record2.c -- Record Data and Demonstrate How to Start/Stop/Restart
Recorder
/* record2.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.
*/
/*
:Record Data and Demonstrate How to Start/Stop/Restart Recorder
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 "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#if defined(ARG_MAIN_RENAME)
#define main record2Main
argMainRENAME(main, record2)
#endif
/* Command line arguments and defaults */
long period = 0; /* every sample */
long recordCount = 100;
Arg argList[] = {
{ "-period", ArgTypeLONG, &period, },
{ "-records", ArgTypeLONG, &recordCount, },
{ NULL, ArgTypeINVALID, NULL, }
};
long
recorderMode(MPIRecorder recorder,
long mode,
long recordCount);
int
main(int argc,
char *argv[])
{
MPIControl control; /* motion controller handle */
MPIRecorder recorder; /* data recorder handle */
MPIRecorderConfig recorderConfig;
MPIXmpData *firmware;
long axisCount;
long axisNumber[MPIXmpMAX_Axes]; /* axis numbers */
long pointCount;
void *point[MPIXmpMaxRecSize];
MPIRecorderRecord *record;
register MPIRecorderRecord *recordPtr;
long returnValue; /* return value from library */
long index;
long recordCountRemaining;
long recordIndex;
long recordsRead;
long mode;
MPIControlType controlType;
MPIControlAddress controlAddress;
long argIndex;
argIndex =
argControl(argc,
argv,
&controlType,
&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;
}
}
if (argIndex >= argc) {
axisCount = 1;
axisNumber[0] = 0;
}
else {
axisCount = argc - argIndex;
if (axisCount > MPIXmpMAX_Axes) {
axisCount = MPIXmpMAX_Axes;
}
for (index = 0; index < axisCount; index++) {
axisNumber[index] = mpiPlatformAtol(argv[argIndex++]);
mpiAssert((axisNumber[index] >= 0) &&
(axisNumber[index] < MPIXmpMAX_Axes));
}
}
if (argIndex < argc) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-period (%d)]\n"
"\t\t[-records (%d)]\n"
"\t\t[axisNumber ...]\n",
argv[0],
ArgUSAGE,
period,
recordCount);
exit(MPIMessageARG_INVALID);
}
/* Create motion controller object */
control =
mpiControlCreate(controlType,
&controlAddress);
msgCHECK(mpiControlValidate(control));
/* Initialize motion controller */
returnValue = mpiControlInit(control);
msgCHECK(returnValue);
returnValue =
mpiControlMemory(control,
(void **)&firmware,
NULL);
msgCHECK(returnValue);
pointCount = 0;
point[pointCount++] = &firmware->SystemData.SampleCounter;
for (index = 0; index < axisCount; index++) {
point[pointCount++] = &firmware->MS[axisNumber[index]].Status;
point[pointCount++] = &firmware->Axis[axisNumber[index]].Status;
mpiAssert(pointCount <= MPIXmpMaxRecSize);
}
record =
(MPIRecorderRecord *)mpiPlatformAlloc(sizeof(*record) *
recordCount);
mpiAssert(record != NULL);
recorder =
mpiRecorderCreate(control,
-1); /* allocate next available recorder */
msgCHECK(mpiRecorderValidate(recorder));
returnValue =
mpiRecorderRecordConfig(recorder,
MPIRecorderRecordTypePOINT,
pointCount,
point);
msgCHECK(returnValue);
returnValue =
mpiRecorderConfigGet(recorder,
&recorderConfig,
NULL);
msgCHECK(returnValue);
recorderConfig.period = period;
returnValue =
mpiRecorderConfigSet(recorder,
&recorderConfig,
NULL);
msgCHECK(returnValue);
recordPtr = record;
mode = 0;
mpiPlatformConsole("Press any key to start recording, ESC to quit\n");
recordCountRemaining = recordCount;
while (recordCountRemaining > 0) {
mode =
recorderMode(recorder,
mode,
recordCountRemaining);
if (mode > 0) {
long countGet;
returnValue =
mpiRecorderRecordGet(recorder,
recordCountRemaining,
recordPtr,
&countGet);
msgCHECK(returnValue);
recordCountRemaining -= countGet;
recordPtr += countGet;
}
else if (mode < 0) {
break;
}
}
recordsRead = recordPtr - record;
for (recordIndex = 0,
recordPtr = record;
recordIndex < recordsRead;
recordIndex++,
recordPtr++) {
long pointIndex;
pointIndex = 0;
printf("record[%d]: sample %d\n",
recordIndex,
recordPtr->point[pointIndex++]);
for (index = 0; index < axisCount; index++) {
printf("%d: motion status 0x%x axis status 0x%x\n",
axisNumber[index],
recordPtr->point[pointIndex],
recordPtr->point[pointIndex + 1]);
pointIndex += 2;
}
mpiAssert(pointIndex == pointCount);
}
returnValue = mpiRecorderDelete(recorder);
msgCHECK(returnValue);
returnValue =
mpiPlatformFree(record,
(sizeof(*record) * recordCount));
msgCHECK(returnValue);
returnValue = mpiControlDelete(control);
msgCHECK(returnValue);
return ((int)returnValue);
}
long
recorderMode(MPIRecorder recorder,
long mode,
long recordCount)
{
long returnValue;
long modeNew;
long key;
key = mpiPlatformKey(MPIWaitPOLL);
if (key <= 0) {
if (key == 0) {
key = mpiPlatformKey(MPIWaitPOLL);
}
modeNew = mode;
}
else if (key == 0x1b) {
modeNew = -1;
}
else {
modeNew = (mode <= 0) ? 1 : 0;
}
if (modeNew != mode) {
if (modeNew <= 0) {
if (mode > 0) {
returnValue =
mpiRecorderStop(recorder);
msgCHECK(returnValue);
}
}
else {
returnValue =
mpiRecorderStart(recorder,
recordCount);
msgCHECK(returnValue);
}
if (modeNew >= 0) {
mpiPlatformConsole("Press any key to %s recording, ESC to quit\n",
(modeNew == 0) ? "start" : "stop ");
}
}
return (modeNew);
}
|
