MPICommandParams

Definition

typedef union {
  struct {                            /* *'dst' = 'value' */
    MPICommandAddress     dst;
    MPICommandConstant    value;
    MPIControl            control;    /* Ignored by Sequence */
  } assign;

  struct {                            /* branch to 'label' on 'expr' */
    char                  *label;     /* NULL => stop sequence */
    MPICommandExpr        expr;       /* expr.oper => MPICommandOperatorLogical */
    MPIControl            control;    /* Ignored by Sequence */
  } branch;

  struct {                            /* branch to 'label' on MPIEventMask('handle') 'oper' 'mask' */
    char                  *label;     /* NULL => stop sequence */
    MPIHandle             handle;     /* [MPIMotor|MPIMotion|...] */
    MPICommandOperator    oper;       /* EQUAL/NOT_EQUAL/BIT_CLEAR/BIT_SET */
    MPIEventMask          mask;       /* MPIEventMask('handle') 'oper' 'mask' */
  } branchEvent;

  struct {                            /* branch to 'label' on Io.input 'oper' 'mask' */
    char                  *label;     /* NULL => stop sequence */
    MPIIoType             type;       /* MOTOR,	USER */
    MPIIoSource           source;     /* MPIMotor index */
    MPICommandOperator    oper;       /* EQUAL/NOT_EQUAL/BIT_CLEAR/BIT_SET */
    int32_t                  mask;       /* [motor|user]Io.input 'oper' 'mask' */
  } branchIO;

  struct {                            /* *'dst' = 'expr' */
    MPICommandAddress     dst;
    MPICommandExpr        expr;       /* expr.oper => MPICommandOperatorArithmetic */
    MPIControl            control;    /* Ignored by Sequence */
  } compute;

  struct {                            /* Io.output = Io.output 'oper' 'mask' */
    MPIIoType             type;       /* MOTOR,	USER */
    MPIIoSource           source;     /* MPIMotor index */
    MPICommandOperator    oper;       /* AND/OR/XOR */
    int32_t                  mask;
  } computeIO;

  struct {                            /* memcpy(dst, src, count) */
    void                  *dst;
    void                  *src;
    int32_t                  count;
    MPIControl            control;	  /* Ignored by Sequence */
  } copy;

  double delay;                       /* seconds */

  struct {
    int32_t                  value;      /* MPIEventStatus.type = MPIEventTypeEXTERNAL */
                                      /*.source  = MPISequence/MPIProgram */
                                      /*.info[0] = value */
  } event;

  struct {                            /* mpiMotion[Abort|EStop|Reset|Resume|Start|Stop](motion[, type, params]) */
    MPICommandMotion      motionCommand;
    MPIMotion             motion;
    MPIMotionType         type;       /* MPICommandMotionSTART */
	union {
                          MPICommandMotionPointToPointParams pointToPoint;
                          MPICommandMotionVelocityParams velocity;
	} params;
} move;

  struct {                            /* wait until 'expr' */
    MPICommandExpr       expr;        /* expr.oper => MPICommandOperatorLogical */
    MPIControl           control;     /* Ignored by Sequence */
  } wait;

  struct {                            /* wait until MPIEventMask('handle') 'oper' 'mask' */
    MPIHandle            handle;      /* [MPIMotor|MPIMotion|...] */
    MPICommandOperator   oper;        /* EQUAL/NOT_EQUAL/BIT_CLEAR/BIT_SET */
    MPIEventMask         mask;        /* MPIEventMask('handle') 'oper' 'mask' */
  } waitEvent;

  struct {                            /* wait until Io.input 'oper' 'mask' */
   MPIIoType             type;        /* MOTOR,	USER */
   MPIIoSource           source;      /* MPIMotor index */
   MPICommandOperator    oper;        /* EQUAL/NOT_EQUAL/BIT_CLEAR/BIT_SET */
   int32_t                  mask;        /* [motor|user]Io.input 'oper' 'mask' */
  } waitIO;
} MPICommandParams;

Description

MPICommandParams holds the parameters used by an MPICommand. Each element in the MPICommandParams union corresponds to different types of commands (specified by the MPICommandType enumeration).

Element	Description	Supported by
assign	Assign a value to a particular controller address: dst = value assign.control* is currently not supported and is reserved for future use.	MPICommandTypeASSIGN MPICommandTypeASSIGN_FLOAT
branch	Branch to a particular command (similar to a goto statement) if a particular comparison evaluates to TRUE: branch to label on expr If label = NULL, then no more commands will be executed if the comparison evaluates to TRUE. branch.control is currently not supported and is reserved for future use.	MPICommandTypeBRANCH MPICommandTypeBRANCH_REF MPICommandTypeBRANCH_FLOAT MPICommandTypeBRANCH_FLOAT_REF
branchEvent	Branch to a particular command (similar to a goto statement) if a particular event occurs or has occured: branch to label on MPIEventMask(handle) oper mask If label = NULL, then no more commands will be executed if a particular event occurs or has occured.	MPICommandTypeBRANCH_EVENT
branchIO	Branch to a particular command (similar to a goto statement) if a particular i/o state matches a specified condition: branch to label on Io.input oper mask If label = NULL, then no more commands will be executed if a particular i/o state matches a specified condition.	MPICommandTypeBRANCH_IO
compute	Perform some computation and place the result at some controller address: dst = expr compute.control* is currently not supported and is reserved for future use.	MPICommandTypeCOMPUTE MPICommandTypeCOMPUTE_REF MPICommandTypeCOMPUTE_FLOAT MPICommandTypeCOMPUTE_FLOAT_REF
computeIO	Performs a computation on a set of i/o bits: Io.output = Io.output oper mask	MPICommandType_IO
copy	Copies controller memory from one place to another: memcpy(dst, src, count); Remember: count represents the number of bytes copied, NOT the number of controller words. event.control is currently not supported and is reserved for future use.	MPICommandTypeCOPY
delay	Delays execution of the next command delay seconds.	MPICommandTypeDELAY
event	Generates an event: MPIEventStatus.type = MPIEventTypeEXTERNAL MPIEventStatus.source = MPISequence MPIEventStatus.info[0] = value event.eventMgr is currently not supported and is reserved for future use.	MPICommandTypeEVENT
move	Commands a motion action: *mpiMotionAction(motion, MPIAction[ABORT \| E_STOP \| E_STOP_ABORT \| RESET \| RESUME \| STOP]);*	MPICommandTypeMOVE
motion	Commands a motion action: *mpiMotionAction(motion, MPIAction[ABORT \| E_STOP \| E_STOP_ABORT \| RESET \| RESUME \| STOP]);*	MPICommandTypeMOVE
wait	Delays execution of the next command until a particular comparison evaluates to TRUE: wait until expr wait.control is currently not supported and is reserved for future use.	MPICommandTypeWAIT MPICommandTypeWAIT_REF MPICommandTypeWAIT_FLOAT MPICommandTypeWAIT_FLOAT_REF
waitEvent	Delays execution of the next command until a particular event occurs: wait until MPIEventMask(handle) oper mask	MPICommandTypeWAIT_EVENT
waitIO	Delays execution of the next command until a particular i/o state matches a specified condition: wait until Io.input oper mask	MPICommandTypeWAIT_IO

MPICommandParams

Definition

Description

See Also