/*---------------------------------------------------------------------------
 This is a motor driver which is implemented in Tcl. This means
 this code is only a wrapper which calls Tcl functions to do the 
 actual work.

 copyright: see file COPYRIGHT

 Mark Koennecke, December 2005
 --------------------------------------------------------------------------*/
#ifndef TCLMOTDRIV
#define TCLMOTDRIV 
#include "stringdict.h"

  typedef struct ___TclDriv {
                           /* 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   (*Halt)(void *self);
                           int   (*GetDriverPar)(void *self, char *name, 
                                  float *value);
                           int    (*SetDriverPar)(void *self,SConnection *pCon,
                                   char *name, float newValue);
                           void   (*ListDriverPar)(void *self, char *motorName,
                                  SConnection *pCon);
                           void   (*KillPrivate)(void *self);
                           
                           /* Tcl specific fields */
                           pStringDict mappings;
                           int errorCode;
                           char tclError[1024];
                           char motName[132];
                          } TCLDriv;
                          
MotorDriver *CreateTclMotDriv(SConnection *pCon, int argc, char *argv[]);

#endif