usr_servo code generation

python/usr_code/pp_proj.h

@@ -0,0 +1,189 @@
+
+#ifndef _PP_PROJ_H_
+#define _PP_PROJ_H_
+//***********************************************************************************
+// C header for accessing PMAC Global, CSGlobal, Ptr vars
+// _PPScriptMode_ for Pmac Script like access global & csglobal
+// global Mypvar - access with "Mypvar"
+// global Myparray(32) - access with "Myparray(i)"
+// csglobal Myqvar - access with "Myqvar(i)" where "i" is Coord #
+// csglobal Myqarray(16) - access with "Myqvar(i,j)" where "j" is index
+// _EnumMode_ for Pmac enum data type checking on Set & Get global functions
+// Example
+// global Mypvar
+// csglobal Myqvar
+// "SetGlobalVar(Myqvar, data)" will give a compile error because its a csglobal var.
+// "SetCSGlobalVar(Mypvar, data)" will give a compile error because its a global var.
+//************************************************************************************
+
+#ifdef _PPScriptMode_
+enum globalP {_globalP_=-1};
+enum globalParray {_globalParray_=-1};
+enum csglobalQ {_csglobalQ_=-1};
+enum csglobalQarray {_csglobalQarray_=-1};
+
+enum ptrM {_ptrM_=-1};
+enum ptrMarray {_ptrMarray_=-1};
+void SetEnumGlobalVar(enum globalP var, double data)
+{
+  pshm->P[var] = data;
+}
+
+double GetEnumGlobalVar(enum globalP var)
+{
+  return pshm->P[var];
+}
+
+void SetEnumGlobalArrayVar(enum globalParray var, unsigned index, double data)
+{
+  pshm->P[(var + index)%MAX_P] = data;
+}
+
+double GetEnumGlobalArrayVar(enum globalParray var, unsigned index)
+{
+  return pshm->P[(var + index)%MAX_P];
+}
+
+void SetEnumCSGlobalVar(enum csglobalQ var, unsigned cs, double data)
+{
+  pshm->Coord[cs % MAX_COORDS].Q[var] = data;
+}
+
+double GetEnumCSGlobalVar(enum csglobalQ var, unsigned cs)
+{
+  return pshm->Coord[cs % MAX_COORDS].Q[var];
+}
+
+void SetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs, double data)
+{
+  pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q] = data;
+}
+
+double GetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs)
+{
+  return pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q];
+}
+
+void SetEnumPtrVar(enum ptrM var, double data)
+{
+  im_write(pshm->Mdef + var, data, &pshm->Ldata);
+}
+
+double GetEnumPtrVar(enum ptrM var)
+{
+  return im_read(pshm->Mdef + var, &pshm->Ldata);
+}
+
+void SetEnumPtrArrayVar(enum ptrMarray var, unsigned index, double data)
+{
+  im_write(pshm->Mdef + ((var + index)%MAX_M), data, &pshm->Ldata);
+}
+
+double GetEnumPtrArrayVar(enum ptrMarray var, unsigned index)
+{
+  return im_read(pshm->Mdef + ((var + index)%MAX_M), &pshm->Ldata);
+}
+
+#define SetGlobalVar(i, x)              SetEnumGlobalVar(i, x)
+#define SetGlobalArrayVar(i, j, x)      SetEnumGlobalArrayVar(i, j, x)
+#define GetGlobalVar(i)                 GetEnumGlobalVar(i)
+#define GetGlobalArrayVar(i, j)         GetEnumGlobalArrayVar(i, j)
+
+#define SetCSGlobalVar(i, j, x)         SetEnumCSGlobalVar(i, j, x)
+#define SetCSGlobalArrayVar(i, j, k, x) SetEnumCSGlobalArrayVar(i, j, k, x)
+#define GetCSGlobalVar(i, j)            GetEnumCSGlobalVar(i, j)
+#define GetCSGlobalArrayVar(i, j, k)    GetEnumCSGlobalArrayVar(i, j, k)
+
+#define SetPtrVar(i, x)                 SetEnumPtrVar(i, x)
+#define SetPtrArrayVar(i, j, x)         SetEnumPtrArrayVar(i, j, x)
+#define GetPtrVar(i)                    GetEnumPtrVar(i)
+#define GetPtrArrayVar(i, j)            GetEnumPtrArrayVar(i, j)
+// end of #ifdef _PPScriptMode_
+#else
+#ifdef _EnumMode_
+enum globalP {_globalP_=-1};
+enum globalParray {_globalParray_=-1};
+enum csglobalQ {_csglobalQ_=-1};
+enum csglobalQarray {_csglobalQarray_=-1};
+enum ptrM {_ptrM_=-1};
+enum ptrMarray {_ptrMarray_=-1};
+void SetEnumGlobalVar(enum globalP var, double data)
+{
+  pshm->P[var] = data;
+}
+
+double GetEnumGlobalVar(enum globalP var)
+{
+  return pshm->P[var];
+}
+
+void SetEnumGlobalArrayVar(enum globalParray var, unsigned index, double data)
+{
+  pshm->P[(var + index)%MAX_P] = data;
+}
+
+double GetEnumGlobalArrayVar(enum globalParray var, unsigned index)
+{
+  return pshm->P[(var + index)%MAX_P];
+}
+
+void SetEnumCSGlobalVar(enum csglobalQ var, unsigned cs, double data)
+{
+  pshm->Coord[cs % MAX_COORDS].Q[var] = data;
+}
+
+double GetEnumCSGlobalVar(enum csglobalQ var, unsigned cs)
+{
+  return pshm->Coord[cs % MAX_COORDS].Q[var];
+}
+
+void SetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs, double data)
+{
+  pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q] = data;
+}
+
+double GetEnumCSGlobalArrayVar(enum csglobalQarray var, unsigned index, unsigned cs)
+{
+  return pshm->Coord[cs % MAX_COORDS].Q[(var + index)%MAX_Q];
+}
+
+void SetEnumPtrVar(enum ptrM var, double data)
+{
+  im_write(pshm->Mdef + var, data, &pshm->Ldata);
+}
+
+double GetEnumPtrVar(enum ptrM var)
+{
+  return im_read(pshm->Mdef + var, &pshm->Ldata);
+}
+
+void SetEnumPtrArrayVar(enum ptrMarray var, unsigned index, double data)
+{
+  im_write(pshm->Mdef + ((var + index)%MAX_M), data, &pshm->Ldata);
+}
+
+double GetEnumPtrArrayVar(enum ptrMarray var, unsigned index)
+{
+  return im_read(pshm->Mdef + ((var + index)%MAX_M), &pshm->Ldata);
+}
+
+#define SetGlobalVar(i, x)              SetEnumGlobalVar(i, x)
+#define SetGlobalArrayVar(i, j, x)      SetEnumGlobalArrayVar(i, j, x)
+#define GetGlobalVar(i)                 GetEnumGlobalVar(i)
+#define GetGlobalArrayVar(i, j)         GetEnumGlobalArrayVar(i, j)
+
+#define SetCSGlobalVar(i, j, x)         SetEnumCSGlobalVar(i, j, x)
+#define SetCSGlobalArrayVar(i, j, k, x) SetEnumCSGlobalArrayVar(i, j, k, x)
+#define GetCSGlobalVar(i, j)            GetEnumCSGlobalVar(i, j)
+#define GetCSGlobalArrayVar(i, j, k)    GetEnumCSGlobalArrayVar(i, j, k)
+
+#define SetPtrVar(i, x)                 SetEnumPtrVar(i, x)
+#define SetPtrArrayVar(i, j, x)         SetEnumPtrArrayVar(i, j, x)
+#define GetPtrVar(i)                    GetEnumPtrVar(i)
+#define GetPtrArrayVar(i, j)            GetEnumPtrArrayVar(i, j)
+// end of #ifdef _EnumMode_
+#else
+// ***** Standard default mode *****
+#endif
+#endif
+#endif //_PP_PROJ_H_