motion4.c -- n-axis motion, with synchronized and coordinated S-Curve profiles.
/* motion4.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.
*/
/*
:n-axis motion, with synchronized and coordinated S-Curve profiles.
This sample demonstrates how to create a user specified number of axis motion
system, using a single motion object. Multiple point to point motion is
commanded using S-Curve profile.
Instruction:
All axes should be enabled and in an idle state before running the program.
User has to provide a text file specifying
the number of axes and also position and trajectory table with the format:
axis count:2
#<-- for commented line
#Pos_A Vel_A Acc_A Dec_A Jerk_A Pos_B Vel_B Acc_B Dec_B Jerk_B
10000 2000 4000 4000 0 20000 4000 8000 8000 0
1000 100 200 200 50 1000 10000 20000 20000 0
#more points ...
The MPIMotionAttrMaskSYNC_START and MPIMotionAttrMaskSYNC_END attribute are
used as default value, the controller starts the motion profiles for all axes
at the same time. Each axis uses it's own MPITrajectory, independently
reaching their target positions at the same time.With
MPIMotionAttrMaskSYNC_START and MPIMotionAttrMaskSYNC_END, the motion for
each axis will be scaled so that the motion of all axes will end at
approximately the same time. The time for this motion is based on the time
for the longest motion, so that the limits are not exceeded. The axes will be
scaled to start and stop together, but the scaling may not be exact
During motion, the motion status is polled from the controller. When both
axes complete their motions (state = IDLE), the command and actual positions,
and motion status information is displayed.
If an error condition occurs during motion, the program cleans up all the
objects created and free all malloced arrays.
There are two ways to stop motion. To finish motion and stop normally, press
"q" or "Q". To abort and quit abruptly without finishing motion, press any
key. Either way, the program cleans up all the objects created and free all
malloced arrays.
The default motion supervisor where the axes are appended is motion supervisor
number 0, unless the user change it on the command line (-motion #).
When two or more axis are specified in the file, the first axis is defaulted
to be axis number 0, unless user change the first axis number on the command
line, then the second axis would be the first axis number + 1, third axis
would be first axis number + 2 and so on (-axis #).
The number of points for is defaulted to be 0. Unless the user specify it
on the command line, the program will run through the number of points
(number of line) that is found in the file (-point).
Information print option is defaulted to be informational. If a minimum or
debug print option is preferred, user can choose this option on the command
line (-verbose).
The program will do a single loop through the points specified in the file,
unless the multiple loop is specified in the command line.
Note: When multiple axes are associated with a motion supervisor, the
controller automatically combines the individual axis and motor status
into the motion status. Thus, if a Stop, E-Stop or Abort action occurs
on one axis, the event will be propogated automatically to the other axes.
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.
*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define MOTION_NUMBER (0) /* Default motion supervisor number */
#define AXIS_NUMBER (0) /* Default initial axis number */
#define BUFFER_SIZE (4096) /* Buffer size for file reading */
/* Macro for checking errors */
#define messageCheck(msg, objs) \
{if (msg != MPIMessageOK) reportError(msg, objs, __LINE__, __FILE__);}
typedef struct MPIObjects
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIMotion motion;
MPIAxis axis[MPIXmpMAX_Axes];
long motionNumber;
long axisNumber;
long numberOfAxes;
long numberOfPoints;
} MPIObjects;
double *position = NULL;
MPITrajectory *trajectory = NULL;
MPIMotionSCurve *sCurve = NULL;
/* Information print option */
long verbosity;
enum
{
VERBOSE_LEVEL_SILENT = 0,
VERBOSE_LEVEL_INFORMATION = 1, /* Default verbosity level */
VERBOSE_LEVEL_DEBUG = 2,
} VERBOSE_LEVEL;
/* Error checking print routine */
void reportToUser(long verboseLevel, const char* format, ...)
{
if (verbosity >= verboseLevel)
{
va_list printArgs;
va_start(printArgs, format);
vfprintf(stderr, format, printArgs);
va_end(printArgs);
}
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIObjects *objs)
{
long returnValue;
long mpiResult;
int index;
/* Delete motion supervisor object */
if (objs->motion != MPIHandleVOID)
{
returnValue =
mpiMotionDelete(objs->motion);
objs->motion = MPIHandleVOID;
reportToUser(VERBOSE_LEVEL_DEBUG,
"\nMotion object deleted.\n");
}
/* Delete axis object */
for(index = objs->axisNumber;
index < (objs->axisNumber + objs->numberOfAxes);
index++)
{
if (objs->axis[index] != MPIHandleVOID)
{
mpiResult =
mpiAxisDelete(objs->axis[index]);
objs->axis[index] = MPIHandleVOID;
reportToUser(VERBOSE_LEVEL_DEBUG,
"Axis[%ld] object deleted.\n", index);
if (mpiResult != MPIMessageOK)
{
returnValue = mpiResult;
}
}
}
/* Delete motion controller object */
if (objs->control != MPIHandleVOID)
{
mpiResult =
mpiControlDelete(objs->control);
objs->control = MPIHandleVOID;
reportToUser(VERBOSE_LEVEL_DEBUG,
"Controller object deleted.\n");
if (mpiResult != MPIMessageOK)
{
returnValue = mpiResult;
}
}
if (position != NULL)
{
free(position);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Position table freed.\n");
}
if (trajectory != NULL)
{
free(trajectory);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Trajectory table freed.\n");
}
if (sCurve != NULL)
{
reportToUser(VERBOSE_LEVEL_DEBUG,
"SCurve table freed.\n");
free(sCurve);
}
if (returnValue != MPIMessageOK)
{
/* report error */
exit(returnValue);
}
}
/* Reports application errors and quit */
void reportError(long message,
MPIObjects *objs,
long lineNumber,
const char *fileName)
{
const char* msgText = mpiMessage(message, NULL);
reportToUser(VERBOSE_LEVEL_SILENT,
"\n\nError at line %d of %s:\n %s\n",
lineNumber, fileName, msgText);
programCleanup(objs);
exit(message);
}
/* Get the number of axis and number of points from file */
long getInfoFromFile(char *fileName, MPIObjects *objs)
{
FILE *filePointer;
char *lower;
char lineBuffer[BUFFER_SIZE];
long returnValue = MPIMessageOK;
int lineBufferLen = 0;
if(fileName != NULL) {
if ((filePointer = fopen(fileName, "r")) == NULL)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Can't open %s.\n",fileName);
exit(MPIMessageFILE_OPEN_ERROR);
}
reportToUser(VERBOSE_LEVEL_DEBUG,
"\nFile name is %s.", fileName);
while(fgets(lineBuffer, sizeof(lineBuffer), filePointer) != NULL &&
returnValue == MPIMessageOK)
{
/* Get lineBuffer length */
if((lineBufferLen == 0) && (strncmp(lineBuffer,"#",1) != 0) &&
(strncmp(lineBuffer,"\n",1) != 0))
{
lineBufferLen = strlen(lineBuffer);
for(lower = lineBuffer; *lower != '\0'; lower++)
{
*lower = tolower(*lower);
}
/* Get axis count */
if (sscanf(lineBuffer,"axis count: %ld",&(objs->numberOfAxes)) < 0)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Number of axes not found.", fileName);
returnValue = MPIMessageARG_INVALID;
}
}
/* Count number of points */
else if ((strncmp(lineBuffer,"#",1) != 0) &&
(strncmp(lineBuffer,"\n",1) != 0))
{
(objs->numberOfPoints)++;
}
}
fclose(filePointer);
}
else
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Please specify a filename, where trajectories and "
"points are specified.\n");
returnValue = MPIMessageARG_INVALID;
}
return returnValue;
}
/* Perform command line parsing. */
void parseCommandLine(int argc,
char *argv[],
MPIObjects *objs,
char **fileName,
long *loopOption)
{
long argIndex;
long numPointsUserInput = 0;
long returnValue = MPIMessageOK;
Arg argList[] =
{
/* Determining MS number for the axes to relate with */
{ "-motion", ArgTypeLONG, &objs->motionNumber, },
/* Determining axis1, then axis2=axis1+1, axis3=axis1+2, ... */
{ "-axis", ArgTypeLONG, &objs->axisNumber, },
/* Determining the number of points for position/points */
{ "-point", ArgTypeLONG, &numPointsUserInput, },
/* Determining filename where axis count and table are stored */
{ "-file", ArgTypeTEXT, fileName, },
/* Determining print option */
{ "-verbose", ArgTypeLONG, &verbosity },
/* Determining print option */
{ "-loop", ArgTypeLONG, &(*loopOption) },
/* Determining end of argument list */
{ NULL, ArgTypeINVALID, NULL, }
};
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
&objs->controlType,
&objs->controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc)
{
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex)
{
argIndex = argIndexNew;
break;
}
else
{
argIndex = argIndexNew;
}
}
/* Get number of axes and points */
returnValue = getInfoFromFile(*fileName,
objs);
if(returnValue == MPIMessageOK)
{
/* Validate the number of points that the user requested */
if(numPointsUserInput < 0)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Number of points should be a positive number.\n");
exit(MPIMessageARG_INVALID);
}
else if(numPointsUserInput > 0)
{
/* Use number of points found in file when requested is larger */
if(objs->numberOfPoints < numPointsUserInput)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"There are only %ld number of points found, "
"you requested %ld points.\n",
(objs->numberOfPoints),numPointsUserInput);
exit(MPIMessageARG_INVALID);
}
else if(objs->numberOfPoints > numPointsUserInput)
{
objs->numberOfPoints = numPointsUserInput;
}
}
}
if(returnValue == MPIMessageOK)
{
reportToUser(VERBOSE_LEVEL_INFORMATION,
"\nNumber of points is %ld.\n", objs->numberOfPoints);
reportToUser(VERBOSE_LEVEL_INFORMATION,
"Motion number is %ld.\n", objs->motionNumber);
reportToUser(VERBOSE_LEVEL_INFORMATION,
"Axis number is %ld.\n", objs->axisNumber);
reportToUser(VERBOSE_LEVEL_INFORMATION,
"Number of axes is %ld.\n", objs->numberOfAxes);
reportToUser(VERBOSE_LEVEL_INFORMATION,
"Loop option is %ld.\n\n", *loopOption);
}
/* Check for unknown/invalid command line arguments */
if ((argIndex < argc) ||
(objs->numberOfPoints <= 0) ||
(objs->axisNumber > (MPIXmpMAX_Axes - objs->numberOfAxes)) ||
(objs->motionNumber >= MPIXmpMAX_MSs) ||
(verbosity < VERBOSE_LEVEL_SILENT) ||
(verbosity > VERBOSE_LEVEL_DEBUG) ||
(returnValue != MPIMessageOK) ||
(*loopOption != TRUE) && (*loopOption != FALSE))
{
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-motion #(0 .. %d)]\n"
"\t\t[-axis #(0 .. %d)]\n"
"\t\t[-point #(1 .. n) ]\n"
"\t\t[-file (text file where number of axis,\n"
"\t\t\t points and trajectories are located)]\n"
"\t\t[-verbose #(0 for silent)\n"
"\t\t\t (1 for informational)\n"
"\t\t\t (2 for debug purposes)]\n"
"\t\t[-loop #(0 for single loop)\n"
"\t\t\t (1 for continuous loop)]",
argv[0],
ArgUSAGE,
MPIMotionTypeLAST - 1,
MPIXmpMAX_Axes - objs->numberOfAxes);
exit(MPIMessageARG_INVALID);
}
}
/* Perform mpi program initialization i.e. MPI object creation */
void mpiProgramInit(MPIObjects *objs)
{
long returnValue;
int index;
/* Initialize all objects */
objs->control = MPIHandleVOID;
reportToUser(VERBOSE_LEVEL_DEBUG,
"\n\nSet controller object to MPIHandleVOID.\n");
objs->motion = MPIHandleVOID;
reportToUser(VERBOSE_LEVEL_DEBUG,
"Set motion supervisor object to MPIHandleVOID.\n");
for (index=0; index<MPIXmpMAX_Axes; ++index)
{
objs->axis[index] = MPIHandleVOID;
}
reportToUser(VERBOSE_LEVEL_DEBUG,
"Set axes to MPIHandleVOID.\n", index);
/* Create motion controller object */
objs->control =
mpiControlCreate(objs->controlType,
&objs->controlAddress);
messageCheck(mpiControlValidate(objs->control), objs);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Create controller object.\n");
/* Initialize motion controller */
returnValue =
mpiControlInit(objs->control);
messageCheck(returnValue, objs);
/* Create axis object */
for (index = objs->axisNumber;
index < (objs->axisNumber + objs->numberOfAxes);
index++)
{
objs->axis[index] =
mpiAxisCreate(objs->control,
index);
messageCheck(mpiAxisValidate(objs->axis[index]), objs);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Create axis[%ld] object.\n", index);
}
/* Create motion supervisor object */
objs->motion =
mpiMotionCreate(objs->control,
objs->motionNumber,
NULL);
messageCheck(mpiMotionValidate(objs->motion), objs);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Create motion supervisor object with motion number %ld.\n",
objs->motionNumber);
/* Append axes to motion supervisor object */
for (index = objs->axisNumber;
index < (objs->axisNumber + objs->numberOfAxes);
index++)
{
returnValue =
mpiMotionAxisAppend(objs->motion,
objs->axis[index]);
messageCheck(returnValue, objs);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Append axis[%ld] to motion supervisor.\n", index);
}
reportToUser(VERBOSE_LEVEL_DEBUG,
"\n");
}
/* Get the positions/points and trajectories from file */
long readTableFromFile(char *fileName, MPIObjects *objs)
{
int row = 1;
int column = 0;
int index = 0;
int positionIndex = 0;
int trajectoryIndex = 0;
int skipOverhead = 2;
int numberOfData = 5;
int lineBufferLen = 0;
long returnValue = MPIMessageOK;
FILE *filePointer;
char *token;
char *lower;
char lineBuffer[BUFFER_SIZE];
/* Open file for read only */
if((filePointer = fopen(fileName, "r")) == NULL)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Can't open %s\n",fileName);
exit(MPIMessageFILE_OPEN_ERROR);
}
reportToUser(VERBOSE_LEVEL_DEBUG,
"\nReading information from file \"%s\"\n", fileName);
/* Go through the lines */
while((returnValue == MPIMessageOK) &&
(row <= objs->numberOfPoints) &&
(fgets(lineBuffer, sizeof(lineBuffer), filePointer) != NULL))
{
/* Skip comments and blank lines */
if(strncmp(lineBuffer,"#",1) == 0 || strncmp(lineBuffer,"\n",1) == 0)
{
reportToUser(VERBOSE_LEVEL_DEBUG,
"Skipping line: %s",lineBuffer);
}
/* Skip the axis count line */
else if(lineBufferLen == 0)
{
for(lower = lineBuffer; *lower != '\0'; lower++)
{
*lower = tolower(*lower);
}
/* If it is the axis count line, then change lineBufferLen */
if (strncmp(lineBuffer,"axis count:",11) == 0)
{
lineBufferLen = strlen(lineBuffer);
reportToUser(VERBOSE_LEVEL_DEBUG,
"Getting line: %s",lineBuffer);
}
}
else
{
row++;
reportToUser(VERBOSE_LEVEL_DEBUG,
"Getting line: %s",lineBuffer);
/* Go through the columns */
for(column = 0;
(column < (objs->numberOfAxes * numberOfData)) &&
(returnValue == MPIMessageOK);
column++)
{
/* Get first token*/
if(column == 0 &&
((token = strtok(lineBuffer," ,\t\n")) == NULL))
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Check your file<%s> again!", fileName);
returnValue = MPIMessageFILE_READ_ERROR;
}
/* Get next token */
else if(column != 0 &&
((token = strtok(NULL," ,\t\n")) == NULL))
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Check your file<%s> again!", fileName);
returnValue = MPIMessageFILE_READ_ERROR;
}
/* Store trajectories data */
else
{
/* Get position for the other axes */
if(column%numberOfData == 0)
{
position[positionIndex] = atof(token);
positionIndex++;
}
/* Get velocity */
else if((column-1)%numberOfData == 0)
{
trajectory[trajectoryIndex].velocity = atof(token);
}
/* Get acceleration */
else if((column-2)%numberOfData == 0)
{
trajectory[trajectoryIndex].acceleration = atof(token);
}
/* Get decceleration */
else if((column-3)%numberOfData == 0)
{
trajectory[trajectoryIndex].deceleration = atof(token);
}
/* Get jerk percent */
else if((column-4)%numberOfData == 0)
{
trajectory[trajectoryIndex].jerkPercent = atof(token);
trajectoryIndex++;
}
}
}
}
}
if(returnValue == MPIMessageOK)
{
/* Fill up the sCurve structure */
for(index = 0; index < objs->numberOfPoints; index++)
{
sCurve[index].position = &position[(objs->numberOfAxes)*index];
sCurve[index].trajectory = &trajectory[(objs->numberOfAxes)*index];
}
}
fclose(filePointer);
return returnValue;
}
/* Perform program initialization */
long programInit(MPIObjects *objs, char *fileName)
{
long returnValue = MPIMessageOK;
if(returnValue == MPIMessageOK)
{
if((position = (double *)
malloc (objs->numberOfAxes * objs->numberOfPoints *
sizeof(double))) == NULL)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Malloc for position unsuccessful.\n");
exit(MPIMessageNO_MEMORY);
}
}
if(returnValue == MPIMessageOK)
{
if((trajectory = (MPITrajectory *)
malloc (objs->numberOfAxes * objs->numberOfPoints *
sizeof(MPITrajectory))) == NULL )
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Malloc for trajectory unsuccessful.\n");
free(position);
exit(MPIMessageNO_MEMORY);
}
}
if(returnValue == MPIMessageOK)
{
if((sCurve = (MPIMotionSCurve *)
malloc (objs->numberOfPoints *
sizeof(MPIMotionSCurve))) == NULL )
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Malloc for sCurve unsuccessful.\n");
free(position);
free(trajectory);
exit(MPIMessageNO_MEMORY);
}
}
if(returnValue == MPIMessageOK)
{
returnValue = readTableFromFile(fileName,
objs);
}
if(returnValue == MPIMessageOK)
{
mpiProgramInit(objs);
}
return returnValue;
}
/* Display actual position for each axis */
long displayMotionPosition(MPIObjects *objs, MPIStatus *status)
{
long returnValue = MPIMessageOK;
long index;
double *actual;
double *command;
if((actual = (double *)
malloc(objs->numberOfAxes * sizeof(double))) == NULL)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Malloc for actual unsuccessful.\n");
messageCheck(MPIMessageNO_MEMORY, objs);
}
if((command = (double *)
malloc(objs->numberOfAxes * sizeof(double))) == NULL)
{
reportToUser(VERBOSE_LEVEL_SILENT,
"Malloc for command unsuccessful.\n");
free(actual);
messageCheck(MPIMessageNO_MEMORY, objs)
}
reportToUser(VERBOSE_LEVEL_INFORMATION,
"MotionDone: status: state %d action %d eventMask 0x%x\n"
"\tatTarget %d settled %d %s.\n",
status->state,
status->action,
status->eventMask,
status->atTarget,
status->settled,
(status->settled == FALSE)
? "=== NOT SETTLED ==="
: "");
returnValue =
mpiMotionPositionGet(objs->motion,
actual,
command);
messageCheck(returnValue, objs);
/* Display axis positions */
for (index = 0; index < objs->numberOfAxes; index++)
{
reportToUser(VERBOSE_LEVEL_INFORMATION,
"\taxis[%d] position: command %11.3lf\tactual %11.3lf\n",
index+objs->axisNumber,
command[index],
actual[index]);
}
free(actual);
free(command);
return returnValue;
}
/* Wait and check for motion status */
long waitForMotionDone(MPIObjects *objs, long *quit)
{
MPIStatus status;
long motionDone = FALSE;
long key;
long returnValue = MPIMessageOK;
*quit = FALSE;
/* Poll status until motion done */
while (motionDone == FALSE)
{
key = mpiPlatformKey(MPIWaitPOLL);
if ((key == (long)'q') || (key == (long)'Q'))
{
*quit = TRUE;
reportToUser(VERBOSE_LEVEL_SILENT,
"\nQuitting: Q had been pressed. Normal QUIT.\n\n");
}
else if (key != -1)
{
returnValue =
mpiMotionAction(objs->motion,
MPIActionE_STOP_ABORT);
reportToUser(VERBOSE_LEVEL_SILENT,
"\n\nQuitting: ABORT. Stopping axes.\n");
programCleanup(objs);
exit(-1);
}
/* Get the motion supervisor status */
returnValue =
mpiMotionStatus(objs->motion,
&status,
NULL);
messageCheck(returnValue, objs);
switch (status.state)
{
case MPIStateSTOPPING:
case MPIStateMOVING:
{
/* Sleep for 10ms and give up control to other threads */
mpiPlatformSleep(10);
break;
}
case MPIStateIDLE:
case MPIStateSTOPPED:
{
motionDone = TRUE;
/* Display axis position */
displayMotionPosition(objs, &status);
/* Wait for the motor to settle */
mpiPlatformSleep(300); /* msec */
break;
}
case MPIStateERROR:
case MPIStateSTOPPING_ERROR:
{
reportToUser(VERBOSE_LEVEL_SILENT,
"ERROR: Axis in error state. "
"Cannot continue motion.\n");
messageCheck(MPIMotionMessageERROR, objs);
}
default:
{
/* Unknown State */
reportToUser(VERBOSE_LEVEL_SILENT,
"Unknown state from mpiMotionStatus.\n");
messageCheck(MPIMessageFATAL_ERROR, objs);
break;
}
}
}
return returnValue;
}
/* Command simple trapezoidal motion */
long simpleSCurveMove(MPIObjects *objs, long loopOption)
{
MPIMotionParams params;
MPIMotionType motionType = MPIMotionTypeS_CURVE |
MPIMotionAttrMaskSYNC_START |
MPIMotionAttrMaskSYNC_END;
long index = 0;
long returnValue = MPIMessageOK;
long quit = FALSE;
long multipleLoop = TRUE;
/* Return immediately when an input character is available */
while ((quit == FALSE) && (returnValue == MPIMessageOK) && multipleLoop)
{
params.sCurve = sCurve[index];
/* Start motion */
returnValue =
mpiMotionStart(objs->motion,
motionType,
¶ms);
if(returnValue == MPIMessageOK)
{
/* Wait until the motion is completed */
returnValue = waitForMotionDone(objs, &quit);
if (++index >= objs->numberOfPoints)
{
if(loopOption == FALSE)
{
multipleLoop = FALSE;
}
else {
index = 0;
}
}
}
}
return returnValue;
}
/* MAIN ROUTINE */
int main(int argc, char *argv[])
{
MPIObjects objs;
char *fileName = NULL;
long loopOption = FALSE; /* Default to single loop */
long returnValue = MPIMessageOK;
/* Set default values */
verbosity = VERBOSE_LEVEL_INFORMATION;
objs.motionNumber = MOTION_NUMBER;
objs.axisNumber = AXIS_NUMBER;
objs.numberOfAxes = 0;
objs.numberOfPoints = 0;
/* Perform command line parsing. */
parseCommandLine(argc,
argv,
&objs,
&fileName,
&loopOption);
/* Create and initialize MPI objects */
returnValue = programInit(&objs,
fileName);
messageCheck(returnValue, &objs);
/* Command simple SCurve motion */
returnValue = simpleSCurveMove(&objs,
loopOption);
messageCheck(returnValue, &objs);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&objs);
return MPIMessageOK;
}
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