1  /********************************************************************
 2  * Description: usrmotintf.h
 3  *   Decls for interface functions (init, exit, read, write) for user
 4  *   processes which communicate with the real-time motion controller
 5  *   in emcmot.c
 6  *
 7  *   Derived from a work by Fred Proctor & Will Shackleford
 8  *
 9  * Author:
10  * License: GPL Version 2
11  * System: Linux
12  *    
13  * Copyright (c) 2004 All rights reserved.
14  ********************************************************************/
15  #ifndef USRMOTINTF_H
16  #define USRMOTINTF_H
17  
18  struct emcmot_status_t;
19  struct emcmot_command_t;
20  struct emcmot_config_t;
21  struct emcmot_debug_t;
22  struct emcmot_error_t;
23  
24  #ifdef __cplusplus
25  extern "C" {
26  #endif
27  
28  /* usrmotIniLoad() loads params (SHMEM_KEY) from
29     named ini file */
30      extern int usrmotIniLoad(const char *file);
31  
32  /* usrmotReadEmcmotStatus() gets the status info out of
33     the emcmot controller and puts it in arg */
34      extern int usrmotReadEmcmotStatus(emcmot_status_t * s);
35  
36  /* usrmotReadEmcmotConfig() gets the config info out of
37     the emcmot controller and puts it in arg */
38      extern int usrmotReadEmcmotConfig(emcmot_config_t * s);
39  
40  /* usrmotReadEmcmotDebug() gets the debug info out of
41     the emcmot controller and puts it in arg */
42      extern int usrmotReadEmcmotDebug(emcmot_debug_t * s);
43  
44  /* usrmotReadEmcmotError() gets the earliest queued error string out of
45     the emcmot controller and puts it in arg */
46      extern int usrmotReadEmcmotError(char *e);
47  
48  /* usrmotPrintEmcmotStatus() prints the status in s, using which
49     arg to select sub-prints */
50      extern void usrmotPrintEmcmotStatus(emcmot_status_t *s, int which);
51  
52  /* usrmotPrintEmcmotConfig() prints the config in s, using which
53     arg to select sub-prints */
54      extern void usrmotPrintEmcmotConfig(emcmot_config_t s, int which);
55  
56  /* usrmotPrintEmcmotDebug() prints the debug in s, using which
57     arg to select sub-prints */
58      extern void usrmotPrintEmcmotDebug(emcmot_debug_t *s, int which);
59  
60  /* values returned by usrmotWriteEmcmotCommand; negative values
61     are all errors */
62  #define EMCMOT_COMM_OK 0	/* went through and honored */
63  #define EMCMOT_COMM_ERROR_CONNECT -1	/* can't even connect */
64  #define EMCMOT_COMM_ERROR_TIMEOUT -2	/* connected, but send timeout */
65  #define EMCMOT_COMM_ERROR_COMMAND -3	/* sent, but can't run command now */
66  #define EMCMOT_COMM_SPLIT_READ_TIMEOUT -4	/* can't read without split */
67  #define EMCMOT_COMM_INVALID_MOTION_ID -5 /* do not queue a motion id MOTION_INVALID_ID */
68  
69  /* usrmotWriteEmcmotCommand() writes the command to the emcmot process.
70     Return values are as per the #defines above */
71      extern int usrmotWriteEmcmotCommand(emcmot_command_t * c);
72  
73  /* usrmotInit() initializes communication with the emcmot process */
74      extern int usrmotInit(const char *name);
75  
76  /* usrmotExit() terminates communication with the emcmot process */
77      extern int usrmotExit(void);
78  
79  /* usrmotLoadComp() loads the compensation data in file into the joint */
80      extern int usrmotLoadComp(int joint, const char *file, int type);
81  
82  /* usrmotPrintComp() prints the joint compensation data for the specified joint */
83      extern int usrmotPrintComp(int joint);
84  
85  #ifdef __cplusplus
86  }
87  #endif
88  #endif				/* USRMOTINTF_H */