record1.c -- Read/display data recorder records from specified axis
(default 0)
/* record1.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.
*/
/*
:Read/display data recorder records from specified axis (default 0)
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 AXIS_COUNT (1)
#define RECORD_COUNT (100)
/* 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,
MPIAxis *axis,
long axisCount,
long *axisNumbers,
MPIRecorder *recorder)
{
long axisIndex;
long returnValue;
/* Create control object */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue = mpiControlInit(*control);
msgCHECK(returnValue);
/* Create axis objects */
for (axisIndex=0; axisIndex<axisCount; axisIndex++) {
axis[axisIndex] =
mpiAxisCreate(*control,
axisNumbers[axisIndex]);
msgCHECK(mpiAxisValidate(axis[axisIndex]));
}
/* Create recorder object */
*recorder =
mpiRecorderCreate(*control,
-1); /* allocate next available recorder */
msgCHECK(mpiRecorderValidate(*recorder));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPIAxis *axis,
long axisCount,
MPIRecorder *recorder)
{
long axisIndex;
long returnValue;
/* Delete recorder object */
returnValue =
mpiRecorderDelete(*recorder);
msgCHECK(returnValue);
/* Delete axis objects */
for (axisIndex=0; axisIndex<axisCount; axisIndex++) {
returnValue =
mpiAxisDelete(axis[axisIndex]);
msgCHECK(returnValue);
axis[axisIndex] = MPIHandleVOID;
}
/* Delete control object */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Start recorder, get data, and stop recorder */
void recordData(MPIRecorder recorder,
long numRecords,
MPIRecorderRecord *records)
{
long returnValue;
long recordIndex;
long recordCountRemaining;
long countGet;
/* Start recording the axis */
returnValue =
mpiRecorderStart(recorder,
numRecords);
msgCHECK(returnValue);
/* Fill the record buffer */
for (recordIndex = 0, recordCountRemaining = numRecords;
recordCountRemaining > 0; ) {
returnValue =
mpiRecorderRecordGet(recorder,
recordCountRemaining,
&records[recordIndex],
&countGet);
msgCHECK(returnValue);
recordCountRemaining -= countGet;
recordIndex += countGet;
}
/* Stop recording */
returnValue = mpiRecorderStop(recorder);
/* In case the recorder has already stopped */
if (returnValue == MPIRecorderMessageSTOPPED) {
returnValue = MPIMessageOK;
}
msgCHECK(returnValue);
}
/* Print the records */
void printRecords(long numRecords,
MPIRecorderRecord *records,
long numAxes,
long *axisNumbers) {
MPIRecorderRecord *recordPtr;
long recordIndex;
long axisIndex;
/* Output record buffer to screen */
for (recordIndex = 0; recordIndex < numRecords; recordIndex++) {
printf("\nrecord[%d]:\n",
recordIndex);
/* Cast records to MPIRecorderRecord pointer */
recordPtr = (MPIRecorderRecord *)&records[recordIndex];
for (axisIndex = 0; axisIndex < numAxes; axisIndex++) {
printf("axis %d sample %d\tcommand %d\tactual %d\tdac %.4f\n",
axisNumbers[axisIndex],
recordPtr->axis[axisIndex].sample,
recordPtr->axis[axisIndex].command,
recordPtr->axis[axisIndex].actual,
recordPtr->axis[axisIndex].dac);
}
}
}
int main(int argc,
char *argv[])
{
MPIControl control; /* motion controller handle */
MPIControlType controlType;
MPIControlAddress controlAddress;
MPIAxis axis[AXIS_COUNT]; /* axis handle */
MPIRecorder recorder; /* data recorder handle */
MPIRecorderRecord records[RECORD_COUNT];
long axisNumbers[AXIS_COUNT] = {0};
long period = 0; /* every sample */
long returnValue; /* return value from library */
/* Perform basic command line parsing. (-control -server -port -trace) */
basicParsing(argc,
argv,
&controlType,
&controlAddress);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
axis,
AXIS_COUNT,
axisNumbers,
&recorder);
/* Configure recorder object */
returnValue =
mpiRecorderRecordConfig(recorder,
(MPIRecorderRecordType) MPIRecorderRecordTypeAXIS,
AXIS_COUNT,
axis);
msgCHECK(returnValue);
/* Start recorder, get data, and stop recorder */
recordData(recorder,
RECORD_COUNT,
records);
/* Print the records */
printRecords(RECORD_COUNT,
records,
AXIS_COUNT,
axisNumbers);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
axis,
AXIS_COUNT,
&recorder);
return ((int)returnValue);
}
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