45 lines
2.0 KiB
C
45 lines
2.0 KiB
C
/*---------------------------------------------------------------------------
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This is a motor driver which is implemented in Tcl. This means
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this code is only a wrapper which calls Tcl functions to do the
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actual work.
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copyright: see file COPYRIGHT
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Mark Koennecke, December 2005
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--------------------------------------------------------------------------*/
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#ifndef TCLMOTDRIV
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#define TCLMOTDRIV
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#include "stringdict.h"
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typedef struct ___TclDriv {
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/* general motor driver interface
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fields. REQUIRED!
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*/
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float fUpper; /* upper limit */
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float fLower; /* lower limit */
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char *name;
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int (*GetPosition)(void *self,float *fPos);
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int (*RunTo)(void *self, float fNewVal);
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int (*GetStatus)(void *self);
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void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(void *self,int iError, float fNew);
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int (*Halt)(void *self);
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int (*GetDriverPar)(void *self, char *name,
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float *value);
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int (*SetDriverPar)(void *self,SConnection *pCon,
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char *name, float newValue);
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void (*ListDriverPar)(void *self, char *motorName,
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SConnection *pCon);
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void (*KillPrivate)(void *self);
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/* Tcl specific fields */
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pStringDict mappings;
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int errorCode;
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char tclError[1024];
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char motName[132];
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} TCLDriv;
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MotorDriver *CreateTclMotDriv(SConnection *pCon, int argc, char *argv[]);
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#endif
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