Restructure

src/ecmcMotionPlgWrap.cpp

@@ -0,0 +1,126 @@
+/*************************************************************************\
+* Copyright (c) 2023 Paul Scherrer Institute
+* ecmc is distributed subject to a Software License Agreement found
+* in file LICENSE that is included with this distribution. 
+*
+*  ecmcMotionPlgWrap.cpp
+*
+*  Created on: july 10, 2023
+*      Author: anderssandstrom
+*      Credits to  https://github.com/sgreg/dynamic-loading 
+*
+\*************************************************************************/
+
+// Needed to get headers in ecmc right...
+#define ECMC_IS_PLUGIN
+
+#include <vector>
+#include <stdexcept>
+#include <string>
+#include "ecmcMotionPlgWrap.h"
+#include "ecmcMotionPlg.h"
+
+#define ECMC_PLUGIN_MAX_PORTNAME_CHARS 64
+#define ECMC_PLUGIN_PORTNAME_PREFIX "PLUGIN.MOTION"
+
+static std::vector<ecmcMotionPlg*>  motionObjs;
+static int                    motionObjCounter = 0;
+static char                   portNameBuffer[ECMC_PLUGIN_MAX_PORTNAME_CHARS];
+
+int createMotionObj(char* configStr) {
+
+  // create new ecmcMotionPlg object
+  ecmcMotionPlg* motionObj = NULL;
+
+  // create asynport name for new object ()
+  memset(portNameBuffer, 0, ECMC_PLUGIN_MAX_PORTNAME_CHARS);
+  snprintf (portNameBuffer, ECMC_PLUGIN_MAX_PORTNAME_CHARS,
+            ECMC_PLUGIN_PORTNAME_PREFIX "_%d", motionObjCounter);
+  try {
+    motionObj = new ecmcMotionPlg(motionObjCounter, configStr, portNameBuffer);
+  }
+  catch(std::exception& e) {
+    if(motionObj) {
+      delete motionObj;
+    }
+    printf("Exception: %s. Plugin will unload.\n",e.what());
+    return ECMC_PLUGIN_MOTION_ERROR_CODE;
+  }
+  
+  motionObjs.push_back(motionObj);
+  motionObjCounter++;
+
+  return 0;
+}
+
+void deleteAllMotionObjs() {
+  for(std::vector<ecmcMotionPlg*>::iterator pMotionObj = motionObjs.begin(); pMotionObj != motionObjs.end(); ++pMotionObj) {
+    if(*pMotionObj) {
+      delete (*pMotionObj);
+    }
+  }
+}
+
+int  linkDataTomotionObjs() {
+  for(std::vector<ecmcMotionPlg*>::iterator pMotionObj = motionObjs.begin(); pMotionObj != motionObjs.end(); ++pMotionObj) {
+    if(*pMotionObj) {
+      try {
+        (*pMotionObj)->connectToDataSource();
+      }
+      catch(std::exception& e) {
+        printf("Exception: %s. Plugin will unload.\n",e.what());
+        return ECMC_PLUGIN_MOTION_ERROR_CODE;
+      }
+    }
+  }
+  return 0;
+}
+
+int enableMotionObj(int objIndex, int enable) {
+  try {
+    motionObjs.at(objIndex)->setEnable(enable);
+  }
+  catch(std::exception& e) {
+    printf("Exception: %s. Motion object index out of range.\n",e.what());
+    return ECMC_PLUGIN_MOTION_ERROR_CODE;
+  }
+  return 0;
+}
+
+int clearMotionObj(int objIndex) {
+  try {
+    motionObjs.at(objIndex)->clearBuffers();
+  }
+  catch(std::exception& e) {
+    printf("Exception: %s. Motion object index out of range.\n",e.what());
+    return ECMC_PLUGIN_MOTION_ERROR_CODE;
+  }  
+  return 0;
+}
+
+int triggMotionObj(int objIndex) {
+  try {
+    motionObjs.at(objIndex)->triggMotionObject();
+  }
+  catch(std::exception& e) {
+    printf("Exception: %s. Motion object index out of range.\n",e.what());
+    return ECMC_PLUGIN_MOTION_ERROR_CODE;
+  }  
+  return 0;
+}
+
+int executeMotionObjs() {
+
+  for(std::vector<ecmcMotionPlg*>::iterator pMotionObj = motionObjs.begin(); pMotionObj != motionObjs.end(); ++pMotionObj) {
+    if(*pMotionObj) {
+      try {
+        (*pMotionObj)->executeMotionObject();
+      }
+      catch(std::exception& e) {
+        printf("Exception: %s. Plugin will unload.\n",e.what());
+        return ECMC_PLUGIN_MOTION_ERROR_CODE;
+      }
+    }
+  }
+  return 0;
+}