EventReport.c -- Enable controller event reporting
/* EventReport.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.
*/
/*
:Enable controller event reporting
Enables event reporting for all enabled objects on a controller except for
program sequencers. Creating a program sequencer requires allocating
controller memory for its program, so it's not possible to create (and thus
not possible to configure) a program sequencer without interfering with other
applications. This is ok though, because if a program sequencer uses events,
it should be already configured to report them.
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"
/* 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)
{
long returnValue;
/* Obtain a control handle */
*control =
mpiControlCreate(controlType, controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize the controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control)
{
long returnValue;
/* Delete control handle */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Enable Events */
void enableEventReporting(MPIControl control)
{
MPIControlConfig controlConfig;
MPIMotion motion;
MPIAxis axis;
MPIMotor motor;
MPIRecorder recorder;
MPIEventMask eventMask;
long index;
long returnValue;
mpiEventMaskCLEAR(eventMask);
mpiEventMaskALL(eventMask);
mpiEventMaskALL(eventMask);
returnValue =
mpiControlConfigGet(control,
&controlConfig,
NULL);
msgCHECK(returnValue);
for (index = 0; index < controlConfig.motionCount; ++index)
{
motion =
mpiMotionCreate(control,
index,
MPIHandleVOID);
msgCHECK(mpiMotionValidate(motion));
returnValue =
mpiMotionEventNotifySet(motion,
eventMask,
NULL);
msgCHECK(returnValue);
returnValue =
mpiMotionDelete(motion);
msgCHECK(returnValue);
}
for (index = 0; index < controlConfig.axisCount; ++index)
{
axis =
mpiAxisCreate(control,
index);
msgCHECK(mpiAxisValidate(axis));
returnValue =
mpiAxisEventNotifySet(axis,
eventMask,
NULL);
msgCHECK(returnValue);
returnValue =
mpiAxisDelete(axis);
msgCHECK(returnValue);
}
for (index = 0; index < controlConfig.motorCount; ++index)
{
motor =
mpiMotorCreate(control,
index);
msgCHECK(mpiMotorValidate(motor));
returnValue =
mpiMotorEventNotifySet(motor,
eventMask,
NULL);
msgCHECK(returnValue);
returnValue =
mpiMotorDelete(motor);
msgCHECK(returnValue);
}
recorder =
mpiRecorderCreate(control,
-1); /* next available recorder number */
msgCHECK(mpiRecorderValidate(recorder));
returnValue =
mpiRecorderEventNotifySet(recorder,
eventMask,
NULL);
msgCHECK(returnValue);
returnValue =
mpiRecorderDelete(recorder);
msgCHECK(returnValue);
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress);
/* Enable Events */
enableEventReporting(control);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control);
return MPIMessageOK;
}
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