SQcmd1.c -- How to send a service command to a SynqNet Node.
/* SQcmd1.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:This sample code demonstrates how to send a service command to a SynqNet Node.
User inputs address and data for the sqNode command, and receives a response.
The response is output to the console.
This routine is useful for configuring node features that are not part of the
general sqNode interface.
meiSqNodeCommand(MEISqNode sqNode,
MEISqNodeCommand *command,
MEISqNodeResponse *response);
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define NODE_NUMBER (0)
/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int argc,
char *argv[],
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Parse command line for Control type and address */
argIndex = argControl(argc, argv, controlType, controlAddress);
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr,"usage: %s %s\n", argv[0], ArgUSAGE);
exit(MPIMessageARG_INVALID);
}
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MEISqNode *sqNode,
long nodeNumber)
{
long returnValue;
/* Obtain a control handle */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize the controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create SynqNet Node object */
*sqNode =
meiSqNodeCreate(*control,
nodeNumber);
msgCHECK(meiSqNodeValidate(*sqNode));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MEISqNode *sqNode)
{
long returnValue;
/* Delete sqNode handle */
returnValue =
meiSqNodeDelete(*sqNode);
msgCHECK(returnValue);
*sqNode = MPIHandleVOID;
/* Delete control handle */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Demonstrate how to perform a SynqNet node command */
void performNodeCommand(MEISqNode sqNode)
{
MEISqNodeCommand command;
MEISqNodeResponse response;
long returnValue;
command.address = 0x00010000; /* READ_ID */
command.data = 0x00; /* Dev/Vendor ID */
command.header.channel = MEISqNodeChannelNODE;
command.header.memory = MEISqNodeMemoryDATA;
command.header.size = MEISqNodeDataSize32BIT;
command.header.type = MEISqNodeCmdTypeREAD;
/* Send command and get response across SynqNet */
returnValue =
meiSqNodeCommand(sqNode,
&command,
&response);
msgCHECK(returnValue);
printf("\n Response: 0x%x\n\n", response.data);
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MEISqNode sqNode;
long nodeNumber = NODE_NUMBER;
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&sqNode,
nodeNumber);
/* Demonstrate how to perform a SynqNet node command */
performNodeCommand(sqNode);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&sqNode);
return 0;
}
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