6819991e85
- Extended the callback interface to register scipts on callbacks - Fixed a stop bug in the anticollision object - Modified the HM code to do zero through a client connection
131 lines
4.0 KiB
C
131 lines
4.0 KiB
C
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#line 359 "interface.w"
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/*---------------------------------------------------------------------------
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I N T E R F A C E S
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Any object in SICS has to adhere to the object descriptor interface (see
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file obdes.h). Furthermore SICS objects may choose to support other
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interfaces as well. These interfaces are defined.
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Mark Koennecke, June 1997
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For more documentation see interface.w, interface.tex
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copyright: see SICS impelementation files
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---------------------------------------------------------------------------*/
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#ifndef SICSINTERFACES
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#define SICSINTERFACES
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/* interface ID's used to recognize an interface */
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#define DRIVEID 513
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#define COUNTID 713
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#define CALLBACKINTERFACE 947
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#define ENVIRINTERFACE 949
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/* ----------------------- The drivable interface -----------------------*/
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#line 117 "interface.w"
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typedef struct {
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int ID;
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int (*Halt)(void *self);
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int (*CheckLimits)(void *self, float fVal,
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char *error, int iErrLen);
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long (*SetValue)(void *self, SConnection *pCon,
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float fVal);
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int (*CheckStatus)(void *self, SConnection *pCon);
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float (*GetValue)(void *self, SConnection *pCon);
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int iErrorCount;
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} IDrivable, *pIDrivable;
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pIDrivable GetDrivableInterface(void *pObject);
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#line 384 "interface.w"
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pIDrivable CreateDrivableInterface(void);
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/* ------------------------ The countable interface ---------------------*/
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#line 177 "interface.w"
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typedef struct {
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int ID;
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int (*Halt)(void *self);
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void (*SetCountParameters)(void *self, float fPreset,
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CounterMode eMode);\
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int (*StartCount)(void *self, SConnection *pCon);
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int (*CheckCountStatus)(void *self, SConnection *pCon);
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int (*Pause)(void *self, SConnection *pCon);
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int (*Continue)(void *self, SConnection *pCon);
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int (*TransferData)(void *self, SConnection *pCon);
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} ICountable, *pICountable;
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pICountable GetCountableInterface(void *pObject);
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#line 389 "interface.w"
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pICountable CreateCountableInterface(void);
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/* ------------------------- The CallBack Interface --------------------*/
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#line 230 "interface.w"
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typedef void (*KillFuncIT)(void *pData);
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typedef int (*SICSCallBack)(int iEvent, void *pEventData,
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void *pUserData);
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#line 394 "interface.w"
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#line 252 "interface.w"
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typedef struct __ICallBack *pICallBack;
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/* event source side */
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pICallBack CreateCallBackInterface(void);
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void DeleteCallBackInterface(pICallBack self);
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int InvokeCallBack(pICallBack pInterface, int iEvent, void *pEventData);
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/* callback client side */
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long RegisterCallback(pICallBack pInterface, int iEvent, SICSCallBack pFunc,
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void *pUserData, KillFuncIT pKill);
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int RemoveCallback(pICallBack pInterface, long iID);
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int RemoveCallback2(pICallBack pInterface, void *pUserData);
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int CallbackScript(SConnection *pCon, SicsInterp *pSics, void *pData,
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int argc, char *argv[]);
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pICallBack GetCallbackInterface(void *pData);
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#line 395 "interface.w"
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/*---------------------- The Environment Interface --------------------*/
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#line 323 "interface.w"
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typedef enum { EVIdle, EVDrive, EVMonitor, EVError } EVMode;
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typedef struct {
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int iID;
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EVMode (*GetMode)(void *self);
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int (*IsInTolerance)(void *self);
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int (*HandleError)(void *self);
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} EVInterface, *pEVInterface;
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#line 397 "interface.w"
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#line 349 "interface.w"
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pEVInterface CreateEVInterface(void);
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#line 398 "interface.w"
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#endif
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