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Added callback interface to implement 'interest'

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hauser_n
2006-05-01 04:38:39 +00:00
parent 51f25e651c
commit 48fc610da6
1 changed files with 6 additions and 0 deletions
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6
confvirtualmot.w
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@ -12,11 +12,14 @@ This objects data structure:
typedef struct __CONFVIRTMOT { typedef struct __CONFVIRTMOT {
pObjectDescriptor pDes; pObjectDescriptor pDes;
pIDrivable pDriv; pIDrivable pDriv;
pICallBack pCall;
char *name;
char *scriptName; char *scriptName;
char *readScript; char *readScript;
int motorList; int motorList;
float targetValue; float targetValue;
int targetReached; int targetReached;
int posCount;
char scriptError[512]; char scriptError[512];
int parseOK; int parseOK;
}ConfigurableVirtualMotor, *pConfigurableVirtualMotor; }ConfigurableVirtualMotor, *pConfigurableVirtualMotor;
@ -25,11 +28,14 @@ The fields are:
\begin{description} \begin{description}
\item[pDes] The standard object descriptor. \item[pDes] The standard object descriptor.
\item[pDriv] The drivable interface \item[pDriv] The drivable interface
\item[pCall] The callback interface
\item[name] The name of the virtual motor
\item[scriptName] The name of the program to calculate the new positions \item[scriptName] The name of the program to calculate the new positions
of the real motors. of the real motors.
\item[readScript] A script to read back the current value of the virtual motor. \item[readScript] A script to read back the current value of the virtual motor.
\item[motorList] A list of the motors to start and control. \item[motorList] A list of the motors to start and control.
\item[targetValue] The target value we wanted to have. \item[targetValue] The target value we wanted to have.
\item[posCount] This counter prevents the callback from being invoked too often. The frequency is currently set to every 10 cycles through the task loop.
\item[targetReached] A flag which becomes true when a check has showed that \item[targetReached] A flag which becomes true when a check has showed that
all desired motors have reached their targets. all desired motors have reached their targets.
\item[scriptError] A temporary buffer holding all errors encountered \item[scriptError] A temporary buffer holding all errors encountered