogGainGet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,int *", stringArray0[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &AnalogInputGainValue[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GPIOAnalogGainSet : Set analog input gain (1, 2, 4 or 8) for one or few input - * - * - Parameters : - * int SocketIndex - * int nbElement - * char *GPIOName - * int AnalogInputGainValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GPIOAnalogGainSet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_NOMINAL]; - char *list_r; - - char (*stringArray0)[SIZE_NAME]; + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "GPIOAnalogGainGet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s,int *", stringArray0[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &AnalogInputGainValue[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GPIOAnalogGainSet : Set analog input gain (1, 2, 4 or 8) for one or few input + * + * - Parameters : + * int SocketIndex + * int nbElement + * char *GPIOName + * int AnalogInputGainValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GPIOAnalogGainSet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Split list */ + char *token; + char seps[] = " \t;"; + int indice; + char list [SIZE_NOMINAL]; + char *list_r; + + char (*stringArray0)[SIZE_NAME]; stringArray0 = new char [NbElements][SIZE_NAME]; - memset(stringArray0,'\0', SIZE_NAME*NbElements); - indice = 0; - strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); - list_r = NULL; - token = strtok_r (list, seps, &list_r); - while ((NULL != token) && (indice < NbElements)) - { - strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); - token = strtok_r (NULL, seps, &list_r); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogGainSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,%d", stringArray0[i], AnalogInputGainValue[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Clear memory */ - delete [] stringArray0; - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GPIODigitalGet : Read digital output or digital input - * - * - Parameters : - * int SocketIndex - * char *GPIOName - * unsigned short *DigitalValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GPIODigitalGet (int SocketIndex, char * GPIOName, unsigned short * DigitalValue) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIODigitalGet (%s,unsigned short *)", GPIOName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%hu", DigitalValue); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GPIODigitalSet : Set Digital Output for one or few output TTL - * - * - Parameters : - * int SocketIndex - * char *GPIOName - * unsigned short Mask - * unsigned short DigitalOutputValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GPIODigitalSet (int SocketIndex, char * GPIOName, unsigned short Mask, unsigned short DigitalOutputValue) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIODigitalSet (%s,%hu,%hu)", GPIOName, Mask, DigitalOutputValue); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupAnalogTrackingModeEnable : Enable Analog Tracking mode on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *Type - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupAnalogTrackingModeEnable (int SocketIndex, char * GroupName, char * Type) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupAnalogTrackingModeEnable (%s,%s)", GroupName, Type); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupAnalogTrackingModeDisable : Disable Analog Tracking mode on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupAnalogTrackingModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupAnalogTrackingModeDisable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupCorrectorOutputGet : Return corrector outputs - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *CorrectorOutput - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupCorrectorOutputGet (int SocketIndex, char * GroupName, int NbElements, double CorrectorOutput[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupCorrectorOutputGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &CorrectorOutput[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupHomeSearch : Start home search sequence - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupHomeSearch (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupHomeSearch (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupHomeSearchAndRelativeMove : Start home search sequence and execute a displacement - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double TargetDisplacement - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupHomeSearchAndRelativeMove (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupHomeSearchAndRelativeMove (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%.13g", TargetDisplacement[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupInitialize : Start the initialization - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupInitialize (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupInitialize (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupInitializeWithEncoderCalibration : Start the initialization with encoder calibration - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupInitializeWithEncoderCalibration (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupInitializeWithEncoderCalibration (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupJogParametersSet : Modify Jog parameters on selected group and activate the continuous move - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double Velocity - * double Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupJogParametersSet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogParametersSet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%.13g,%.13g", Velocity[i], Acceleration[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupJogParametersGet : Get Jog parameters on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *Velocity - * double *Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupJogParametersGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogParametersGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *,double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &Velocity[i]); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &Acceleration[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupJogCurrentGet : Get Jog current on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *Velocity - * double *Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupJogCurrentGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogCurrentGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *,double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &Velocity[i]); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &Acceleration[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupJogModeEnable : Enable Jog mode on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupJogModeEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogModeEnable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupJogModeDisable : Disable Jog mode on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupJogModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogModeDisable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupKill : Kill the group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupKill (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupKill (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupMoveAbort : Abort a move - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupMoveAbort (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMoveAbort (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupMoveAbsolute : Do an absolute move - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double TargetPosition - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupMoveAbsolute (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMoveAbsolute (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%.13g", TargetPosition[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupMoveRelative : Do a relative move - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double TargetDisplacement - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupMoveRelative (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMoveRelative (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%.13g", TargetDisplacement[i]); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupMotionDisable : Set Motion disable on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupMotionDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMotionDisable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupMotionEnable : Set Motion enable on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupMotionEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMotionEnable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupPositionCurrentGet : Return current positions - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *CurrentEncoderPosition - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupPositionCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentEncoderPosition[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupPositionCurrentGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &CurrentEncoderPosition[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupPositionSetpointGet : Return setpoint positions - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *SetPointPosition - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupPositionSetpointGet (int SocketIndex, char * GroupName, int NbElements, double SetPointPosition[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupPositionSetpointGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &SetPointPosition[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupPositionTargetGet : Return target positions - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *TargetPosition - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupPositionTargetGet (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupPositionTargetGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &TargetPosition[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupReferencingActionExecute : Execute an action in referencing mode - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *ReferencingAction - * char *ReferencingSensor - * double ReferencingParameter - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupReferencingActionExecute (int SocketIndex, char * PositionerName, char * ReferencingAction, char * ReferencingSensor, double ReferencingParameter) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupReferencingActionExecute (%s,%s,%s,%.13g)", PositionerName, ReferencingAction, ReferencingSensor, ReferencingParameter); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupReferencingStart : Enter referencing mode - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupReferencingStart (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupReferencingStart (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupReferencingStop : Exit referencing mode - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupReferencingStop (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupReferencingStop (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupStatusGet : Return group status - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int *Status - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupStatusGet (int SocketIndex, char * GroupName, int * Status) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupStatusGet (%s,int *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", Status); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupStatusStringGet : Return the group status string corresponding to the group status code - * - * - Parameters : - * int SocketIndex - * int GroupStatusCode - * char *GroupStatusString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupStatusStringGet (int SocketIndex, int GroupStatusCode, char * GroupStatusString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupStatusStringGet (%d,char *)", GroupStatusCode); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (GroupStatusString, pt); - ptNext = strchr (GroupStatusString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupVelocityCurrentGet : Return current velocities - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int nbElement - * double *CurrentVelocity - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupVelocityCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentVelocity[]) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - char temp[SIZE_NOMINAL]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupVelocityCurrentGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strncat (ExecuteMethod, temp, SIZE_SMALL); - if ((i + 1) < NbElements) - { - strncat (ExecuteMethod, ",", SIZE_SMALL); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - - for (int i = 0; i < NbElements; i++) - { - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", &CurrentVelocity[i]); - } - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * KillAll : Put all groups in 'Not initialized' state - * - * - Parameters : - * int SocketIndex - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall KillAll (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "KillAll ()"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerAnalogTrackingPositionParametersGet : Read dynamic parameters for one axe of a group for a future analog tracking position - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *GPIOName - * double *Offset - * double *Scale - * double *Velocity - * double *Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerAnalogTrackingPositionParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * Velocity, double * Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAnalogTrackingPositionParametersGet (%s,char *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (GPIOName, pt); - ptNext = strchr (GPIOName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Offset); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Scale); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerAnalogTrackingPositionParametersSet : Update dynamic parameters for one axe of a group for a future analog tracking position - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *GPIOName - * double Offset - * double Scale - * double Velocity - * double Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerAnalogTrackingPositionParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double Velocity, double Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAnalogTrackingPositionParametersSet (%s,%s,%.13g,%.13g,%.13g,%.13g)", PositionerName, GPIOName, Offset, Scale, Velocity, Acceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerAnalogTrackingVelocityParametersGet : Read dynamic parameters for one axe of a group for a future analog tracking velocity - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *GPIOName - * double *Offset - * double *Scale - * double *DeadBandThreshold - * int *Order - * double *Velocity - * double *Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerAnalogTrackingVelocityParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * DeadBandThreshold, int * Order, double * Velocity, double * Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAnalogTrackingVelocityParametersGet (%s,char *,double *,double *,double *,int *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (GPIOName, pt); - ptNext = strchr (GPIOName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Offset); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Scale); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", DeadBandThreshold); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", Order); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerAnalogTrackingVelocityParametersSet : Update dynamic parameters for one axe of a group for a future analog tracking velocity - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *GPIOName - * double Offset - * double Scale - * double DeadBandThreshold - * int Order - * double Velocity - * double Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerAnalogTrackingVelocityParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double DeadBandThreshold, int Order, double Velocity, double Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAnalogTrackingVelocityParametersSet (%s,%s,%.13g,%.13g,%.13g,%d,%.13g,%.13g)", PositionerName, GPIOName, Offset, Scale, DeadBandThreshold, Order, Velocity, Acceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerBacklashGet : Read backlash value and status - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *BacklashValue - * char *BacklaskStatus - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerBacklashGet (int SocketIndex, char * PositionerName, double * BacklashValue, char * BacklaskStatus) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerBacklashGet (%s,double *,char *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", BacklashValue); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (BacklaskStatus, pt); - ptNext = strchr (BacklaskStatus, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerBacklashSet : Set backlash value - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double BacklashValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerBacklashSet (int SocketIndex, char * PositionerName, double BacklashValue) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerBacklashSet (%s,%.13g)", PositionerName, BacklashValue); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerBacklashEnable : Enable the backlash - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerBacklashEnable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerBacklashEnable (%s)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerBacklashDisable : Disable the backlash - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerBacklashDisable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerBacklashDisable (%s)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorNotchFiltersSet : Update filters parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double NotchFrequency1 - * double NotchBandwith1 - * double NotchGain1 - * double NotchFrequency2 - * double NotchBandwith2 - * double NotchGain2 - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorNotchFiltersSet (int SocketIndex, char * PositionerName, double NotchFrequency1, double NotchBandwith1, double NotchGain1, double NotchFrequency2, double NotchBandwith2, double NotchGain2) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorNotchFiltersSet (%s,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, NotchFrequency1, NotchBandwith1, NotchGain1, NotchFrequency2, NotchBandwith2, NotchGain2); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorNotchFiltersGet : Read filters parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *NotchFrequency1 - * double *NotchBandwith1 - * double *NotchGain1 - * double *NotchFrequency2 - * double *NotchBandwith2 - * double *NotchGain2 - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorNotchFiltersGet (int SocketIndex, char * PositionerName, double * NotchFrequency1, double * NotchBandwith1, double * NotchGain1, double * NotchFrequency2, double * NotchBandwith2, double * NotchGain2) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorNotchFiltersGet (%s,double *,double *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", NotchFrequency1); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", NotchBandwith1); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", NotchGain1); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", NotchFrequency2); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", NotchBandwith2); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", NotchGain2); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIDFFAccelerationSet : Update corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool ClosedLoopStatus - * double KP - * double KI - * double KD - * double KS - * double IntegrationTime - * double DerivativeFilterCutOffFrequency - * double GKP - * double GKI - * double GKD - * double KForm - * double FeedForwardGainAcceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFAccelerationSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainAcceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFAccelerationSet (%s,%d,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime, DerivativeFilterCutOffFrequency, GKP, GKI, GKD, KForm, FeedForwardGainAcceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIDFFAccelerationGet : Read corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool *ClosedLoopStatus - * double *KP - * double *KI - * double *KD - * double *KS - * double *IntegrationTime - * double *DerivativeFilterCutOffFrequency - * double *GKP - * double *GKI - * double *GKD - * double *KForm - * double *FeedForwardGainAcceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFAccelerationGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainAcceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - int temp; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFAccelerationGet (%s,bool *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &temp); - *ClosedLoopStatus = bool(temp); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KD); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KS); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", DerivativeFilterCutOffFrequency); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKD); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KForm); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainAcceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIDFFVelocitySet : Update corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool ClosedLoopStatus - * double KP - * double KI - * double KD - * double KS - * double IntegrationTime - * double DerivativeFilterCutOffFrequency - * double GKP - * double GKI - * double GKD - * double KForm - * double FeedForwardGainVelocity - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFVelocitySet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainVelocity) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFVelocitySet (%s,%d,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime, DerivativeFilterCutOffFrequency, GKP, GKI, GKD, KForm, FeedForwardGainVelocity); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIDFFVelocityGet : Read corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool *ClosedLoopStatus - * double *KP - * double *KI - * double *KD - * double *KS - * double *IntegrationTime - * double *DerivativeFilterCutOffFrequency - * double *GKP - * double *GKI - * double *GKD - * double *KForm - * double *FeedForwardGainVelocity - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFVelocityGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainVelocity) -{ - int ret = -1; - int temp; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFVelocityGet (%s,bool *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &temp); - *ClosedLoopStatus = bool(temp); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KD); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KS); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", DerivativeFilterCutOffFrequency); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKD); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KForm); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainVelocity); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIDDualFFVoltageSet : Update corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool ClosedLoopStatus - * double KP - * double KI - * double KD - * double KS - * double IntegrationTime - * double DerivativeFilterCutOffFrequency - * double GKP - * double GKI - * double GKD - * double KForm - * double FeedForwardGainVelocity - * double FeedForwardGainAcceleration - * double Friction - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIDDualFFVoltageSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainVelocity, double FeedForwardGainAcceleration, double Friction) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDDualFFVoltageSet (%s,%d,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime, DerivativeFilterCutOffFrequency, GKP, GKI, GKD, KForm, FeedForwardGainVelocity, FeedForwardGainAcceleration, Friction); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIDDualFFVoltageGet : Read corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool *ClosedLoopStatus - * double *KP - * double *KI - * double *KD - * double *KS - * double *IntegrationTime - * double *DerivativeFilterCutOffFrequency - * double *GKP - * double *GKI - * double *GKD - * double *KForm - * double *FeedForwardGainVelocity - * double *FeedForwardGainAcceleration - * double *Friction - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIDDualFFVoltageGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainVelocity, double * FeedForwardGainAcceleration, double * Friction) -{ - int ret = -1; - int temp; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDDualFFVoltageGet (%s,bool *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &temp); - *ClosedLoopStatus = bool(temp); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KD); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KS); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", DerivativeFilterCutOffFrequency); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", GKD); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KForm); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainVelocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainAcceleration); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Friction); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIPositionSet : Update corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool ClosedLoopStatus - * double KP - * double KI - * double IntegrationTime - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIPositionSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double IntegrationTime) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIPositionSet (%s,%d,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, IntegrationTime); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorPIPositionGet : Read corrector parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * bool *ClosedLoopStatus - * double *KP - * double *KI - * double *IntegrationTime - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorPIPositionGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * IntegrationTime) -{ - int ret = -1; - int temp; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIPositionGet (%s,bool *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &temp); - *ClosedLoopStatus = bool(temp); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorTypeGet : Read corrector type - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *CorrectorType - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorTypeGet (int SocketIndex, char * PositionerName, char * CorrectorType) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorTypeGet (%s,char *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (CorrectorType, pt); - ptNext = strchr (CorrectorType, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCurrentVelocityAccelerationFiltersSet : Set current velocity and acceleration cut off frequencies - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double CurrentVelocityCutOffFrequency - * double CurrentAccelerationCutOffFrequency - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCurrentVelocityAccelerationFiltersSet (int SocketIndex, char * PositionerName, double CurrentVelocityCutOffFrequency, double CurrentAccelerationCutOffFrequency) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCurrentVelocityAccelerationFiltersSet (%s,%.13g,%.13g)", PositionerName, CurrentVelocityCutOffFrequency, CurrentAccelerationCutOffFrequency); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCurrentVelocityAccelerationFiltersGet : Get current velocity and acceleration cut off frequencies - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *CurrentVelocityCutOffFrequency - * double *CurrentAccelerationCutOffFrequency - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCurrentVelocityAccelerationFiltersGet (int SocketIndex, char * PositionerName, double * CurrentVelocityCutOffFrequency, double * CurrentAccelerationCutOffFrequency) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCurrentVelocityAccelerationFiltersGet (%s,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CurrentVelocityCutOffFrequency); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CurrentAccelerationCutOffFrequency); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerDriverStatusGet : Read positioner driver status - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int *DriverStatus - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerDriverStatusGet (int SocketIndex, char * PositionerName, int * DriverStatus) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerDriverStatusGet (%s,int *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", DriverStatus); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerDriverStatusStringGet : Return the positioner driver status string corresponding to the positioner error code - * - * - Parameters : - * int SocketIndex - * int PositionerDriverStatus - * char *PositionerDriverStatusString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerDriverStatusStringGet (int SocketIndex, int PositionerDriverStatus, char * PositionerDriverStatusString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerDriverStatusStringGet (%d,char *)", PositionerDriverStatus); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerDriverStatusString, pt); - ptNext = strchr (PositionerDriverStatusString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerEncoderAmplitudeValuesGet : Read analog interpolated encoder amplitude values - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *MaxSinusAmplitude - * double *CurrentSinusAmplitude - * double *MaxCosinusAmplitude - * double *CurrentCosinusAmplitude - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerEncoderAmplitudeValuesGet (int SocketIndex, char * PositionerName, double * MaxSinusAmplitude, double * CurrentSinusAmplitude, double * MaxCosinusAmplitude, double * CurrentCosinusAmplitude) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerEncoderAmplitudeValuesGet (%s,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaxSinusAmplitude); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CurrentSinusAmplitude); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaxCosinusAmplitude); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CurrentCosinusAmplitude); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerEncoderCalibrationParametersGet : Read analog interpolated encoder calibration parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *SinusOffset - * double *CosinusOffset - * double *DifferentialGain - * double *PhaseCompensation - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerEncoderCalibrationParametersGet (int SocketIndex, char * PositionerName, double * SinusOffset, double * CosinusOffset, double * DifferentialGain, double * PhaseCompensation) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerEncoderCalibrationParametersGet (%s,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SinusOffset); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CosinusOffset); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", DifferentialGain); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", PhaseCompensation); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerErrorGet : Read and clear positioner error code - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int *ErrorCode - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerErrorGet (int SocketIndex, char * PositionerName, int * ErrorCode) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerErrorGet (%s,int *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", ErrorCode); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerErrorRead : Read only positioner error code without clear it - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int *ErrorCode - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerErrorRead (int SocketIndex, char * PositionerName, int * ErrorCode) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerErrorRead (%s,int *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", ErrorCode); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerErrorStringGet : Return the positioner status string corresponding to the positioner error code - * - * - Parameters : - * int SocketIndex - * int PositionerErrorCode - * char *PositionerErrorString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerErrorStringGet (int SocketIndex, int PositionerErrorCode, char * PositionerErrorString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerErrorStringGet (%d,char *)", PositionerErrorCode); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerErrorString, pt); - ptNext = strchr (PositionerErrorString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerHardwareStatusGet : Read positioner hardware status - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int *HardwareStatus - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerHardwareStatusGet (int SocketIndex, char * PositionerName, int * HardwareStatus) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerHardwareStatusGet (%s,int *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", HardwareStatus); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerHardwareStatusStringGet : Return the positioner hardware status string corresponding to the positioner error code - * - * - Parameters : - * int SocketIndex - * int PositionerHardwareStatus - * char *PositionerHardwareStatusString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerHardwareStatusStringGet (int SocketIndex, int PositionerHardwareStatus, char * PositionerHardwareStatusString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerHardwareStatusStringGet (%d,char *)", PositionerHardwareStatus); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerHardwareStatusString, pt); - ptNext = strchr (PositionerHardwareStatusString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerHardInterpolatorFactorGet : Get hard interpolator parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int *InterpolationFactor - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerHardInterpolatorFactorGet (int SocketIndex, char * PositionerName, int * InterpolationFactor) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerHardInterpolatorFactorGet (%s,int *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", InterpolationFactor); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerHardInterpolatorFactorSet : Set hard interpolator parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int InterpolationFactor - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerHardInterpolatorFactorSet (int SocketIndex, char * PositionerName, int InterpolationFactor) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerHardInterpolatorFactorSet (%s,%d)", PositionerName, InterpolationFactor); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerMaximumVelocityAndAccelerationGet : Return maximum velocity and acceleration of the positioner - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *MaximumVelocity - * double *MaximumAcceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerMaximumVelocityAndAccelerationGet (int SocketIndex, char * PositionerName, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerMaximumVelocityAndAccelerationGet (%s,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerMotionDoneGet : Read motion done parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *PositionWindow - * double *VelocityWindow - * double *CheckingTime - * double *MeanPeriod - * double *TimeOut - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerMotionDoneGet (int SocketIndex, char * PositionerName, double * PositionWindow, double * VelocityWindow, double * CheckingTime, double * MeanPeriod, double * TimeOut) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerMotionDoneGet (%s,double *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", PositionWindow); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", VelocityWindow); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CheckingTime); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MeanPeriod); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", TimeOut); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerMotionDoneSet : Update motion done parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double PositionWindow - * double VelocityWindow - * double CheckingTime - * double MeanPeriod - * double TimeOut - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerMotionDoneSet (int SocketIndex, char * PositionerName, double PositionWindow, double VelocityWindow, double CheckingTime, double MeanPeriod, double TimeOut) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerMotionDoneSet (%s,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, PositionWindow, VelocityWindow, CheckingTime, MeanPeriod, TimeOut); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerPositionCompareGet : Read position compare parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *MinimumPosition - * double *MaximumPosition - * double *PositionStep - * bool *EnableState - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerPositionCompareGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, bool * EnableState) -{ - int ret = -1; - int temp; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPositionCompareGet (%s,double *,double *,double *,bool *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", PositionStep); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &temp); - *EnableState = bool(temp); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerPositionCompareSet : Set position compare parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double MinimumPosition - * double MaximumPosition - * double PositionStep - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerPositionCompareSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double PositionStep) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPositionCompareSet (%s,%.13g,%.13g,%.13g)", PositionerName, MinimumPosition, MaximumPosition, PositionStep); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerPositionCompareEnable : Enable position compare - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerPositionCompareEnable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPositionCompareEnable (%s)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerPositionCompareDisable : Disable position compare - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerPositionCompareDisable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPositionCompareDisable (%s)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionersEncoderIndexDifferenceGet : Return the difference between index of primary axis and secondary axis (only after homesearch) - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *distance - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionersEncoderIndexDifferenceGet (int SocketIndex, char * PositionerName, double * distance) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionersEncoderIndexDifferenceGet (%s,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", distance); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerSGammaExactVelocityAjustedDisplacementGet : Return adjusted displacement to get exact velocity - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double DesiredDisplacement - * double *AdjustedDisplacement - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerSGammaExactVelocityAjustedDisplacementGet (int SocketIndex, char * PositionerName, double DesiredDisplacement, double * AdjustedDisplacement) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerSGammaExactVelocityAjustedDisplacementGet (%s,%.13g,double *)", PositionerName, DesiredDisplacement); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", AdjustedDisplacement); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerSGammaParametersGet : Read dynamic parameters for one axe of a group for a future displacement - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *Velocity - * double *Acceleration - * double *MinimumTjerkTime - * double *MaximumTjerkTime - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerSGammaParametersGet (int SocketIndex, char * PositionerName, double * Velocity, double * Acceleration, double * MinimumTjerkTime, double * MaximumTjerkTime) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerSGammaParametersGet (%s,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MinimumTjerkTime); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumTjerkTime); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerSGammaParametersSet : Update dynamic parameters for one axe of a group for a future displacement - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double Velocity - * double Acceleration - * double MinimumTjerkTime - * double MaximumTjerkTime - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerSGammaParametersSet (int SocketIndex, char * PositionerName, double Velocity, double Acceleration, double MinimumTjerkTime, double MaximumTjerkTime) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerSGammaParametersSet (%s,%.13g,%.13g,%.13g,%.13g)", PositionerName, Velocity, Acceleration, MinimumTjerkTime, MaximumTjerkTime); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerSGammaPreviousMotionTimesGet : Read SettingTime and SettlingTime - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *SettingTime - * double *SettlingTime - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerSGammaPreviousMotionTimesGet (int SocketIndex, char * PositionerName, double * SettingTime, double * SettlingTime) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerSGammaPreviousMotionTimesGet (%s,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SettingTime); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SettlingTime); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerStageParameterGet : Return the stage parameter - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *ParameterName - * char *ParameterValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerStageParameterGet (int SocketIndex, char * PositionerName, char * ParameterName, char * ParameterValue) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerStageParameterGet (%s,%s,char *)", PositionerName, ParameterName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ParameterValue, pt); - ptNext = strchr (ParameterValue, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerStageParameterSet : Save the stage parameter - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *ParameterName - * char *ParameterValue - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerStageParameterSet (int SocketIndex, char * PositionerName, char * ParameterName, char * ParameterValue) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerStageParameterSet (%s,%s,%s)", PositionerName, ParameterName, ParameterValue); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerTimeFlasherGet : Read time flasher parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *MinimumPosition - * double *MaximumPosition - * double *PositionStep - * bool *EnableState - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerTimeFlasherGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, bool * EnableState) -{ - int ret = -1; - int temp; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerTimeFlasherGet (%s,double *,double *,double *,bool *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", PositionStep); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", &temp); - *EnableState = bool(temp); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerTimeFlasherSet : Set time flasher parameters - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double MinimumPosition - * double MaximumPosition - * double TimeInterval - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerTimeFlasherSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double TimeInterval) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerTimeFlasherSet (%s,%.13g,%.13g,%.13g)", PositionerName, MinimumPosition, MaximumPosition, TimeInterval); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerTimeFlasherEnable : Enable time flasher - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerTimeFlasherEnable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerTimeFlasherEnable (%s)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerTimeFlasherDisable : Disable time flasher - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerTimeFlasherDisable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerTimeFlasherDisable (%s)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerUserTravelLimitsGet : Read UserMinimumTarget and UserMaximumTarget - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *UserMinimumTarget - * double *UserMaximumTarget - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerUserTravelLimitsGet (int SocketIndex, char * PositionerName, double * UserMinimumTarget, double * UserMaximumTarget) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerUserTravelLimitsGet (%s,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserMinimumTarget); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserMaximumTarget); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerUserTravelLimitsSet : Update UserMinimumTarget and UserMaximumTarget - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double UserMinimumTarget - * double UserMaximumTarget - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerUserTravelLimitsSet (int SocketIndex, char * PositionerName, double UserMinimumTarget, double UserMaximumTarget) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerUserTravelLimitsSet (%s,%.13g,%.13g)", PositionerName, UserMinimumTarget, UserMaximumTarget); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerCorrectorAutoTuning : Astrom&Hagglund based auto-tuning - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * int TuningMode - * double *KP - * double *KI - * double *KD - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerCorrectorAutoTuning (int SocketIndex, char * PositionerName, int TuningMode, double * KP, double * KI, double * KD) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorAutoTuning (%s,%d,double *,double *,double *)", PositionerName, TuningMode); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KP); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KI); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", KD); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerAccelerationAutoScaling : Astrom&Hagglund based auto-scaling - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * double *Scaling - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerAccelerationAutoScaling (int SocketIndex, char * PositionerName, double * Scaling) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAccelerationAutoScaling (%s,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Scaling); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * MultipleAxesPVTVerification : Multiple axes PVT trajectory verification - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *TrajectoryFileName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall MultipleAxesPVTVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTVerification (%s,%s)", GroupName, TrajectoryFileName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * MultipleAxesPVTVerificationResultGet : Multiple axes PVT trajectory verification result get - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *FileName - * double *MinimumPosition - * double *MaximumPosition - * double *MaximumVelocity - * double *MaximumAcceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall MultipleAxesPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTVerificationResultGet (%s,char *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (FileName, pt); - ptNext = strchr (FileName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * MultipleAxesPVTExecution : Multiple axes PVT trajectory execution - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *TrajectoryFileName - * int ExecutionNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall MultipleAxesPVTExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, int ExecutionNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTExecution (%s,%s,%d)", GroupName, TrajectoryFileName, ExecutionNumber); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * MultipleAxesPVTParametersGet : Multiple axes PVT trajectory get parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *FileName - * int *CurrentElementNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall MultipleAxesPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTParametersGet (%s,char *,int *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (FileName, pt); - ptNext = strchr (FileName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", CurrentElementNumber); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * MultipleAxesPVTPulseOutputSet : Configure pulse output on trajectory - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int StartElement - * int EndElement - * double TimeInterval - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall MultipleAxesPVTPulseOutputSet (int SocketIndex, char * GroupName, int StartElement, int EndElement, double TimeInterval) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTPulseOutputSet (%s,%d,%d,%.13g)", GroupName, StartElement, EndElement, TimeInterval); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * MultipleAxesPVTPulseOutputGet : Get pulse output on trajectory configuration - * - * - Parameters : - * int SocketIndex - * char *GroupName - * int *StartElement - * int *EndElement - * double *TimeInterval - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall MultipleAxesPVTPulseOutputGet (int SocketIndex, char * GroupName, int * StartElement, int * EndElement, double * TimeInterval) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTPulseOutputGet (%s,int *,int *,double *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", StartElement); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", EndElement); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", TimeInterval); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SingleAxisSlaveModeEnable : Enable the slave mode - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SingleAxisSlaveModeEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SingleAxisSlaveModeEnable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SingleAxisSlaveModeDisable : Disable the slave mode - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SingleAxisSlaveModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SingleAxisSlaveModeDisable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SingleAxisSlaveParametersSet : Set slave parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *PositionerName - * double Ratio - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SingleAxisSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SingleAxisSlaveParametersSet (%s,%s,%.13g)", GroupName, PositionerName, Ratio); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SingleAxisSlaveParametersGet : Get slave parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *PositionerName - * double *Ratio - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SingleAxisSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SingleAxisSlaveParametersGet (%s,char *,double *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerName, pt); - ptNext = strchr (PositionerName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Ratio); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SpindleSlaveModeEnable : Enable the slave mode - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SpindleSlaveModeEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SpindleSlaveModeEnable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SpindleSlaveModeDisable : Disable the slave mode - * - * - Parameters : - * int SocketIndex - * char *GroupName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SpindleSlaveModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SpindleSlaveModeDisable (%s)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SpindleSlaveParametersSet : Set slave parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *PositionerName - * double Ratio - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SpindleSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SpindleSlaveParametersSet (%s,%s,%.13g)", GroupName, PositionerName, Ratio); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * SpindleSlaveParametersGet : Get slave parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *PositionerName - * double *Ratio - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall SpindleSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "SpindleSlaveParametersGet (%s,char *,double *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerName, pt); - ptNext = strchr (PositionerName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Ratio); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupSpinParametersSet : Modify Spin parameters on selected group and activate the continuous move - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double Velocity - * double Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupSpinParametersSet (int SocketIndex, char * GroupName, double Velocity, double Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupSpinParametersSet (%s,%.13g,%.13g)", GroupName, Velocity, Acceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupSpinParametersGet : Get Spin parameters on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double *Velocity - * double *Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupSpinParametersGet (int SocketIndex, char * GroupName, double * Velocity, double * Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupSpinParametersGet (%s,double *,double *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupSpinCurrentGet : Get Spin current on selected group - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double *Velocity - * double *Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupSpinCurrentGet (int SocketIndex, char * GroupName, double * Velocity, double * Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupSpinCurrentGet (%s,double *,double *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupSpinModeStop : Stop Spin mode on selected group with specified acceleration - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupSpinModeStop (int SocketIndex, char * GroupName, double Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupSpinModeStop (%s,%.13g)", GroupName, Acceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYLineArcVerification : XY trajectory verification - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *TrajectoryFileName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYLineArcVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcVerification (%s,%s)", GroupName, TrajectoryFileName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYLineArcVerificationResultGet : XY trajectory verification result get - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *FileName - * double *MinimumPosition - * double *MaximumPosition - * double *MaximumVelocity - * double *MaximumAcceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYLineArcVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcVerificationResultGet (%s,char *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (FileName, pt); - ptNext = strchr (FileName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYLineArcExecution : XY trajectory execution - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *TrajectoryFileName - * double Velocity - * double Acceleration - * int ExecutionNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYLineArcExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, double Velocity, double Acceleration, int ExecutionNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcExecution (%s,%s,%.13g,%.13g,%d)", GroupName, TrajectoryFileName, Velocity, Acceleration, ExecutionNumber); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYLineArcParametersGet : XY trajectory get parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *FileName - * double *Velocity - * double *Acceleration - * int *CurrentElementNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYLineArcParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcParametersGet (%s,char *,double *,double *,int *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (FileName, pt); - ptNext = strchr (FileName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", CurrentElementNumber); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYLineArcPulseOutputSet : Configure pulse output on trajectory - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double StartLength - * double EndLength - * double PathLengthInterval - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYLineArcPulseOutputSet (int SocketIndex, char * GroupName, double StartLength, double EndLength, double PathLengthInterval) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcPulseOutputSet (%s,%.13g,%.13g,%.13g)", GroupName, StartLength, EndLength, PathLengthInterval); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYLineArcPulseOutputGet : Get pulse output on trajectory configuration - * - * - Parameters : - * int SocketIndex - * char *GroupName - * double *StartLength - * double *EndLength - * double *PathLengthInterval - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYLineArcPulseOutputGet (int SocketIndex, char * GroupName, double * StartLength, double * EndLength, double * PathLengthInterval) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcPulseOutputGet (%s,double *,double *,double *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", StartLength); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", EndLength); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", PathLengthInterval); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYZSplineVerification : XYZ trajectory verifivation - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *TrajectoryFileName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYZSplineVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYZSplineVerification (%s,%s)", GroupName, TrajectoryFileName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYZSplineVerificationResultGet : XYZ trajectory verification result get - * - * - Parameters : - * int SocketIndex - * char *PositionerName - * char *FileName - * double *MinimumPosition - * double *MaximumPosition - * double *MaximumVelocity - * double *MaximumAcceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYZSplineVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYZSplineVerificationResultGet (%s,char *,double *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (FileName, pt); - ptNext = strchr (FileName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYZSplineExecution : XYZ trajectory execution - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *TrajectoryFileName - * double Velocity - * double Acceleration - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYZSplineExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, double Velocity, double Acceleration) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYZSplineExecution (%s,%s,%.13g,%.13g)", GroupName, TrajectoryFileName, Velocity, Acceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * XYZSplineParametersGet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * char *GroupName - * char *FileName - * double *Velocity - * double *Acceleration - * int *CurrentElementNumber - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall XYZSplineParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "XYZSplineParametersGet (%s,char *,double *,double *,int *)", GroupName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (FileName, pt); - ptNext = strchr (FileName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Velocity); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", Acceleration); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%d", CurrentElementNumber); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EEPROMCIESet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * int CardNumber - * char *ReferenceString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EEPROMCIESet (int SocketIndex, int CardNumber, char * ReferenceString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EEPROMCIESet (%d,%s)", CardNumber, ReferenceString); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EEPROMDACOffsetCIESet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * int PlugNumber - * double DAC1Offset - * double DAC2Offset - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EEPROMDACOffsetCIESet (int SocketIndex, int PlugNumber, double DAC1Offset, double DAC2Offset) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EEPROMDACOffsetCIESet (%d,%.13g,%.13g)", PlugNumber, DAC1Offset, DAC2Offset); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EEPROMDriverSet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * int PlugNumber - * char *ReferenceString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EEPROMDriverSet (int SocketIndex, int PlugNumber, char * ReferenceString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EEPROMDriverSet (%d,%s)", PlugNumber, ReferenceString); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EEPROMINTSet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * int CardNumber - * char *ReferenceString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EEPROMINTSet (int SocketIndex, int CardNumber, char * ReferenceString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "EEPROMINTSet (%d,%s)", CardNumber, ReferenceString); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * CPUCoreAndBoardSupplyVoltagesGet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * double *VoltageCPUCore - * double *SupplyVoltage1P5V - * double *SupplyVoltage3P3V - * double *SupplyVoltage5V - * double *SupplyVoltage12V - * double *SupplyVoltageM12V - * double *SupplyVoltageM5V - * double *SupplyVoltage5VSB - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall CPUCoreAndBoardSupplyVoltagesGet (int SocketIndex, double * VoltageCPUCore, double * SupplyVoltage1P5V, double * SupplyVoltage3P3V, double * SupplyVoltage5V, double * SupplyVoltage12V, double * SupplyVoltageM12V, double * SupplyVoltageM5V, double * SupplyVoltage5VSB) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "CPUCoreAndBoardSupplyVoltagesGet (double *,double *,double *,double *,double *,double *,double *,double *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", VoltageCPUCore); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage1P5V); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage3P3V); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage5V); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage12V); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltageM12V); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltageM5V); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage5VSB); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * CPUTemperatureAndFanSpeedGet : XYZ trajectory get parameters - * - * - Parameters : - * int SocketIndex - * double *CPUTemperature - * double *CPUFanSpeed - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall CPUTemperatureAndFanSpeedGet (int SocketIndex, double * CPUTemperature, double * CPUFanSpeed) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "CPUTemperatureAndFanSpeedGet (double *,double *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CPUTemperature); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", CPUFanSpeed); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ActionListGet : Action list - * - * - Parameters : - * int SocketIndex - * char *ActionList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ActionListGet (int SocketIndex, char * ActionList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "ActionListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ActionList, pt); - ptNext = strchr (ActionList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ActionExtendedListGet : Action extended list - * - * - Parameters : - * int SocketIndex - * char *ActionList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ActionExtendedListGet (int SocketIndex, char * ActionList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "ActionExtendedListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ActionList, pt); - ptNext = strchr (ActionList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * APIExtendedListGet : API method list - * - * - Parameters : - * int SocketIndex - * char *Method - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall APIExtendedListGet (int SocketIndex, char * Method) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "APIExtendedListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (Method, pt); - ptNext = strchr (Method, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * APIListGet : API method list without extended API - * - * - Parameters : - * int SocketIndex - * char *Method - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall APIListGet (int SocketIndex, char * Method) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "APIListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (Method, pt); - ptNext = strchr (Method, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ErrorListGet : Error list - * - * - Parameters : - * int SocketIndex - * char *ErrorsList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ErrorListGet (int SocketIndex, char * ErrorsList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "ErrorListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ErrorsList, pt); - ptNext = strchr (ErrorsList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * EventListGet : General event list - * - * - Parameters : - * int SocketIndex - * char *EventList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall EventListGet (int SocketIndex, char * EventList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "EventListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (EventList, pt); - ptNext = strchr (EventList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringListGet : Gathering type list - * - * - Parameters : - * int SocketIndex - * char *list - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (list, pt); - ptNext = strchr (list, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringExtendedListGet : Gathering type extended list - * - * - Parameters : - * int SocketIndex - * char *list - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringExtendedListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExtendedListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (list, pt); - ptNext = strchr (list, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringExternalListGet : External Gathering type list - * - * - Parameters : - * int SocketIndex - * char *list - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringExternalListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExternalListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (list, pt); - ptNext = strchr (list, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GroupStatusListGet : Group status list - * - * - Parameters : - * int SocketIndex - * char *GroupStatusList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GroupStatusListGet (int SocketIndex, char * GroupStatusList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupStatusListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (GroupStatusList, pt); - ptNext = strchr (GroupStatusList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * HardwareInternalListGet : Internal hardware list - * - * - Parameters : - * int SocketIndex - * char *InternalHardwareList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall HardwareInternalListGet (int SocketIndex, char * InternalHardwareList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "HardwareInternalListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (InternalHardwareList, pt); - ptNext = strchr (InternalHardwareList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * HardwareDriverAndStageGet : Smart hardware - * - * - Parameters : - * int SocketIndex - * int PlugNumber - * char *DriverName - * char *StageName - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall HardwareDriverAndStageGet (int SocketIndex, int PlugNumber, char * DriverName, char * StageName) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); - - /* Convert to string */ - sprintf (ExecuteMethod, "HardwareDriverAndStageGet (%d,char *,char *)", PlugNumber); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (DriverName, pt); - ptNext = strchr (DriverName, ','); - if (ptNext != NULL) *ptNext = '\0'; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (StageName, pt); - ptNext = strchr (StageName, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ObjectsListGet : Group name and positioner name - * - * - Parameters : - * int SocketIndex - * char *ObjectsList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ObjectsListGet (int SocketIndex, char * ObjectsList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); - - /* Convert to string */ - sprintf (ExecuteMethod, "ObjectsListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ObjectsList, pt); - ptNext = strchr (ObjectsList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerErrorListGet : Positioner error list - * - * - Parameters : - * int SocketIndex - * char *PositionerErrorList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerErrorListGet (int SocketIndex, char * PositionerErrorList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerErrorListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerErrorList, pt); - ptNext = strchr (PositionerErrorList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerHardwareStatusListGet : Positioner hardware status list - * - * - Parameters : - * int SocketIndex - * char *PositionerHardwareStatusList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerHardwareStatusListGet (int SocketIndex, char * PositionerHardwareStatusList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerHardwareStatusListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerHardwareStatusList, pt); - ptNext = strchr (PositionerHardwareStatusList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * PositionerDriverStatusListGet : Positioner driver status list - * - * - Parameters : - * int SocketIndex - * char *PositionerDriverStatusList - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall PositionerDriverStatusListGet (int SocketIndex, char * PositionerDriverStatusList) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerDriverStatusListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (PositionerDriverStatusList, pt); - ptNext = strchr (PositionerDriverStatusList, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ReferencingActionListGet : Get referencing action list - * - * - Parameters : - * int SocketIndex - * char *list - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ReferencingActionListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "ReferencingActionListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (list, pt); - ptNext = strchr (list, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * ReferencingSensorListGet : Get referencing sensor list - * - * - Parameters : - * int SocketIndex - * char *list - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall ReferencingSensorListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); - - /* Convert to string */ - sprintf (ExecuteMethod, "ReferencingSensorListGet (char *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (list, pt); - ptNext = strchr (list, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * GatheringUserDatasGet : Return UserDatas values - * - * - Parameters : - * int SocketIndex - * double *UserData1 - * double *UserData2 - * double *UserData3 - * double *UserData4 - * double *UserData5 - * double *UserData6 - * double *UserData7 - * double *UserData8 - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall GatheringUserDatasGet (int SocketIndex, double * UserData1, double * UserData2, double * UserData3, double * UserData4, double * UserData5, double * UserData6, double * UserData7, double * UserData8) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringUserDatasGet (double *,double *,double *,double *,double *,double *,double *,double *)"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData1); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData2); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData3); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData4); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData5); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData6); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData7); - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) sscanf (pt, "%lf", UserData8); - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - -/*********************************************************************** - * TestTCP : Test TCP/IP transfert - * - * - Parameters : - * int SocketIndex - * char *InputString - * char *ReturnString - * - Return : - * int errorCode - ***********************************************************************/ -int __stdcall TestTCP (int SocketIndex, char * InputString, char * ReturnString) -{ - int ret = -1; - char ExecuteMethod[SIZE_EXECUTE_METHOD]; - char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); - - /* Convert to string */ - sprintf (ExecuteMethod, "TestTCP (%s,char *)", InputString); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%d", &ret); - - /* Get the returned values in the out parameters */ - if (ret == 0) - { - char * pt; - char * ptNext; - - pt = ReturnedValue; - ptNext = NULL; - if (pt != NULL) pt = strchr (pt, ','); - if (pt != NULL) pt++; - if (pt != NULL) strcpy (ReturnString, pt); - ptNext = strchr (ReturnString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - if (NULL != ReturnedValue) - free (ReturnedValue); - - return (ret); -} - - - -#ifdef __cplusplus -} -#endif + memset(stringArray0,'\0', SIZE_NAME*NbElements); + indice = 0; + strncpyWithEOS(list, GPIONameList, SIZE_NOMINAL, SIZE_NOMINAL); + list_r = NULL; + token = strtok_r (list, seps, &list_r); + while ((NULL != token) && (indice < NbElements)) + { + strncpyWithEOS(stringArray0[indice], token, SIZE_NAME, SIZE_NAME); + token = strtok_r (NULL, seps, &list_r); + indice++; + } + + /* Convert to string */ + sprintf (ExecuteMethod, "GPIOAnalogGainSet ("); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%s,%d", stringArray0[i], AnalogInputGainValue[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Clear memory */ + delete [] stringArray0; + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GPIODigitalGet : Read digital output or digital input + * + * - Parameters : + * int SocketIndex + * char *GPIOName + * unsigned short *DigitalValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GPIODigitalGet (int SocketIndex, char * GPIOName, unsigned short * DigitalValue) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GPIODigitalGet (%s,unsigned short *)", GPIOName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%hu", DigitalValue); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GPIODigitalSet : Set Digital Output for one or few output TTL + * + * - Parameters : + * int SocketIndex + * char *GPIOName + * unsigned short Mask + * unsigned short DigitalOutputValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GPIODigitalSet (int SocketIndex, char * GPIOName, unsigned short Mask, unsigned short DigitalOutputValue) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GPIODigitalSet (%s,%hu,%hu)", GPIOName, Mask, DigitalOutputValue); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupAnalogTrackingModeEnable : Enable Analog Tracking mode on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *Type + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupAnalogTrackingModeEnable (int SocketIndex, char * GroupName, char * Type) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupAnalogTrackingModeEnable (%s,%s)", GroupName, Type); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupAnalogTrackingModeDisable : Disable Analog Tracking mode on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupAnalogTrackingModeDisable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupAnalogTrackingModeDisable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupCorrectorOutputGet : Return corrector outputs + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *CorrectorOutput + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupCorrectorOutputGet (int SocketIndex, char * GroupName, int NbElements, double CorrectorOutput[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupCorrectorOutputGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &CorrectorOutput[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupHomeSearch : Start home search sequence + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupHomeSearch (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupHomeSearch (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupHomeSearchAndRelativeMove : Start home search sequence and execute a displacement + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double TargetDisplacement + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupHomeSearchAndRelativeMove (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupHomeSearchAndRelativeMove (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%.13g", TargetDisplacement[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupInitialize : Start the initialization + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupInitialize (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupInitialize (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupInitializeWithEncoderCalibration : Start the initialization with encoder calibration + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupInitializeWithEncoderCalibration (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupInitializeWithEncoderCalibration (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupJogParametersSet : Modify Jog parameters on selected group and activate the continuous move + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double Velocity + * double Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupJogParametersSet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupJogParametersSet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%.13g,%.13g", Velocity[i], Acceleration[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupJogParametersGet : Get Jog parameters on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *Velocity + * double *Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupJogParametersGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupJogParametersGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *,double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &Velocity[i]); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &Acceleration[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupJogCurrentGet : Get Jog current on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *Velocity + * double *Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupJogCurrentGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupJogCurrentGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *,double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &Velocity[i]); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &Acceleration[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupJogModeEnable : Enable Jog mode on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupJogModeEnable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupJogModeEnable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupJogModeDisable : Disable Jog mode on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupJogModeDisable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupJogModeDisable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupKill : Kill the group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupKill (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupKill (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupMoveAbort : Abort a move + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupMoveAbort (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupMoveAbort (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupMoveAbsolute : Do an absolute move + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double TargetPosition + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupMoveAbsolute (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupMoveAbsolute (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%.13g", TargetPosition[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupMoveRelative : Do a relative move + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double TargetDisplacement + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupMoveRelative (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupMoveRelative (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "%.13g", TargetDisplacement[i]); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupMotionDisable : Set Motion disable on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupMotionDisable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupMotionDisable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupMotionEnable : Set Motion enable on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupMotionEnable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupMotionEnable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupPositionCurrentGet : Return current positions + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *CurrentEncoderPosition + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupPositionCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentEncoderPosition[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupPositionCurrentGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &CurrentEncoderPosition[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupPositionSetpointGet : Return setpoint positions + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *SetPointPosition + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupPositionSetpointGet (int SocketIndex, char * GroupName, int NbElements, double SetPointPosition[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupPositionSetpointGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &SetPointPosition[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupPositionTargetGet : Return target positions + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *TargetPosition + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupPositionTargetGet (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupPositionTargetGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &TargetPosition[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupReferencingActionExecute : Execute an action in referencing mode + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *ReferencingAction + * char *ReferencingSensor + * double ReferencingParameter + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupReferencingActionExecute (int SocketIndex, char * PositionerName, char * ReferencingAction, char * ReferencingSensor, double ReferencingParameter) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupReferencingActionExecute (%s,%s,%s,%.13g)", PositionerName, ReferencingAction, ReferencingSensor, ReferencingParameter); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupReferencingStart : Enter referencing mode + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupReferencingStart (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupReferencingStart (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupReferencingStop : Exit referencing mode + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupReferencingStop (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupReferencingStop (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupStatusGet : Return group status + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int *Status + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupStatusGet (int SocketIndex, char * GroupName, int * Status) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupStatusGet (%s,int *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", Status); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupStatusStringGet : Return the group status string corresponding to the group status code + * + * - Parameters : + * int SocketIndex + * int GroupStatusCode + * char *GroupStatusString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupStatusStringGet (int SocketIndex, int GroupStatusCode, char * GroupStatusString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupStatusStringGet (%d,char *)", GroupStatusCode); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (GroupStatusString, pt); + ptNext = strchr (GroupStatusString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupVelocityCurrentGet : Return current velocities + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int nbElement + * double *CurrentVelocity + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupVelocityCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentVelocity[]) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + char temp[SIZE_NOMINAL]; + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupVelocityCurrentGet (%s,", GroupName); + for (int i = 0; i < NbElements; i++) + { + sprintf (temp, "double *"); + strncat (ExecuteMethod, temp, SIZE_SMALL); + if ((i + 1) < NbElements) + { + strncat (ExecuteMethod, ",", SIZE_SMALL); + } + } + strcat (ExecuteMethod, ")"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + + for (int i = 0; i < NbElements; i++) + { + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", &CurrentVelocity[i]); + } + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * KillAll : Put all groups in 'Not initialized' state + * + * - Parameters : + * int SocketIndex + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall KillAll (int SocketIndex) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "KillAll ()"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerAnalogTrackingPositionParametersGet : Read dynamic parameters for one axe of a group for a future analog tracking position + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *GPIOName + * double *Offset + * double *Scale + * double *Velocity + * double *Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerAnalogTrackingPositionParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * Velocity, double * Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerAnalogTrackingPositionParametersGet (%s,char *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (GPIOName, pt); + ptNext = strchr (GPIOName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Offset); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Scale); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerAnalogTrackingPositionParametersSet : Update dynamic parameters for one axe of a group for a future analog tracking position + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *GPIOName + * double Offset + * double Scale + * double Velocity + * double Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerAnalogTrackingPositionParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double Velocity, double Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerAnalogTrackingPositionParametersSet (%s,%s,%.13g,%.13g,%.13g,%.13g)", PositionerName, GPIOName, Offset, Scale, Velocity, Acceleration); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerAnalogTrackingVelocityParametersGet : Read dynamic parameters for one axe of a group for a future analog tracking velocity + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *GPIOName + * double *Offset + * double *Scale + * double *DeadBandThreshold + * int *Order + * double *Velocity + * double *Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerAnalogTrackingVelocityParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * DeadBandThreshold, int * Order, double * Velocity, double * Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerAnalogTrackingVelocityParametersGet (%s,char *,double *,double *,double *,int *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (GPIOName, pt); + ptNext = strchr (GPIOName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Offset); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Scale); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", DeadBandThreshold); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", Order); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerAnalogTrackingVelocityParametersSet : Update dynamic parameters for one axe of a group for a future analog tracking velocity + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *GPIOName + * double Offset + * double Scale + * double DeadBandThreshold + * int Order + * double Velocity + * double Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerAnalogTrackingVelocityParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double DeadBandThreshold, int Order, double Velocity, double Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerAnalogTrackingVelocityParametersSet (%s,%s,%.13g,%.13g,%.13g,%d,%.13g,%.13g)", PositionerName, GPIOName, Offset, Scale, DeadBandThreshold, Order, Velocity, Acceleration); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerBacklashGet : Read backlash value and status + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *BacklashValue + * char *BacklaskStatus + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerBacklashGet (int SocketIndex, char * PositionerName, double * BacklashValue, char * BacklaskStatus) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerBacklashGet (%s,double *,char *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", BacklashValue); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (BacklaskStatus, pt); + ptNext = strchr (BacklaskStatus, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerBacklashSet : Set backlash value + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double BacklashValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerBacklashSet (int SocketIndex, char * PositionerName, double BacklashValue) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerBacklashSet (%s,%.13g)", PositionerName, BacklashValue); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerBacklashEnable : Enable the backlash + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerBacklashEnable (int SocketIndex, char * PositionerName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerBacklashEnable (%s)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerBacklashDisable : Disable the backlash + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerBacklashDisable (int SocketIndex, char * PositionerName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerBacklashDisable (%s)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorNotchFiltersSet : Update filters parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double NotchFrequency1 + * double NotchBandwith1 + * double NotchGain1 + * double NotchFrequency2 + * double NotchBandwith2 + * double NotchGain2 + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorNotchFiltersSet (int SocketIndex, char * PositionerName, double NotchFrequency1, double NotchBandwith1, double NotchGain1, double NotchFrequency2, double NotchBandwith2, double NotchGain2) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorNotchFiltersSet (%s,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, NotchFrequency1, NotchBandwith1, NotchGain1, NotchFrequency2, NotchBandwith2, NotchGain2); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorNotchFiltersGet : Read filters parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *NotchFrequency1 + * double *NotchBandwith1 + * double *NotchGain1 + * double *NotchFrequency2 + * double *NotchBandwith2 + * double *NotchGain2 + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorNotchFiltersGet (int SocketIndex, char * PositionerName, double * NotchFrequency1, double * NotchBandwith1, double * NotchGain1, double * NotchFrequency2, double * NotchBandwith2, double * NotchGain2) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorNotchFiltersGet (%s,double *,double *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", NotchFrequency1); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", NotchBandwith1); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", NotchGain1); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", NotchFrequency2); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", NotchBandwith2); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", NotchGain2); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIDFFAccelerationSet : Update corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool ClosedLoopStatus + * double KP + * double KI + * double KD + * double KS + * double IntegrationTime + * double DerivativeFilterCutOffFrequency + * double GKP + * double GKI + * double GKD + * double KForm + * double FeedForwardGainAcceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIDFFAccelerationSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainAcceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIDFFAccelerationSet (%s,%d,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime, DerivativeFilterCutOffFrequency, GKP, GKI, GKD, KForm, FeedForwardGainAcceleration); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIDFFAccelerationGet : Read corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool *ClosedLoopStatus + * double *KP + * double *KI + * double *KD + * double *KS + * double *IntegrationTime + * double *DerivativeFilterCutOffFrequency + * double *GKP + * double *GKI + * double *GKD + * double *KForm + * double *FeedForwardGainAcceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIDFFAccelerationGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainAcceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + int temp; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIDFFAccelerationGet (%s,bool *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &temp); + *ClosedLoopStatus = bool(temp); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KD); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KS); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", DerivativeFilterCutOffFrequency); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKD); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KForm); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainAcceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIDFFVelocitySet : Update corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool ClosedLoopStatus + * double KP + * double KI + * double KD + * double KS + * double IntegrationTime + * double DerivativeFilterCutOffFrequency + * double GKP + * double GKI + * double GKD + * double KForm + * double FeedForwardGainVelocity + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIDFFVelocitySet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainVelocity) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIDFFVelocitySet (%s,%d,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime, DerivativeFilterCutOffFrequency, GKP, GKI, GKD, KForm, FeedForwardGainVelocity); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIDFFVelocityGet : Read corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool *ClosedLoopStatus + * double *KP + * double *KI + * double *KD + * double *KS + * double *IntegrationTime + * double *DerivativeFilterCutOffFrequency + * double *GKP + * double *GKI + * double *GKD + * double *KForm + * double *FeedForwardGainVelocity + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIDFFVelocityGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainVelocity) +{ + int ret = -1; + int temp; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIDFFVelocityGet (%s,bool *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &temp); + *ClosedLoopStatus = bool(temp); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KD); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KS); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", DerivativeFilterCutOffFrequency); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKD); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KForm); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainVelocity); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIDDualFFVoltageSet : Update corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool ClosedLoopStatus + * double KP + * double KI + * double KD + * double KS + * double IntegrationTime + * double DerivativeFilterCutOffFrequency + * double GKP + * double GKI + * double GKD + * double KForm + * double FeedForwardGainVelocity + * double FeedForwardGainAcceleration + * double Friction + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIDDualFFVoltageSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainVelocity, double FeedForwardGainAcceleration, double Friction) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIDDualFFVoltageSet (%s,%d,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, KD, KS, IntegrationTime, DerivativeFilterCutOffFrequency, GKP, GKI, GKD, KForm, FeedForwardGainVelocity, FeedForwardGainAcceleration, Friction); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIDDualFFVoltageGet : Read corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool *ClosedLoopStatus + * double *KP + * double *KI + * double *KD + * double *KS + * double *IntegrationTime + * double *DerivativeFilterCutOffFrequency + * double *GKP + * double *GKI + * double *GKD + * double *KForm + * double *FeedForwardGainVelocity + * double *FeedForwardGainAcceleration + * double *Friction + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIDDualFFVoltageGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainVelocity, double * FeedForwardGainAcceleration, double * Friction) +{ + int ret = -1; + int temp; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIDDualFFVoltageGet (%s,bool *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &temp); + *ClosedLoopStatus = bool(temp); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KD); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KS); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", DerivativeFilterCutOffFrequency); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", GKD); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KForm); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainVelocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", FeedForwardGainAcceleration); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Friction); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIPositionSet : Update corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool ClosedLoopStatus + * double KP + * double KI + * double IntegrationTime + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIPositionSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double IntegrationTime) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIPositionSet (%s,%d,%.13g,%.13g,%.13g)", PositionerName, ClosedLoopStatus, KP, KI, IntegrationTime); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorPIPositionGet : Read corrector parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * bool *ClosedLoopStatus + * double *KP + * double *KI + * double *IntegrationTime + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorPIPositionGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * IntegrationTime) +{ + int ret = -1; + int temp; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorPIPositionGet (%s,bool *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &temp); + *ClosedLoopStatus = bool(temp); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", IntegrationTime); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorTypeGet : Read corrector type + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *CorrectorType + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorTypeGet (int SocketIndex, char * PositionerName, char * CorrectorType) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorTypeGet (%s,char *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (CorrectorType, pt); + ptNext = strchr (CorrectorType, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCurrentVelocityAccelerationFiltersSet : Set current velocity and acceleration cut off frequencies + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double CurrentVelocityCutOffFrequency + * double CurrentAccelerationCutOffFrequency + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCurrentVelocityAccelerationFiltersSet (int SocketIndex, char * PositionerName, double CurrentVelocityCutOffFrequency, double CurrentAccelerationCutOffFrequency) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCurrentVelocityAccelerationFiltersSet (%s,%.13g,%.13g)", PositionerName, CurrentVelocityCutOffFrequency, CurrentAccelerationCutOffFrequency); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCurrentVelocityAccelerationFiltersGet : Get current velocity and acceleration cut off frequencies + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *CurrentVelocityCutOffFrequency + * double *CurrentAccelerationCutOffFrequency + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCurrentVelocityAccelerationFiltersGet (int SocketIndex, char * PositionerName, double * CurrentVelocityCutOffFrequency, double * CurrentAccelerationCutOffFrequency) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCurrentVelocityAccelerationFiltersGet (%s,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CurrentVelocityCutOffFrequency); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CurrentAccelerationCutOffFrequency); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerDriverStatusGet : Read positioner driver status + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int *DriverStatus + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerDriverStatusGet (int SocketIndex, char * PositionerName, int * DriverStatus) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerDriverStatusGet (%s,int *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", DriverStatus); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerDriverStatusStringGet : Return the positioner driver status string corresponding to the positioner error code + * + * - Parameters : + * int SocketIndex + * int PositionerDriverStatus + * char *PositionerDriverStatusString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerDriverStatusStringGet (int SocketIndex, int PositionerDriverStatus, char * PositionerDriverStatusString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerDriverStatusStringGet (%d,char *)", PositionerDriverStatus); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerDriverStatusString, pt); + ptNext = strchr (PositionerDriverStatusString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerEncoderAmplitudeValuesGet : Read analog interpolated encoder amplitude values + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *MaxSinusAmplitude + * double *CurrentSinusAmplitude + * double *MaxCosinusAmplitude + * double *CurrentCosinusAmplitude + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerEncoderAmplitudeValuesGet (int SocketIndex, char * PositionerName, double * MaxSinusAmplitude, double * CurrentSinusAmplitude, double * MaxCosinusAmplitude, double * CurrentCosinusAmplitude) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerEncoderAmplitudeValuesGet (%s,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaxSinusAmplitude); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CurrentSinusAmplitude); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaxCosinusAmplitude); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CurrentCosinusAmplitude); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerEncoderCalibrationParametersGet : Read analog interpolated encoder calibration parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *SinusOffset + * double *CosinusOffset + * double *DifferentialGain + * double *PhaseCompensation + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerEncoderCalibrationParametersGet (int SocketIndex, char * PositionerName, double * SinusOffset, double * CosinusOffset, double * DifferentialGain, double * PhaseCompensation) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerEncoderCalibrationParametersGet (%s,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SinusOffset); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CosinusOffset); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", DifferentialGain); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", PhaseCompensation); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerErrorGet : Read and clear positioner error code + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int *ErrorCode + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerErrorGet (int SocketIndex, char * PositionerName, int * ErrorCode) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerErrorGet (%s,int *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", ErrorCode); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerErrorRead : Read only positioner error code without clear it + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int *ErrorCode + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerErrorRead (int SocketIndex, char * PositionerName, int * ErrorCode) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerErrorRead (%s,int *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", ErrorCode); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerErrorStringGet : Return the positioner status string corresponding to the positioner error code + * + * - Parameters : + * int SocketIndex + * int PositionerErrorCode + * char *PositionerErrorString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerErrorStringGet (int SocketIndex, int PositionerErrorCode, char * PositionerErrorString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerErrorStringGet (%d,char *)", PositionerErrorCode); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerErrorString, pt); + ptNext = strchr (PositionerErrorString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerHardwareStatusGet : Read positioner hardware status + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int *HardwareStatus + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerHardwareStatusGet (int SocketIndex, char * PositionerName, int * HardwareStatus) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerHardwareStatusGet (%s,int *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", HardwareStatus); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerHardwareStatusStringGet : Return the positioner hardware status string corresponding to the positioner error code + * + * - Parameters : + * int SocketIndex + * int PositionerHardwareStatus + * char *PositionerHardwareStatusString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerHardwareStatusStringGet (int SocketIndex, int PositionerHardwareStatus, char * PositionerHardwareStatusString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerHardwareStatusStringGet (%d,char *)", PositionerHardwareStatus); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerHardwareStatusString, pt); + ptNext = strchr (PositionerHardwareStatusString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerHardInterpolatorFactorGet : Get hard interpolator parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int *InterpolationFactor + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerHardInterpolatorFactorGet (int SocketIndex, char * PositionerName, int * InterpolationFactor) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerHardInterpolatorFactorGet (%s,int *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", InterpolationFactor); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerHardInterpolatorFactorSet : Set hard interpolator parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int InterpolationFactor + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerHardInterpolatorFactorSet (int SocketIndex, char * PositionerName, int InterpolationFactor) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerHardInterpolatorFactorSet (%s,%d)", PositionerName, InterpolationFactor); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerMaximumVelocityAndAccelerationGet : Return maximum velocity and acceleration of the positioner + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *MaximumVelocity + * double *MaximumAcceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerMaximumVelocityAndAccelerationGet (int SocketIndex, char * PositionerName, double * MaximumVelocity, double * MaximumAcceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerMaximumVelocityAndAccelerationGet (%s,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerMotionDoneGet : Read motion done parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *PositionWindow + * double *VelocityWindow + * double *CheckingTime + * double *MeanPeriod + * double *TimeOut + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerMotionDoneGet (int SocketIndex, char * PositionerName, double * PositionWindow, double * VelocityWindow, double * CheckingTime, double * MeanPeriod, double * TimeOut) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerMotionDoneGet (%s,double *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", PositionWindow); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", VelocityWindow); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CheckingTime); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MeanPeriod); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", TimeOut); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerMotionDoneSet : Update motion done parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double PositionWindow + * double VelocityWindow + * double CheckingTime + * double MeanPeriod + * double TimeOut + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerMotionDoneSet (int SocketIndex, char * PositionerName, double PositionWindow, double VelocityWindow, double CheckingTime, double MeanPeriod, double TimeOut) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerMotionDoneSet (%s,%.13g,%.13g,%.13g,%.13g,%.13g)", PositionerName, PositionWindow, VelocityWindow, CheckingTime, MeanPeriod, TimeOut); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerPositionCompareGet : Read position compare parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *MinimumPosition + * double *MaximumPosition + * double *PositionStep + * bool *EnableState + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerPositionCompareGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, bool * EnableState) +{ + int ret = -1; + int temp; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerPositionCompareGet (%s,double *,double *,double *,bool *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", PositionStep); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &temp); + *EnableState = bool(temp); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerPositionCompareSet : Set position compare parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double MinimumPosition + * double MaximumPosition + * double PositionStep + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerPositionCompareSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double PositionStep) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerPositionCompareSet (%s,%.13g,%.13g,%.13g)", PositionerName, MinimumPosition, MaximumPosition, PositionStep); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerPositionCompareEnable : Enable position compare + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerPositionCompareEnable (int SocketIndex, char * PositionerName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerPositionCompareEnable (%s)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerPositionCompareDisable : Disable position compare + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerPositionCompareDisable (int SocketIndex, char * PositionerName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerPositionCompareDisable (%s)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionersEncoderIndexDifferenceGet : Return the difference between index of primary axis and secondary axis (only after homesearch) + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *distance + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionersEncoderIndexDifferenceGet (int SocketIndex, char * PositionerName, double * distance) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionersEncoderIndexDifferenceGet (%s,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", distance); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerSGammaExactVelocityAjustedDisplacementGet : Return adjusted displacement to get exact velocity + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double DesiredDisplacement + * double *AdjustedDisplacement + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerSGammaExactVelocityAjustedDisplacementGet (int SocketIndex, char * PositionerName, double DesiredDisplacement, double * AdjustedDisplacement) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerSGammaExactVelocityAjustedDisplacementGet (%s,%.13g,double *)", PositionerName, DesiredDisplacement); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", AdjustedDisplacement); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerSGammaParametersGet : Read dynamic parameters for one axe of a group for a future displacement + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *Velocity + * double *Acceleration + * double *MinimumTjerkTime + * double *MaximumTjerkTime + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerSGammaParametersGet (int SocketIndex, char * PositionerName, double * Velocity, double * Acceleration, double * MinimumTjerkTime, double * MaximumTjerkTime) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerSGammaParametersGet (%s,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MinimumTjerkTime); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumTjerkTime); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerSGammaParametersSet : Update dynamic parameters for one axe of a group for a future displacement + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double Velocity + * double Acceleration + * double MinimumTjerkTime + * double MaximumTjerkTime + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerSGammaParametersSet (int SocketIndex, char * PositionerName, double Velocity, double Acceleration, double MinimumTjerkTime, double MaximumTjerkTime) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerSGammaParametersSet (%s,%.13g,%.13g,%.13g,%.13g)", PositionerName, Velocity, Acceleration, MinimumTjerkTime, MaximumTjerkTime); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerSGammaPreviousMotionTimesGet : Read SettingTime and SettlingTime + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *SettingTime + * double *SettlingTime + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerSGammaPreviousMotionTimesGet (int SocketIndex, char * PositionerName, double * SettingTime, double * SettlingTime) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerSGammaPreviousMotionTimesGet (%s,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SettingTime); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SettlingTime); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerStageParameterGet : Return the stage parameter + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *ParameterName + * char *ParameterValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerStageParameterGet (int SocketIndex, char * PositionerName, char * ParameterName, char * ParameterValue) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerStageParameterGet (%s,%s,char *)", PositionerName, ParameterName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ParameterValue, pt); + ptNext = strchr (ParameterValue, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerStageParameterSet : Save the stage parameter + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *ParameterName + * char *ParameterValue + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerStageParameterSet (int SocketIndex, char * PositionerName, char * ParameterName, char * ParameterValue) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerStageParameterSet (%s,%s,%s)", PositionerName, ParameterName, ParameterValue); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerTimeFlasherGet : Read time flasher parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *MinimumPosition + * double *MaximumPosition + * double *PositionStep + * bool *EnableState + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerTimeFlasherGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, bool * EnableState) +{ + int ret = -1; + int temp; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerTimeFlasherGet (%s,double *,double *,double *,bool *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", PositionStep); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", &temp); + *EnableState = bool(temp); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerTimeFlasherSet : Set time flasher parameters + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double MinimumPosition + * double MaximumPosition + * double TimeInterval + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerTimeFlasherSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double TimeInterval) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerTimeFlasherSet (%s,%.13g,%.13g,%.13g)", PositionerName, MinimumPosition, MaximumPosition, TimeInterval); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerTimeFlasherEnable : Enable time flasher + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerTimeFlasherEnable (int SocketIndex, char * PositionerName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerTimeFlasherEnable (%s)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerTimeFlasherDisable : Disable time flasher + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerTimeFlasherDisable (int SocketIndex, char * PositionerName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerTimeFlasherDisable (%s)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerUserTravelLimitsGet : Read UserMinimumTarget and UserMaximumTarget + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *UserMinimumTarget + * double *UserMaximumTarget + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerUserTravelLimitsGet (int SocketIndex, char * PositionerName, double * UserMinimumTarget, double * UserMaximumTarget) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerUserTravelLimitsGet (%s,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserMinimumTarget); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserMaximumTarget); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerUserTravelLimitsSet : Update UserMinimumTarget and UserMaximumTarget + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double UserMinimumTarget + * double UserMaximumTarget + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerUserTravelLimitsSet (int SocketIndex, char * PositionerName, double UserMinimumTarget, double UserMaximumTarget) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerUserTravelLimitsSet (%s,%.13g,%.13g)", PositionerName, UserMinimumTarget, UserMaximumTarget); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerCorrectorAutoTuning : Astrom&Hagglund based auto-tuning + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * int TuningMode + * double *KP + * double *KI + * double *KD + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerCorrectorAutoTuning (int SocketIndex, char * PositionerName, int TuningMode, double * KP, double * KI, double * KD) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerCorrectorAutoTuning (%s,%d,double *,double *,double *)", PositionerName, TuningMode); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KP); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KI); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", KD); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerAccelerationAutoScaling : Astrom&Hagglund based auto-scaling + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * double *Scaling + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerAccelerationAutoScaling (int SocketIndex, char * PositionerName, double * Scaling) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerAccelerationAutoScaling (%s,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Scaling); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * MultipleAxesPVTVerification : Multiple axes PVT trajectory verification + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *TrajectoryFileName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall MultipleAxesPVTVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "MultipleAxesPVTVerification (%s,%s)", GroupName, TrajectoryFileName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * MultipleAxesPVTVerificationResultGet : Multiple axes PVT trajectory verification result get + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *FileName + * double *MinimumPosition + * double *MaximumPosition + * double *MaximumVelocity + * double *MaximumAcceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall MultipleAxesPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "MultipleAxesPVTVerificationResultGet (%s,char *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (FileName, pt); + ptNext = strchr (FileName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * MultipleAxesPVTExecution : Multiple axes PVT trajectory execution + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *TrajectoryFileName + * int ExecutionNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall MultipleAxesPVTExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, int ExecutionNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "MultipleAxesPVTExecution (%s,%s,%d)", GroupName, TrajectoryFileName, ExecutionNumber); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * MultipleAxesPVTParametersGet : Multiple axes PVT trajectory get parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *FileName + * int *CurrentElementNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall MultipleAxesPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "MultipleAxesPVTParametersGet (%s,char *,int *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (FileName, pt); + ptNext = strchr (FileName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", CurrentElementNumber); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * MultipleAxesPVTPulseOutputSet : Configure pulse output on trajectory + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int StartElement + * int EndElement + * double TimeInterval + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall MultipleAxesPVTPulseOutputSet (int SocketIndex, char * GroupName, int StartElement, int EndElement, double TimeInterval) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "MultipleAxesPVTPulseOutputSet (%s,%d,%d,%.13g)", GroupName, StartElement, EndElement, TimeInterval); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * MultipleAxesPVTPulseOutputGet : Get pulse output on trajectory configuration + * + * - Parameters : + * int SocketIndex + * char *GroupName + * int *StartElement + * int *EndElement + * double *TimeInterval + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall MultipleAxesPVTPulseOutputGet (int SocketIndex, char * GroupName, int * StartElement, int * EndElement, double * TimeInterval) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "MultipleAxesPVTPulseOutputGet (%s,int *,int *,double *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", StartElement); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", EndElement); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", TimeInterval); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SingleAxisSlaveModeEnable : Enable the slave mode + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SingleAxisSlaveModeEnable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SingleAxisSlaveModeEnable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SingleAxisSlaveModeDisable : Disable the slave mode + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SingleAxisSlaveModeDisable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SingleAxisSlaveModeDisable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SingleAxisSlaveParametersSet : Set slave parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *PositionerName + * double Ratio + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SingleAxisSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SingleAxisSlaveParametersSet (%s,%s,%.13g)", GroupName, PositionerName, Ratio); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SingleAxisSlaveParametersGet : Get slave parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *PositionerName + * double *Ratio + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SingleAxisSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SingleAxisSlaveParametersGet (%s,char *,double *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerName, pt); + ptNext = strchr (PositionerName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Ratio); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SpindleSlaveModeEnable : Enable the slave mode + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SpindleSlaveModeEnable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SpindleSlaveModeEnable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SpindleSlaveModeDisable : Disable the slave mode + * + * - Parameters : + * int SocketIndex + * char *GroupName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SpindleSlaveModeDisable (int SocketIndex, char * GroupName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SpindleSlaveModeDisable (%s)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SpindleSlaveParametersSet : Set slave parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *PositionerName + * double Ratio + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SpindleSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SpindleSlaveParametersSet (%s,%s,%.13g)", GroupName, PositionerName, Ratio); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * SpindleSlaveParametersGet : Get slave parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *PositionerName + * double *Ratio + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall SpindleSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "SpindleSlaveParametersGet (%s,char *,double *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerName, pt); + ptNext = strchr (PositionerName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Ratio); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupSpinParametersSet : Modify Spin parameters on selected group and activate the continuous move + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double Velocity + * double Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupSpinParametersSet (int SocketIndex, char * GroupName, double Velocity, double Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupSpinParametersSet (%s,%.13g,%.13g)", GroupName, Velocity, Acceleration); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupSpinParametersGet : Get Spin parameters on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double *Velocity + * double *Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupSpinParametersGet (int SocketIndex, char * GroupName, double * Velocity, double * Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupSpinParametersGet (%s,double *,double *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupSpinCurrentGet : Get Spin current on selected group + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double *Velocity + * double *Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupSpinCurrentGet (int SocketIndex, char * GroupName, double * Velocity, double * Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupSpinCurrentGet (%s,double *,double *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupSpinModeStop : Stop Spin mode on selected group with specified acceleration + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupSpinModeStop (int SocketIndex, char * GroupName, double Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupSpinModeStop (%s,%.13g)", GroupName, Acceleration); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYLineArcVerification : XY trajectory verification + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *TrajectoryFileName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYLineArcVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYLineArcVerification (%s,%s)", GroupName, TrajectoryFileName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYLineArcVerificationResultGet : XY trajectory verification result get + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *FileName + * double *MinimumPosition + * double *MaximumPosition + * double *MaximumVelocity + * double *MaximumAcceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYLineArcVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYLineArcVerificationResultGet (%s,char *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (FileName, pt); + ptNext = strchr (FileName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYLineArcExecution : XY trajectory execution + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *TrajectoryFileName + * double Velocity + * double Acceleration + * int ExecutionNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYLineArcExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, double Velocity, double Acceleration, int ExecutionNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYLineArcExecution (%s,%s,%.13g,%.13g,%d)", GroupName, TrajectoryFileName, Velocity, Acceleration, ExecutionNumber); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYLineArcParametersGet : XY trajectory get parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *FileName + * double *Velocity + * double *Acceleration + * int *CurrentElementNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYLineArcParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYLineArcParametersGet (%s,char *,double *,double *,int *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (FileName, pt); + ptNext = strchr (FileName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", CurrentElementNumber); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYLineArcPulseOutputSet : Configure pulse output on trajectory + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double StartLength + * double EndLength + * double PathLengthInterval + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYLineArcPulseOutputSet (int SocketIndex, char * GroupName, double StartLength, double EndLength, double PathLengthInterval) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYLineArcPulseOutputSet (%s,%.13g,%.13g,%.13g)", GroupName, StartLength, EndLength, PathLengthInterval); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYLineArcPulseOutputGet : Get pulse output on trajectory configuration + * + * - Parameters : + * int SocketIndex + * char *GroupName + * double *StartLength + * double *EndLength + * double *PathLengthInterval + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYLineArcPulseOutputGet (int SocketIndex, char * GroupName, double * StartLength, double * EndLength, double * PathLengthInterval) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYLineArcPulseOutputGet (%s,double *,double *,double *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", StartLength); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", EndLength); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", PathLengthInterval); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYZSplineVerification : XYZ trajectory verifivation + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *TrajectoryFileName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYZSplineVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYZSplineVerification (%s,%s)", GroupName, TrajectoryFileName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYZSplineVerificationResultGet : XYZ trajectory verification result get + * + * - Parameters : + * int SocketIndex + * char *PositionerName + * char *FileName + * double *MinimumPosition + * double *MaximumPosition + * double *MaximumVelocity + * double *MaximumAcceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYZSplineVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYZSplineVerificationResultGet (%s,char *,double *,double *,double *,double *)", PositionerName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (FileName, pt); + ptNext = strchr (FileName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MinimumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumPosition); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumVelocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", MaximumAcceleration); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYZSplineExecution : XYZ trajectory execution + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *TrajectoryFileName + * double Velocity + * double Acceleration + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYZSplineExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, double Velocity, double Acceleration) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYZSplineExecution (%s,%s,%.13g,%.13g)", GroupName, TrajectoryFileName, Velocity, Acceleration); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * XYZSplineParametersGet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * char *GroupName + * char *FileName + * double *Velocity + * double *Acceleration + * int *CurrentElementNumber + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall XYZSplineParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "XYZSplineParametersGet (%s,char *,double *,double *,int *)", GroupName); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (FileName, pt); + ptNext = strchr (FileName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Velocity); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", Acceleration); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%d", CurrentElementNumber); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EEPROMCIESet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * int CardNumber + * char *ReferenceString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EEPROMCIESet (int SocketIndex, int CardNumber, char * ReferenceString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EEPROMCIESet (%d,%s)", CardNumber, ReferenceString); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EEPROMDACOffsetCIESet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * int PlugNumber + * double DAC1Offset + * double DAC2Offset + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EEPROMDACOffsetCIESet (int SocketIndex, int PlugNumber, double DAC1Offset, double DAC2Offset) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EEPROMDACOffsetCIESet (%d,%.13g,%.13g)", PlugNumber, DAC1Offset, DAC2Offset); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EEPROMDriverSet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * int PlugNumber + * char *ReferenceString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EEPROMDriverSet (int SocketIndex, int PlugNumber, char * ReferenceString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EEPROMDriverSet (%d,%s)", PlugNumber, ReferenceString); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EEPROMINTSet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * int CardNumber + * char *ReferenceString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EEPROMINTSet (int SocketIndex, int CardNumber, char * ReferenceString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "EEPROMINTSet (%d,%s)", CardNumber, ReferenceString); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * CPUCoreAndBoardSupplyVoltagesGet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * double *VoltageCPUCore + * double *SupplyVoltage1P5V + * double *SupplyVoltage3P3V + * double *SupplyVoltage5V + * double *SupplyVoltage12V + * double *SupplyVoltageM12V + * double *SupplyVoltageM5V + * double *SupplyVoltage5VSB + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall CPUCoreAndBoardSupplyVoltagesGet (int SocketIndex, double * VoltageCPUCore, double * SupplyVoltage1P5V, double * SupplyVoltage3P3V, double * SupplyVoltage5V, double * SupplyVoltage12V, double * SupplyVoltageM12V, double * SupplyVoltageM5V, double * SupplyVoltage5VSB) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "CPUCoreAndBoardSupplyVoltagesGet (double *,double *,double *,double *,double *,double *,double *,double *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", VoltageCPUCore); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage1P5V); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage3P3V); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage5V); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage12V); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltageM12V); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltageM5V); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", SupplyVoltage5VSB); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * CPUTemperatureAndFanSpeedGet : XYZ trajectory get parameters + * + * - Parameters : + * int SocketIndex + * double *CPUTemperature + * double *CPUFanSpeed + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall CPUTemperatureAndFanSpeedGet (int SocketIndex, double * CPUTemperature, double * CPUFanSpeed) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "CPUTemperatureAndFanSpeedGet (double *,double *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CPUTemperature); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", CPUFanSpeed); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ActionListGet : Action list + * + * - Parameters : + * int SocketIndex + * char *ActionList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ActionListGet (int SocketIndex, char * ActionList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "ActionListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ActionList, pt); + ptNext = strchr (ActionList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ActionExtendedListGet : Action extended list + * + * - Parameters : + * int SocketIndex + * char *ActionList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ActionExtendedListGet (int SocketIndex, char * ActionList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "ActionExtendedListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ActionList, pt); + ptNext = strchr (ActionList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * APIExtendedListGet : API method list + * + * - Parameters : + * int SocketIndex + * char *Method + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall APIExtendedListGet (int SocketIndex, char * Method) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "APIExtendedListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (Method, pt); + ptNext = strchr (Method, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * APIListGet : API method list without extended API + * + * - Parameters : + * int SocketIndex + * char *Method + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall APIListGet (int SocketIndex, char * Method) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "APIListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (Method, pt); + ptNext = strchr (Method, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ErrorListGet : Error list + * + * - Parameters : + * int SocketIndex + * char *ErrorsList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ErrorListGet (int SocketIndex, char * ErrorsList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "ErrorListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ErrorsList, pt); + ptNext = strchr (ErrorsList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * EventListGet : General event list + * + * - Parameters : + * int SocketIndex + * char *EventList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall EventListGet (int SocketIndex, char * EventList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "EventListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (EventList, pt); + ptNext = strchr (EventList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringListGet : Gathering type list + * + * - Parameters : + * int SocketIndex + * char *list + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringListGet (int SocketIndex, char * list) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (list, pt); + ptNext = strchr (list, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringExtendedListGet : Gathering type extended list + * + * - Parameters : + * int SocketIndex + * char *list + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringExtendedListGet (int SocketIndex, char * list) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringExtendedListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (list, pt); + ptNext = strchr (list, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringExternalListGet : External Gathering type list + * + * - Parameters : + * int SocketIndex + * char *list + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringExternalListGet (int SocketIndex, char * list) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringExternalListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (list, pt); + ptNext = strchr (list, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GroupStatusListGet : Group status list + * + * - Parameters : + * int SocketIndex + * char *GroupStatusList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GroupStatusListGet (int SocketIndex, char * GroupStatusList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "GroupStatusListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (GroupStatusList, pt); + ptNext = strchr (GroupStatusList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * HardwareInternalListGet : Internal hardware list + * + * - Parameters : + * int SocketIndex + * char *InternalHardwareList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall HardwareInternalListGet (int SocketIndex, char * InternalHardwareList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "HardwareInternalListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (InternalHardwareList, pt); + ptNext = strchr (InternalHardwareList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * HardwareDriverAndStageGet : Smart hardware + * + * - Parameters : + * int SocketIndex + * int PlugNumber + * char *DriverName + * char *StageName + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall HardwareDriverAndStageGet (int SocketIndex, int PlugNumber, char * DriverName, char * StageName) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_NOMINAL); + + /* Convert to string */ + sprintf (ExecuteMethod, "HardwareDriverAndStageGet (%d,char *,char *)", PlugNumber); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_NOMINAL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (DriverName, pt); + ptNext = strchr (DriverName, ','); + if (ptNext != NULL) *ptNext = '\0'; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (StageName, pt); + ptNext = strchr (StageName, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ObjectsListGet : Group name and positioner name + * + * - Parameters : + * int SocketIndex + * char *ObjectsList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ObjectsListGet (int SocketIndex, char * ObjectsList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_HUGE); + + /* Convert to string */ + sprintf (ExecuteMethod, "ObjectsListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_HUGE); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ObjectsList, pt); + ptNext = strchr (ObjectsList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerErrorListGet : Positioner error list + * + * - Parameters : + * int SocketIndex + * char *PositionerErrorList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerErrorListGet (int SocketIndex, char * PositionerErrorList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerErrorListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerErrorList, pt); + ptNext = strchr (PositionerErrorList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerHardwareStatusListGet : Positioner hardware status list + * + * - Parameters : + * int SocketIndex + * char *PositionerHardwareStatusList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerHardwareStatusListGet (int SocketIndex, char * PositionerHardwareStatusList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerHardwareStatusListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerHardwareStatusList, pt); + ptNext = strchr (PositionerHardwareStatusList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * PositionerDriverStatusListGet : Positioner driver status list + * + * - Parameters : + * int SocketIndex + * char *PositionerDriverStatusList + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall PositionerDriverStatusListGet (int SocketIndex, char * PositionerDriverStatusList) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "PositionerDriverStatusListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (PositionerDriverStatusList, pt); + ptNext = strchr (PositionerDriverStatusList, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ReferencingActionListGet : Get referencing action list + * + * - Parameters : + * int SocketIndex + * char *list + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ReferencingActionListGet (int SocketIndex, char * list) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "ReferencingActionListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (list, pt); + ptNext = strchr (list, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * ReferencingSensorListGet : Get referencing sensor list + * + * - Parameters : + * int SocketIndex + * char *list + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall ReferencingSensorListGet (int SocketIndex, char * list) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_BIG); + + /* Convert to string */ + sprintf (ExecuteMethod, "ReferencingSensorListGet (char *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_BIG); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (list, pt); + ptNext = strchr (list, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * GatheringUserDatasGet : Return UserDatas values + * + * - Parameters : + * int SocketIndex + * double *UserData1 + * double *UserData2 + * double *UserData3 + * double *UserData4 + * double *UserData5 + * double *UserData6 + * double *UserData7 + * double *UserData8 + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall GatheringUserDatasGet (int SocketIndex, double * UserData1, double * UserData2, double * UserData3, double * UserData4, double * UserData5, double * UserData6, double * UserData7, double * UserData8) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "GatheringUserDatasGet (double *,double *,double *,double *,double *,double *,double *,double *)"); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData1); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData2); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData3); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData4); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData5); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData6); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData7); + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) sscanf (pt, "%lf", UserData8); + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + +/*********************************************************************** + * TestTCP : Test TCP/IP transfert + * + * - Parameters : + * int SocketIndex + * char *InputString + * char *ReturnString + * - Return : + * int errorCode + ***********************************************************************/ +int __stdcall TestTCP (int SocketIndex, char * InputString, char * ReturnString) +{ + int ret = -1; + char ExecuteMethod[SIZE_EXECUTE_METHOD]; + char *ReturnedValue = (char *) malloc (sizeof(char) * SIZE_SMALL); + + /* Convert to string */ + sprintf (ExecuteMethod, "TestTCP (%s,char *)", InputString); + + /* Send this string and wait return function from controller */ + /* return function : ==0 -> OK ; < 0 -> NOK */ + SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue, SIZE_SMALL); + if (strlen (ReturnedValue) > 0) + sscanf (ReturnedValue, "%d", &ret); + + /* Get the returned values in the out parameters */ + if (ret == 0) + { + char * pt; + char * ptNext; + + pt = ReturnedValue; + ptNext = NULL; + if (pt != NULL) pt = strchr (pt, ','); + if (pt != NULL) pt++; + if (pt != NULL) strcpy (ReturnString, pt); + ptNext = strchr (ReturnString, ','); + if (ptNext != NULL) *ptNext = '\0'; + } + if (NULL != ReturnedValue) + free (ReturnedValue); + + return (ret); +} + + + +#ifdef __cplusplus +} +#endif