forked from epics_driver_modules/motorBase
MarkRivers
70 lines
2.1 KiB
C
70 lines
2.1 KiB
C
#ifndef __INCrouteLibh
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#define __INCrouteLibh
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define NUM_AXES 3
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typedef enum
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{
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ROUTE_CALC_ROUTE = 0,
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ROUTE_NEW_ROUTE = 1,
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ROUTE_NO_NEW_ROUTE = 2
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} route_reroute_t;
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typedef enum
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{
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ROUTE__OK = 0,
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ROUTE__BADROUTE = 1,
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ROUTE__BADPARAM = 2,
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ROUTE__NEGSQRT = 3,
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ROUTE__NEGTIME = 4
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} route_status_t;
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typedef struct route_axis_demand_str
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{
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double p; /* Demand position for axis at a given time */
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double v; /* Demand velocity for axis at a given time */
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} route_axis_demand_t;
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typedef struct route_demand_str
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{
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double T; /* Time at which demand is valid */
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route_axis_demand_t axis[NUM_AXES];
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} route_demand_t;
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typedef struct route_axis_pars_str
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{
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double Amax; /* Maximum acceleration for this axis */
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double Vmax; /* Maximum velocity for this axis */
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} route_axis_pars_t;
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typedef struct route_pars_str
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{
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unsigned int numRoutedAxes; /* Number of axes to be routed */
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int routedAxisList[NUM_AXES]; /* List of the axes to be routed */
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double Tsync; /* Synchronisation period for routing */
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double Tcoast; /* End of route coast time for all axes */
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route_axis_pars_t axis[NUM_AXES];
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} route_pars_t;
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typedef struct route_str * ROUTE_ID;
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ROUTE_ID routeNew( route_demand_t * initialDemand, route_pars_t * initial_parameters );
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route_status_t routeFind( ROUTE_ID, route_reroute_t, route_demand_t * end_demand, route_demand_t * next_demand );
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void routePrint( ROUTE_ID route, route_reroute_t reroute, route_demand_t * endp, route_demand_t * nextp, FILE * logfile );
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void routeDelete( ROUTE_ID );
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route_status_t routeSetDemand( ROUTE_ID, route_demand_t * demand );
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route_status_t routeSetParams( ROUTE_ID, route_pars_t * parameters );
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route_status_t routeGetParams( ROUTE_ID, route_pars_t * parameters );
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route_status_t routeGetNumRoutedAxes( ROUTE_ID route, unsigned int * number );
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCrouteLibh */
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