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2000-02-07 10:38:55 +00:00
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/*------------------------------------------------------------------------
Header file for an EL734 motor driver
Mark Koennecke, November 1996
copyright: see implementation file
----------------------------------------------------------------------------*/
#ifndef SICSEL734
#define SICSEL734
#include "SCinter.h"
#define MOTREDO -1
#define MOTFAIL 0
#define MOTOK 1
typedef struct __AbstractMoDriv {
/* general motor driver interface
fields. REQUIRED!
*/
float fUpper; /* upper limit */
float fLower; /* lower limit */
char *name;
int (*GetPosition)(void *self, float *fPos);
int (*RunTo)(void *self,float fNewVal);
int (*GetStatus)(void *self);
void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
int (*TryAndFixIt)(void *self, int iError,float fNew);
int (*ContinueAfterWarn)(void *self);
int (*Halt)(void *self);
}
MotorDriver;
/* the first fields above HAVE to be IDENTICAL to those below */
typedef struct __MoDriv {
/* general motor driver interface
fields. REQUIRED!
*/
float fUpper; /* upper limit */
float fLower; /* lower limit */
char *name;
int (*GetPosition)(void *self,float *fPos);
int (*RunTo)(void *self, float fNewVal);
int (*GetStatus)(void *self);
void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
int (*TryAndFixIt)(void *self,int iError, float fNew);
int (*ContinueAfterWarn)(void *self);
int (*Halt)(void *self);
/* EL-734 specific fields */
int iPort;
char *hostname;
int iChannel;
int iMotor;
void *EL734struct;
int iMSR;
} EL734Driv;
typedef struct ___MoSDriv {
/* general motor driver interface
fields. REQUIRED!
*/
float fUpper; /* upper limit */
float fLower; /* lower limit */
char *name;
int (*GetPosition)(void *self,float *fPos);
int (*RunTo)(void *self, float fNewVal);
int (*GetStatus)(void *self);
void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
int (*TryAndFixIt)(void *self,int iError, float fNew);
int (*ContinueAfterWarn)(void *self);
int (*Halt)(void *self);
/* Simulation specific fields */
float fFailure; /* percent random failures*/
float fSpeed;
long iTime;
float fPos; /* position */
} SIMDriv;
/*--------------------------- EL734 -----------------------------------*/
MotorDriver *CreateEL734(SConnection *pCon, int argc, char *argv[]);
MotorDriver *CreateEL734DC(SConnection *pCon, int argc, char *argv[]);
void KillEL734(void *pData);
/* ----------------------- Simulation -----------------------------------*/
MotorDriver *CreateSIM(SConnection *pCon, int argc, char *argv[]);
void KillSIM(void *pData);
/*------------------------ Default ContinueAfterWarn -----------------*/
int MoDrivXXXContinue(void *pData);
#endif