diff --git a/motorApp/NewportSrc/xps_c8_driver.cpp b/motorApp/NewportSrc/xps_c8_driver.cpp deleted file mode 100755 index 7d14a8de..00000000 --- a/motorApp/NewportSrc/xps_c8_driver.cpp +++ /dev/null @@ -1,4046 +0,0 @@ -//////////////////////////////////////////////////////////////////// -// Created source file api.cpp for API description -// - - -#ifdef __rtems__ -#include -#endif - -#include /* Added by JHK */ - -/* Bug Fix -23rd May JHK -GatheringExternalConfigurationSet- change array size to allow for the long list of -ExternalLatchPosition axes - -9th June JHK -GroupMoveAbsolute and Home use Send() insted of SendAndReceive() because the read -socket function hangs once the IOC has been rebooted once. - -30th June JHK -GroupMoveAbort use Send() insted of SendAndReceive() because the abort hangs until -the motors stop. - -5th July JHK -MultipleAxesPVTExecution use Send() insted of SendAndReceive() */ - -#include -#include -#include -#include "socket.h" -#include "xps_c8_driver.h" /* Renamed by JHK */ -#define SIZE_BUFFER 256 - -#define SIZE_NAME 100 - - -#ifdef __cplusplus -extern "C" -{ -#endif - - -#define DLL_VERSION "Library version for XPS-C8 Firmware V1.0.1" - -/***********************************************************************/ -int __stdcall TCP_ConnectToServer(char *Ip_Address, int Ip_Port, double TimeOut) -{ -/* printf("xps_c8_driver.cpp ConnectToServer:/n");*/ - 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); -} -/***********************************************************************/ -int __stdcall ElapsedTimeGet (int SocketIndex, double * ElapsedTime) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall ErrorStringGet (int SocketIndex, int ErrorCode, char * ErrorString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall FirmwareVersionGet (int SocketIndex, char * Version) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall TCLScriptExecute (int SocketIndex, char * TCLFileName, char * TaskName, char * ParametersList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall TCLScriptKill (int SocketIndex, char * TaskName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall TimerGet (int SocketIndex, char * TimerName, int * FrequencyTicks) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall TimerSet (int SocketIndex, char * TimerName, int FrequencyTicks) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall Reboot (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall EventGet (int SocketIndex, char * PositionerName, char * EventsAndActionsList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall EventRemove (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall EventWait (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringConfigurationGet (int SocketIndex, char * Type) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringConfigurationSet (int SocketIndex, int NbElements, char * TypeList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_BUFFER]; - - char (*stringArray0)[SIZE_NAME]; - stringArray0 = new char [NbElements][SIZE_NAME]; - indice = 0; - strcpy (list, TypeList); - token = strtok( list, seps ); - while (( token != NULL ) && ( indice < NbElements )) - { - memset(stringArray0[indice],'\0', SIZE_NAME); - strcpy(stringArray0[indice], token); - token = strtok( NULL, seps ); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringConfigurationSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s", stringArray0[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringStopAndSave (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringExternalConfigurationSet (int SocketIndex, int NbElements, char * TypeList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_BUFFER]; - - char (*stringArray0)[SIZE_BUFFER]; - stringArray0 = new char [NbElements][SIZE_BUFFER]; - indice = 0; - strcpy (list, TypeList); - token = strtok( list, seps ); - while (( token != NULL ) && ( indice < NbElements )) - { - memset(stringArray0[indice],'\0', SIZE_NAME); - strcpy(stringArray0[indice], token); - token = strtok( NULL, seps ); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GatheringExternalConfigurationSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s", stringArray0[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringExternalConfigurationGet (int SocketIndex, char * Type) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringExternalCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringExternalStopAndSave (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GlobalArrayGet (int SocketIndex, int Number, char * ValueString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GlobalArraySet (int SocketIndex, int Number, char * ValueString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GPIOAnalogGet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogValue[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_BUFFER]; - - char (*stringArray0)[SIZE_NAME]; - stringArray0 = new char [NbElements][SIZE_NAME]; - indice = 0; - strcpy (list, GPIONameList); - token = strtok( list, seps ); - while (( token != NULL ) && ( indice < NbElements )) - { - memset(stringArray0[indice],'\0', SIZE_NAME); - strcpy(stringArray0[indice], token); - token = strtok( NULL, seps ); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogGet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,double *", stringArray0[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GPIOAnalogSet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogOutputValue[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_BUFFER]; - - char (*stringArray0)[SIZE_NAME]; - stringArray0 = new char [NbElements][SIZE_NAME]; - indice = 0; - strcpy (list, GPIONameList); - token = strtok( list, seps ); - while (( token != NULL ) && ( indice < NbElements )) - { - memset(stringArray0[indice],'\0', SIZE_NAME); - strcpy(stringArray0[indice], token); - token = strtok( NULL, seps ); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,%f", stringArray0[i], AnalogOutputValue[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GPIOAnalogGainGet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_BUFFER]; - - char (*stringArray0)[SIZE_NAME]; - stringArray0 = new char [NbElements][SIZE_NAME]; - indice = 0; - strcpy (list, GPIONameList); - token = strtok( list, seps ); - while (( token != NULL ) && ( indice < NbElements )) - { - memset(stringArray0[indice],'\0', SIZE_NAME); - strcpy(stringArray0[indice], token); - token = strtok( NULL, seps ); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogGainGet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,int *", stringArray0[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GPIOAnalogGainSet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Split list */ - char *token; - char seps[] = " \t;"; - int indice; - char list [SIZE_BUFFER]; - - char (*stringArray0)[SIZE_NAME]; - stringArray0 = new char [NbElements][SIZE_NAME]; - indice = 0; - strcpy (list, GPIONameList); - token = strtok( list, seps ); - while (( token != NULL ) && ( indice < NbElements )) - { - memset(stringArray0[indice],'\0', SIZE_NAME); - strcpy(stringArray0[indice], token); - token = strtok( NULL, seps ); - indice++; - } - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIOAnalogGainSet ("); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%s,%d", stringArray0[i], AnalogInputGainValue[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GPIODigitalGet (int SocketIndex, char * GPIOName, unsigned short * DigitalValue) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GPIODigitalSet (int SocketIndex, char * GPIOName, unsigned short Mask, unsigned short DigitalOutputValue) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GPIODigitalSet (%s,%u,%u)", GPIOName, Mask, DigitalOutputValue); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupAnalogTrackingModeEnable (int SocketIndex, char * GroupName, char * Type) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupAnalogTrackingModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupHomeSearch (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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);*/ - SendOnly (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - - ret = 0; /* Added by JHK */ - - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupHomeSearchAndRelativeMove (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupHomeSearchAndRelativeMove (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%f", TargetDisplacement[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupInitialize (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupJogParametersSet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogParametersSet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%f,%f", Velocity[i], Acceleration[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupJogParametersGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogParametersGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *,double *"); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupJogCurrentGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupJogCurrentGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *,double *"); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupJogModeEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupJogModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupKill (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupMoveAbort (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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);*/ - - SendOnly (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - ret = 0; /* Added by JHK */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupMoveAbsolute (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMoveAbsolute (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%f", TargetPosition[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - - -/* printf("xps_c8_driver.cpp: GroupMoveAbs Calling SendAndRecieve\n");*/ - - /*SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue);*/ - SendOnly (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - - ret = 0; /* Added by JHK */ - - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupMoveRelative (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupMoveRelative (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "%f", TargetDisplacement[i]); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - printf("xps_c8_driver.cpp: GroupMoveRel Calling SendAndRecieve\n"); - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupMotionDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupMotionEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupPositionCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentEncoderPosition[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupPositionCurrentGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupPositionSetpointGet (int SocketIndex, char * GroupName, int NbElements, double SetPointPosition[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupPositionSetpointGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupPositionTargetGet (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - char temp[SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "GroupPositionTargetGet (%s,", GroupName); - for (int i = 0; i < NbElements; i++) - { - sprintf (temp, "double *"); - strcat (ExecuteMethod, temp); - if ((i + 1) < NbElements) - { - strcat (ExecuteMethod, ","); - } - } - strcat (ExecuteMethod, ")"); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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]); - } - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupStatusGet (int SocketIndex, char * GroupName, int * Status) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupStatusStringGet (int SocketIndex, int GroupStatusCode, char * GroupStatusString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall KillAll (int SocketIndex) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerAnalogTrackingPositionParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * Velocity, double * Acceleration) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerAnalogTrackingPositionParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double Velocity, double Acceleration) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAnalogTrackingPositionParametersSet (%s,%s,%f,%f,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerAnalogTrackingVelocityParametersSet (%s,%s,%f,%f,%f,%d,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerBacklashGet (int SocketIndex, char * PositionerName, double * BacklashValue, char * BacklaskStatus) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerBacklashSet (int SocketIndex, char * PositionerName, double BacklashValue) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerBacklashSet (%s,%f)", PositionerName, BacklashValue); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerBacklashEnable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerBacklashDisable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorNotchFiltersSet (%s,%f,%f,%f,%f,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFAccelerationSet (int SocketIndex, char * PositionerName, int 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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFAccelerationSet (%s,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFAccelerationGet (int SocketIndex, char * PositionerName, int * 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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFAccelerationGet (%s,int *,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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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", ClosedLoopStatus); - 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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFVelocitySet (int SocketIndex, char * PositionerName, int 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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFVelocitySet (%s,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIDFFVelocityGet (int SocketIndex, char * PositionerName, int * 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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDFFVelocityGet (%s,int *,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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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", ClosedLoopStatus); - 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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIDDualFFVoltageSet (int SocketIndex, char * PositionerName, int 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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDDualFFVoltageSet (%s,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIDDualFFVoltageGet (int SocketIndex, char * PositionerName, int * 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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIDDualFFVoltageGet (%s,int *,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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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", ClosedLoopStatus); - 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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIPositionSet (int SocketIndex, char * PositionerName, int ClosedLoopStatus, double KP, double KI, double IntegrationTime) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIPositionSet (%s,%d,%f,%f,%f)", PositionerName, ClosedLoopStatus, KP, KI, IntegrationTime); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorPIPositionGet (int SocketIndex, char * PositionerName, int * ClosedLoopStatus, double * KP, double * KI, double * IntegrationTime) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerCorrectorPIPositionGet (%s,int *,double *,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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", ClosedLoopStatus); - 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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerCorrectorTypeGet (int SocketIndex, char * PositionerName, char * CorrectorType) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerErrorGet (int SocketIndex, char * PositionerName, int * ErrorCode) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerErrorStringGet (int SocketIndex, int PositionerErrorCode, char * PositionerErrorString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerHardwareStatusGet (int SocketIndex, char * PositionerName, int * HardwareStatus) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerHardwareStatusStringGet (int SocketIndex, int PositionerHardwareStatus, char * PositonerHardwareStatusString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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 (PositonerHardwareStatusString, pt); - ptNext = strchr (PositonerHardwareStatusString, ','); - if (ptNext != NULL) *ptNext = '\0'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerHardInterpolatorFactorGet (int SocketIndex, char * PositionerName, int * InterpolationFactor) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerHardInterpolatorFactorSet (int SocketIndex, char * PositionerName, int InterpolationFactor) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerMotionDoneGet (int SocketIndex, char * PositionerName, double * PositionWindow, double * VelocityWindow, double * CheckingTime, double * MeanPeriod, double * TimeOut) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerMotionDoneSet (int SocketIndex, char * PositionerName, double PositionWindow, double VelocityWindow, double CheckingTime, double MeanPeriod, double TimeOut) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerMotionDoneSet (%s,%f,%f,%f,%f,%f)", 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerPositionCompareGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, int * EnableState) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPositionCompareGet (%s,double *,double *,double *,int *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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", EnableState); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerPositionCompareSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double PositionStep) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPositionCompareSet (%s,%f,%f,%f)", PositionerName, MinimumPosition, MaximumPosition, PositionStep); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerPositionCompareEnable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerPositionCompareDisable (int SocketIndex, char * PositionerName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerPreviousMotionTimesGet (int SocketIndex, char * PositionerName, double * SettingTime, double * SettlingTime) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerPreviousMotionTimesGet (%s,double *,double *)", PositionerName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerSGammaParametersGet (int SocketIndex, char * PositionerName, double * Velocity, double * Acceleration, double * MinimumTjerkTime, double * MaximumTjerkTime) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerSGammaParametersSet (int SocketIndex, char * PositionerName, double Velocity, double Acceleration, double MinimumTjerkTime, double MaximumTjerkTime) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerSGammaParametersSet (%s,%f,%f,%f,%f)", PositionerName, Velocity, Acceleration, MinimumTjerkTime, MaximumTjerkTime); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerSGammaExactVelocityAjustedDisplacementGet (int SocketIndex, char * PositionerName, double DesiredDisplacement, double * AdjustedDisplacement) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerSGammaExactVelocityAjustedDisplacementGet (%s,%f,double *)", PositionerName, DesiredDisplacement); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerUserTravelLimitsGet (int SocketIndex, char * PositionerName, double * UserMinimumTarget, double * UserMaximumTarget) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerUserTravelLimitsSet (int SocketIndex, char * PositionerName, double UserMinimumTarget, double UserMaximumTarget) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "PositionerUserTravelLimitsSet (%s,%f,%f)", PositionerName, UserMinimumTarget, UserMaximumTarget); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall MultipleAxesPVTVerification (int SocketIndex, char * GroupName, char * FileName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTVerification (%s,%s)", GroupName, FileName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall MultipleAxesPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall MultipleAxesPVTExecution (int SocketIndex, char * GroupName, char * FileName, int ExecutionNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "MultipleAxesPVTExecution (%s,%s,%d)", GroupName, FileName, ExecutionNumber); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - /*SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); */ - SendOnly (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall MultipleAxesPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall SingleAxisSlaveModeEnable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall SingleAxisSlaveModeDisable (int SocketIndex, char * GroupName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall SingleAxisSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "SingleAxisSlaveParametersSet (%s,%s,%f)", GroupName, PositionerName, Ratio); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall SingleAxisSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYLineArcVerification (int SocketIndex, char * GroupName, char * FileName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcVerification (%s,%s)", GroupName, FileName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYLineArcVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYLineArcExecution (int SocketIndex, char * GroupName, char * FileName, double Velocity, double Acceleration, int ExecutionNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "XYLineArcExecution (%s,%s,%f,%f,%d)", GroupName, FileName, Velocity, Acceleration, ExecutionNumber); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYLineArcParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYZSplineVerification (int SocketIndex, char * GroupName, char * FileName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "XYZSplineVerification (%s,%s)", GroupName, FileName); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYZSplineVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYZSplineExecution (int SocketIndex, char * GroupName, char * FileName, double Velocity, double Acceleration) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "XYZSplineExecution (%s,%s,%f,%f)", GroupName, FileName, Velocity, Acceleration); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall XYZSplineParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall EEPROMCIESet (int SocketIndex, int CardNumber, char * ReferenceString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall EEPROMDACOffsetCIESet (int SocketIndex, int PlugNumber, double DAC1Offset, double DAC2Offset) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* Convert to string */ - sprintf (ExecuteMethod, "EEPROMDACOffsetCIESet (%d,%f,%f)", PlugNumber, DAC1Offset, DAC2Offset); - - /* Send this string and wait return function from controller */ - /* return function : ==0 -> OK ; < 0 -> NOK */ - SendAndReceive (SocketIndex, ExecuteMethod, ReturnedValue); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall EEPROMDriverSet (int SocketIndex, int PlugNumber, char * ReferenceString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall EEPROMINTSet (int SocketIndex, int CardNumber, char * ReferenceString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &ret); - - /* Get the returned values in the out parameters */ - return (ret); -} - - -/***********************************************************************/ -int __stdcall ActionListGet (int SocketIndex, char * ActionList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall APIExtendedListGet (int SocketIndex, char * Method) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall APIListGet (int SocketIndex, char * Method) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall ErrorListGet (int SocketIndex, char * ErrorsList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall EventListGet (int SocketIndex, char * EventList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringExtendedListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GatheringExternalListGet (int SocketIndex, char * list) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall GroupStatusListGet (int SocketIndex, char * GroupStatusList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall HardwareInternalListGet (int SocketIndex, char * InternalHardwareList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall HardwareDriverAndStageGet (int SocketIndex, int PlugNumber, char * DriverName, char * StageName) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall ObjectsListGet (int SocketIndex, char * ObjectsList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerErrorListGet (int SocketIndex, char * PositionerErrorList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall PositionerHardwareStatusListGet (int SocketIndex, char * PositionerHardwareStatusList) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - -/***********************************************************************/ -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_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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); - } - return (ret); -} - - -/***********************************************************************/ -int __stdcall TestTCP (int SocketIndex, char * InputString, char * ReturnString) -{ - int ret = -1; - char ExecuteMethod [SIZE_BUFFER]; - char ReturnedValue [SIZE_BUFFER]; - - /* 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); - if (strlen (ReturnedValue) > 0) - sscanf (ReturnedValue, "%i", &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'; - } - return (ret); -} - - - - -#ifdef __cplusplus -} -#endif diff --git a/motorApp/NewportSrc/xps_c8_driver.h b/motorApp/NewportSrc/xps_c8_driver.h deleted file mode 100755 index 71fd0cc4..00000000 --- a/motorApp/NewportSrc/xps_c8_driver.h +++ /dev/null @@ -1,153 +0,0 @@ -/* /////////////////////////////////////////////////////////////////// -// Created header file api.h for API headings -/ */ - - -#ifdef WINDOWS /* Copied from old version*/ -#ifndef DLL -#define DLL _declspec(dllimport) -#endif -#else -#define __stdcall -#define DLL -#endif - -#ifdef __cplusplus -extern "C" -{ -#endif - - -DLL int __stdcall TCP_ConnectToServer(char *Ip_Address, int Ip_Port, double TimeOut); -DLL void __stdcall TCP_SetTimeout(int SocketIndex, double Timeout); -DLL void __stdcall TCP_CloseSocket(int SocketIndex); -DLL char * __stdcall TCP_GetError(int SocketIndex); -DLL char * __stdcall GetLibraryVersion(void); -DLL int __stdcall ElapsedTimeGet (int SocketIndex, double * ElapsedTime); -DLL int __stdcall ErrorStringGet (int SocketIndex, int ErrorCode, char * ErrorString); -DLL int __stdcall FirmwareVersionGet (int SocketIndex, char * Version); -DLL int __stdcall TCLScriptExecute (int SocketIndex, char * TCLFileName, char * TaskName, char * ParametersList); -DLL int __stdcall TCLScriptKill (int SocketIndex, char * TaskName); -DLL int __stdcall TimerGet (int SocketIndex, char * TimerName, int * FrequencyTicks); -DLL int __stdcall TimerSet (int SocketIndex, char * TimerName, int FrequencyTicks); -DLL int __stdcall Reboot (int SocketIndex); -DLL int __stdcall EventAdd (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter, char * ActionName, char * ActionParameter1, char * ActionParameter2, char * ActionParameter3); -DLL int __stdcall EventGet (int SocketIndex, char * PositionerName, char * EventsAndActionsList); -DLL int __stdcall EventRemove (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter); -DLL int __stdcall EventWait (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter); -DLL int __stdcall GatheringConfigurationGet (int SocketIndex, char * Type); -DLL int __stdcall GatheringConfigurationSet (int SocketIndex, int NbElements, char * TypeList); -DLL int __stdcall GatheringCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber); -DLL int __stdcall GatheringStopAndSave (int SocketIndex); -DLL int __stdcall GatheringExternalConfigurationSet (int SocketIndex, int NbElements, char * TypeList); -DLL int __stdcall GatheringExternalConfigurationGet (int SocketIndex, char * Type); -DLL int __stdcall GatheringExternalCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber); -DLL int __stdcall GatheringExternalStopAndSave (int SocketIndex); -DLL int __stdcall GlobalArrayGet (int SocketIndex, int Number, char * ValueString); -DLL int __stdcall GlobalArraySet (int SocketIndex, int Number, char * ValueString); -DLL int __stdcall GPIOAnalogGet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogValue[]); -DLL int __stdcall GPIOAnalogSet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogOutputValue[]); -DLL int __stdcall GPIOAnalogGainGet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]); -DLL int __stdcall GPIOAnalogGainSet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]); -DLL int __stdcall GPIODigitalGet (int SocketIndex, char * GPIOName, unsigned short * DigitalValue); -DLL int __stdcall GPIODigitalSet (int SocketIndex, char * GPIOName, unsigned short Mask, unsigned short DigitalOutputValue); -DLL int __stdcall GroupAnalogTrackingModeEnable (int SocketIndex, char * GroupName, char * Type); -DLL int __stdcall GroupAnalogTrackingModeDisable (int SocketIndex, char * GroupName); -DLL int __stdcall GroupHomeSearch (int SocketIndex, char * GroupName); -DLL int __stdcall GroupHomeSearchAndRelativeMove (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]); -DLL int __stdcall GroupInitialize (int SocketIndex, char * GroupName); -DLL int __stdcall GroupJogParametersSet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]); -DLL int __stdcall GroupJogParametersGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]); -DLL int __stdcall GroupJogCurrentGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]); -DLL int __stdcall GroupJogModeEnable (int SocketIndex, char * GroupName); -DLL int __stdcall GroupJogModeDisable (int SocketIndex, char * GroupName); -DLL int __stdcall GroupKill (int SocketIndex, char * GroupName); -DLL int __stdcall GroupMoveAbort (int SocketIndex, char * GroupName); -DLL int __stdcall GroupMoveAbsolute (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]); -DLL int __stdcall GroupMoveRelative (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]); -DLL int __stdcall GroupMotionDisable (int SocketIndex, char * GroupName); -DLL int __stdcall GroupMotionEnable (int SocketIndex, char * GroupName); -DLL int __stdcall GroupPositionCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentEncoderPosition[]); -DLL int __stdcall GroupPositionSetpointGet (int SocketIndex, char * GroupName, int NbElements, double SetPointPosition[]); -DLL int __stdcall GroupPositionTargetGet (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]); -DLL int __stdcall GroupStatusGet (int SocketIndex, char * GroupName, int * Status); -DLL int __stdcall GroupStatusStringGet (int SocketIndex, int GroupStatusCode, char * GroupStatusString); -DLL int __stdcall KillAll (int SocketIndex); -DLL int __stdcall PositionerAnalogTrackingPositionParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * Velocity, double * Acceleration); -DLL int __stdcall PositionerAnalogTrackingPositionParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double Velocity, double Acceleration); -DLL int __stdcall PositionerAnalogTrackingVelocityParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * DeadBandThreshold, int * Order, double * Velocity, double * Acceleration); -DLL int __stdcall PositionerAnalogTrackingVelocityParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double DeadBandThreshold, int Order, double Velocity, double Acceleration); -DLL int __stdcall PositionerBacklashGet (int SocketIndex, char * PositionerName, double * BacklashValue, char * BacklaskStatus); -DLL int __stdcall PositionerBacklashSet (int SocketIndex, char * PositionerName, double BacklashValue); -DLL int __stdcall PositionerBacklashEnable (int SocketIndex, char * PositionerName); -DLL int __stdcall PositionerBacklashDisable (int SocketIndex, char * PositionerName); -DLL int __stdcall PositionerCorrectorNotchFiltersSet (int SocketIndex, char * PositionerName, double NotchFrequency1, double NotchBandwith1, double NotchGain1, double NotchFrequency2, double NotchBandwith2, double NotchGain2); -DLL int __stdcall PositionerCorrectorNotchFiltersGet (int SocketIndex, char * PositionerName, double * NotchFrequency1, double * NotchBandwith1, double * NotchGain1, double * NotchFrequency2, double * NotchBandwith2, double * NotchGain2); -DLL int __stdcall PositionerCorrectorPIDFFAccelerationSet (int SocketIndex, char * PositionerName, int ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainAcceleration); -DLL int __stdcall PositionerCorrectorPIDFFAccelerationGet (int SocketIndex, char * PositionerName, int * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainAcceleration); -DLL int __stdcall PositionerCorrectorPIDFFVelocitySet (int SocketIndex, char * PositionerName, int ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double FeedForwardGainVelocity); -DLL int __stdcall PositionerCorrectorPIDFFVelocityGet (int SocketIndex, char * PositionerName, int * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * FeedForwardGainVelocity); -DLL int __stdcall PositionerCorrectorPIDDualFFVoltageSet (int SocketIndex, char * PositionerName, int 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); -DLL int __stdcall PositionerCorrectorPIDDualFFVoltageGet (int SocketIndex, char * PositionerName, int * 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); -DLL int __stdcall PositionerCorrectorPIPositionSet (int SocketIndex, char * PositionerName, int ClosedLoopStatus, double KP, double KI, double IntegrationTime); -DLL int __stdcall PositionerCorrectorPIPositionGet (int SocketIndex, char * PositionerName, int * ClosedLoopStatus, double * KP, double * KI, double * IntegrationTime); -DLL int __stdcall PositionerCorrectorTypeGet (int SocketIndex, char * PositionerName, char * CorrectorType); -DLL int __stdcall PositionerErrorGet (int SocketIndex, char * PositionerName, int * ErrorCode); -DLL int __stdcall PositionerErrorStringGet (int SocketIndex, int PositionerErrorCode, char * PositionerErrorString); -DLL int __stdcall PositionerHardwareStatusGet (int SocketIndex, char * PositionerName, int * HardwareStatus); -DLL int __stdcall PositionerHardwareStatusStringGet (int SocketIndex, int PositionerHardwareStatus, char * PositonerHardwareStatusString); -DLL int __stdcall PositionerHardInterpolatorFactorGet (int SocketIndex, char * PositionerName, int * InterpolationFactor); -DLL int __stdcall PositionerHardInterpolatorFactorSet (int SocketIndex, char * PositionerName, int InterpolationFactor); -DLL int __stdcall PositionerMotionDoneGet (int SocketIndex, char * PositionerName, double * PositionWindow, double * VelocityWindow, double * CheckingTime, double * MeanPeriod, double * TimeOut); -DLL int __stdcall PositionerMotionDoneSet (int SocketIndex, char * PositionerName, double PositionWindow, double VelocityWindow, double CheckingTime, double MeanPeriod, double TimeOut); -DLL int __stdcall PositionerPositionCompareGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, int * EnableState); -DLL int __stdcall PositionerPositionCompareSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double PositionStep); -DLL int __stdcall PositionerPositionCompareEnable (int SocketIndex, char * PositionerName); -DLL int __stdcall PositionerPositionCompareDisable (int SocketIndex, char * PositionerName); -DLL int __stdcall PositionerPreviousMotionTimesGet (int SocketIndex, char * PositionerName, double * SettingTime, double * SettlingTime); -DLL int __stdcall PositionerSGammaParametersGet (int SocketIndex, char * PositionerName, double * Velocity, double * Acceleration, double * MinimumTjerkTime, double * MaximumTjerkTime); -DLL int __stdcall PositionerSGammaParametersSet (int SocketIndex, char * PositionerName, double Velocity, double Acceleration, double MinimumTjerkTime, double MaximumTjerkTime); -DLL int __stdcall PositionerSGammaExactVelocityAjustedDisplacementGet (int SocketIndex, char * PositionerName, double DesiredDisplacement, double * AdjustedDisplacement); -DLL int __stdcall PositionerUserTravelLimitsGet (int SocketIndex, char * PositionerName, double * UserMinimumTarget, double * UserMaximumTarget); -DLL int __stdcall PositionerUserTravelLimitsSet (int SocketIndex, char * PositionerName, double UserMinimumTarget, double UserMaximumTarget); -DLL int __stdcall MultipleAxesPVTVerification (int SocketIndex, char * GroupName, char * FileName); -DLL int __stdcall MultipleAxesPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); -DLL int __stdcall MultipleAxesPVTExecution (int SocketIndex, char * GroupName, char * FileName, int ExecutionNumber); -DLL int __stdcall MultipleAxesPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber); -DLL int __stdcall SingleAxisSlaveModeEnable (int SocketIndex, char * GroupName); -DLL int __stdcall SingleAxisSlaveModeDisable (int SocketIndex, char * GroupName); -DLL int __stdcall SingleAxisSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio); -DLL int __stdcall SingleAxisSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio); -DLL int __stdcall XYLineArcVerification (int SocketIndex, char * GroupName, char * FileName); -DLL int __stdcall XYLineArcVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); -DLL int __stdcall XYLineArcExecution (int SocketIndex, char * GroupName, char * FileName, double Velocity, double Acceleration, int ExecutionNumber); -DLL int __stdcall XYLineArcParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber); -DLL int __stdcall XYZSplineVerification (int SocketIndex, char * GroupName, char * FileName); -DLL int __stdcall XYZSplineVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); -DLL int __stdcall XYZSplineExecution (int SocketIndex, char * GroupName, char * FileName, double Velocity, double Acceleration); -DLL int __stdcall XYZSplineParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber); -DLL int __stdcall EEPROMCIESet (int SocketIndex, int CardNumber, char * ReferenceString); -DLL int __stdcall EEPROMDACOffsetCIESet (int SocketIndex, int PlugNumber, double DAC1Offset, double DAC2Offset); -DLL int __stdcall EEPROMDriverSet (int SocketIndex, int PlugNumber, char * ReferenceString); -DLL int __stdcall EEPROMINTSet (int SocketIndex, int CardNumber, char * ReferenceString); -DLL int __stdcall ActionListGet (int SocketIndex, char * ActionList); -DLL int __stdcall APIExtendedListGet (int SocketIndex, char * Method); -DLL int __stdcall APIListGet (int SocketIndex, char * Method); -DLL int __stdcall ErrorListGet (int SocketIndex, char * ErrorsList); -DLL int __stdcall EventListGet (int SocketIndex, char * EventList); -DLL int __stdcall GatheringListGet (int SocketIndex, char * list); -DLL int __stdcall GatheringExtendedListGet (int SocketIndex, char * list); -DLL int __stdcall GatheringExternalListGet (int SocketIndex, char * list); -DLL int __stdcall GroupStatusListGet (int SocketIndex, char * GroupStatusList); -DLL int __stdcall HardwareInternalListGet (int SocketIndex, char * InternalHardwareList); -DLL int __stdcall HardwareDriverAndStageGet (int SocketIndex, int PlugNumber, char * DriverName, char * StageName); -DLL int __stdcall ObjectsListGet (int SocketIndex, char * ObjectsList); -DLL int __stdcall PositionerErrorListGet (int SocketIndex, char * PositionerErrorList); -DLL int __stdcall PositionerHardwareStatusListGet (int SocketIndex, char * PositionerHardwareStatusList); -DLL int __stdcall GatheringUserDatasGet (int SocketIndex, double * UserData1, double * UserData2, double * UserData3, double * UserData4, double * UserData5, double * UserData6, double * UserData7, double * UserData8); -DLL int __stdcall TestTCP (int SocketIndex, char * InputString, char * ReturnString); - - -#ifdef __cplusplus -} -#endif