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MPI Application Template
template.c
 

SQCable1.c -- Display SynqNet Cable Lengths
/* SQCable1.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.
 */

/*

:Display and Configure SynqNet Cable Lengths

This is a simple program to demonstrate how to read the SynqNet Cable
 Length information and configuration.  Then the discovered cable
 length parameters are written to the controller's configuration.
 Later, SynqNet initializations will compare the discovered cable
 lengths to the configured min and max values.  If a cable is outside
 the configured range, an error will be returned.

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"

/* Parse the command line */
long parseCommandLine(int                 argc,
                      char               *argv[],
                      long               *synqNetNumber,
                      MPIControlType     *controlType,
                      MPIControlAddress  *controlAddress)
{
    long    argIndex;

    /* Command line arguments and defaults */
    Arg argList[] =
    {
        {   "-synqNet", ArgTypeLONG,    &synqNetNumber, },
        {   NULL,       ArgTypeINVALID, NULL,           }
    };


    /* Parse command line for Control type and address */
    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;
        }
    }

    /* Check for unknown/invalid command line arguments */
    if (argIndex < argc) {
        fprintf(stderr,"usage: %s %s\n"
            "\t\t[-synqNet # (0 .. %d)]\n",
            argv[0],
            ArgUSAGE,
            MPIXmpMaxSynqNets - 1);
        exit(MPIMessageARG_INVALID);
    }

    return 0;
}


/* Create and initialize MPI objects */
void programInit(MPIControl        *control,
                 MPIControlType     controlType,
                 MPIControlAddress *controlAddress,
                 MPISynqNet        *synqNet,
                 long               synqNetNumber)
{
    long returnValue;


    /* Create motion controller object */
    *control =
        mpiControlCreate(controlType,
        controlAddress);
    msgCHECK(mpiControlValidate(*control));

    /* Initialize motion controller */
    returnValue =
        mpiControlInit(*control);
    msgCHECK(returnValue);

    /* Create SynqNet object */
    *synqNet =
        mpiSynqNetCreate(*control,
        synqNetNumber);
    msgCHECK(mpiSynqNetValidate(*synqNet));
}


/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
                    MPISynqNet *synqNet)
{
    long returnValue;

    returnValue =
        mpiSynqNetDelete(*synqNet);
    msgCHECK(returnValue);

    *synqNet = MPIHandleVOID;

    /* Delete control handle */
    returnValue =
        mpiControlDelete(*control);
    msgCHECK(returnValue);

    *control = MPIHandleVOID;
}


/* Display SynqNet Cable Lengths */
void displaySynqNetCables(MPIControl control,
                          MPISynqNet synqNet)
{
    MPISynqNetInfo         netInfo;
    long             index;
   long              cableCount;
    long             returnValue;

    /* Read SynqNet Info */
    returnValue =
        mpiSynqNetInfo(synqNet, &netInfo);
    msgCHECK(returnValue);

   /* calculate cable count */
   cableCount = netInfo.nodeCount;
   if (cableCount) {
      cableCount += 1;
   }
   else {
        printf("No SynqNet Nodes found.\n");
    }

   /* Display cable length information/configuration */
   printf("\nDiscovered Cable Lengths (meters)\n\n");
   printf("Cable\tMin\tMax\tNom\n");
    for (index = 0;  index < cableCount; index++) {
      printf("%ld\t%ld\t%ld\t%ld\n",
            index,
            netInfo.cableLength[index].minimum,
            netInfo.cableLength[index].maximum,
            netInfo.cableLength[index].nominal);
   }
   printf("\n");
}

void configureSynqNetCables(MPIControl control,
                            MPISynqNet synqNet)
{
    MPISynqNetInfo         netInfo;
   MPISynqNetConfig     netConfig;
    long             index;
   long              cableCount;
    long             returnValue;

    /* Read SynqNet Info */
    returnValue =
        mpiSynqNetInfo(synqNet, &netInfo);
    msgCHECK(returnValue);

   /* calculate cable count */
   cableCount = netInfo.nodeCount;
   if (cableCount) {
      cableCount += 1;
   }
   else {
        printf("No SynqNet Nodes found.\n");
    }

   /* Read SynqNet Configurations */
   returnValue =
      mpiSynqNetConfigGet(synqNet,
                     &netConfig);
    msgCHECK(returnValue);

   printf("\nOLD Configured Cable Lengths (meters)\n\n");
   printf("Cable\tMin\tMax\tNom\n");
    for (index = 0;  index < cableCount; index++) {
      printf("%ld\t%ld\t%ld\t%ld\n",
            index,
            netConfig.cableLength[index].minimum,
            netConfig.cableLength[index].maximum,
            netConfig.cableLength[index].nominal);
   }
   printf("\n");

   /* Fill-in the config structure */
    for (index = 0;  index < cableCount; index++) {
      netConfig.cableLength[index].minimum = netInfo.cableLength[index].minimum;
      netConfig.cableLength[index].maximum = netInfo.cableLength[index].maximum;
      netConfig.cableLength[index].nominal = netInfo.cableLength[index].nominal;
   }

   /* Write SynqNet Configurations */
   returnValue =
      mpiSynqNetConfigSet(synqNet,
                     &netConfig);
    msgCHECK(returnValue);

   printf("\nNEW Configured Cable Lengths (meters)\n\n");
   printf("Cable\tMin\tMax\tNom\n");
    for (index = 0;  index < cableCount; index++) {
      printf("%ld\t%ld\t%ld\t%ld\n",
            index,
            netConfig.cableLength[index].minimum,
            netConfig.cableLength[index].maximum,
            netConfig.cableLength[index].nominal);
   }
   printf("\n");
}

int main(int    argc,
         char   *argv[])
{
    MPIControl          control;
    MPIControlType      controlType;
    MPIControlAddress   controlAddress;
    MPISynqNet          synqNet;
    long                synqNetNumber = 0;
    long                returnValue;

    /* Parse command line */
    returnValue =
        parseCommandLine(argc,
                         argv,
                         &synqNetNumber,
                         &controlType,
                         &controlAddress);
    msgCHECK(returnValue);

    /* Create and initialize MPI objects */
    programInit(&control,
                controlType,
                &controlAddress,
                &synqNet,
                synqNetNumber);

    /* Display SynqNet Cable Lengths */
    displaySynqNetCables(control,
                         synqNet);

   /* Configure Cable Lengths */
   configureSynqNetCables(control,
                     synqNet);

    /* Perform certain cleanup actions and delete MPI objects */
    programCleanup(&control,
                   &synqNet);

    return ((int)returnValue);
}


      
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