/***************************************************************************
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(C) Copyright DELTA TAU DATA SYSTEMS Inc., 1992
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Title: UtilDT.h
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Version: 1.00
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Date: 11/18/1992
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Author(s): Dennis Smith
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Header file for Utility functions.
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Note(s):
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----------------------------------------------------------------------------
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Change log:
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Date Rev Who Description
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--------- ----- ----- --------------------------------------------
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17Aug99 JET added PmacNetActualPosition()
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19Nov97 JET added PmacLMH()
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**************************************************************************/
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#ifndef _UTILDT_H
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#define _UTILDT_H
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#include <stdio.h>
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#include "pmacsock.h"
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///////////////////////////////////////////////////////////////////////////
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// Status structures
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typedef struct {
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BOOL plc_enabled;
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UINT plc_start_addr;
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UINT plc_end_addr;
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UINT plc_size;
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} PLC_STATUS_STRUCT;
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typedef struct {
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BOOL plcc_loaded;
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BOOL plcc_enabled;
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UINT plcc_start_addr;
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UINT plcc_end_addr;
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UINT plcc_size;
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} PLCC_STATUS_STRUCT;
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typedef struct {
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UINT num_plc;
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UINT num_plcc;
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UINT I5;
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PLC_STATUS_STRUCT plc[32];
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PLCC_STATUS_STRUCT plcc[32];
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} TOTAL_PLC_STATUS_STRUCT;
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///////////////////////////////////////////////////////////////////////////
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// Functions
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#ifdef __cplusplus
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extern "C" {
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#endif
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// Internal functions
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BOOL GetFileName( HWND hWindow, BOOL save, LPTSTR title, LPTSTR fileName, LPTSTR filter );
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FILE *getFilePointer( const char *full_path, const char *mode );
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BOOL SetPmacType( DWORD dwDevice );
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DWORD SetMaxMotors( DWORD dwDevice );
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BOOL SetRomDate( DWORD dwDevice );
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BOOL SetRomVersion( DWORD dwDevice );
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BOOL SetLinkList( DWORD dwDevice );
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BOOL CALLBACK BackupLinkList( DWORD dwDevice );
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BOOL CALLBACK RestoreLinkList( char *szFirmwareVersion );
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BOOL SetScales( DWORD dwDevice );
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void ReportSystemError( PCHAR name );
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BOOL CalibrateTimeout( DWORD timeoutMsec, DWORD * timeoutCount );
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int CALLBACK PmacGetEnumeration(DWORD dwDevice);
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LOCATIONTYPE CALLBACK PmacGetLocation(DWORD dwDevice);
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// Exported functions
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BOOL CALLBACK OpenPmacDevice( DWORD dwDevice );
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BOOL CALLBACK ClosePmacDevice( DWORD dwDevice );
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BOOL CALLBACK VMETestOpenPmacDevice( DWORD dwDevice, BOOL bMailboxOnly );
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BOOL CALLBACK VMETestClosePmacDevice( DWORD dwDevice );
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BOOL CALLBACK bPMACIsTurbo( DWORD dwDevice );
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BOOL CALLBACK StoreUSResponse(DWORD dwDevice,CHAR * buf, DWORD size);
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BOOL CALLBACK GetUSResponse(DWORD dwDevice, PCHAR buf, UINT maxchar);
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BOOL CALLBACK USReadReady(DWORD dwDevice);
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BOOL CALLBACK ChangeStore(DWORD dwDevice,CHAR * buf);
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BOOL CALLBACK ChangeGet(DWORD dwDevice, PCHAR buf, UINT maxchar);
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BOOL CALLBACK ChangeReadReady(DWORD dwDevice);
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DWORD CALLBACK MapDeviceNumToEnumAndLocation(LOCATIONTYPE loc,DWORD dwEnum);
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DWORD CALLBACK MapLocAndEnumFromDeviceNum(DWORD dwDevNum, LOCATIONTYPE *loc,DWORD *dwEnum);
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BOOL CALLBACK ShutdownPmacDevice(DWORD dwDevice,BOOL bForceShutdown);
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BOOL CALLBACK PmacNcAvailable( void );
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BOOL CALLBACK PmacSetLanguage( const DWORD dwDevice, char *locale );
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void CALLBACK PmacLMH( HANDLE * hndl );
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BOOL CALLBACK SetLanguageModule( const char *locale, const HMODULE hProcess, HMODULE * h );
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void CALLBACK PmacSetWindow( DWORD dwDevice, HWND hWnd );
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LPSTR CALLBACK szLoadStringA( HMODULE hInst, int iID );
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PCHAR CALLBACK szStripControlCharA( PCHAR str );
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PCHAR CALLBACK szStripWhiteSpaceA( PCHAR str );
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BOOL CALLBACK PmacReadReady( DWORD dwDevice );
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DWORD CALLBACK PmacReadReadyEx( DWORD dwDevice );
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int CALLBACK PmacGetError( DWORD dwDevice );
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ASCIIMODE CALLBACK PmacGetAsciiComm( DWORD dwDevice );
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BOOL CALLBACK PmacSetAsciiComm( DWORD dwDevice, ASCIIMODE m );
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BOOL CALLBACK PmacMotionBufOpen( DWORD dwDevice );
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BOOL CALLBACK PmacRotBufOpen( DWORD dwDevice );
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BYTE CALLBACK PmacGetIntStatusReg( DWORD dwDevice );
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BOOL CALLBACK PmacLoadNTDriver( DWORD dwDevice );
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BOOL CALLBACK PmacUnloadNTDriver( DWORD dwDevice );
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BOOL CALLBACK PmacNTDriverLoaded( DWORD dwDevice );
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BOOL CALLBACK PmacRemoveNTDriver( DWORD dwDevice );
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void CALLBACK LockPmac( DWORD dwDevice );
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void CALLBACK ReleasePmac( DWORD dwDevice );
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BOOL CALLBACK PmacSetCriticalIVars(DWORD dwDevice);
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BOOL CALLBACK PmacGetVariableStrA( DWORD dwDevice, CHAR ch, LPSTR str, UINT num );
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short int CALLBACK PmacGetVariable( DWORD dwDevice, CHAR ch, UINT num, short int def );
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short int CALLBACK PmacGetIVariable( DWORD dwDevice, UINT num, short int def );
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long CALLBACK PmacGetVariableLong( DWORD dwDevice, TCHAR ch, UINT num, long def );
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double CALLBACK PmacGetVariableDouble( DWORD dwDevice, TCHAR ch, UINT num, double def );
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long CALLBACK PmacGetIVariableLong( DWORD dwDevice, UINT num, long def );
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double CALLBACK PmacGetIVariableDouble( DWORD dwDevice, UINT num, double def );
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void CALLBACK PmacSetVariable( DWORD dwDevice, CHAR ch, UINT num, short int val );
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void CALLBACK PmacSetIVariable( DWORD dwDevice, UINT num, short int val );
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void CALLBACK PmacSetVariableLong( DWORD dwDevice, TCHAR ch, UINT num, long val );
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void CALLBACK PmacSetVariableDouble( DWORD dwDevice, TCHAR ch, UINT num, double val );
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void CALLBACK PmacSetIVariableLong( DWORD dwDevice, UINT num, long val );
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void CALLBACK PmacSetIVariableDouble( DWORD dwDevice, UINT num, double val );
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int CALLBACK PmacGetProgramInfo( DWORD dwDevice, BOOL plc, int num, UINT * sadr, UINT * fadr );
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PUSER_HANDLE CALLBACK PmacGetUserHandle( DWORD dwDevice );
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BOOL CALLBACK PmacConfigure( HWND hwnd, DWORD dwDevice );
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double CALLBACK PmacGetDrvVersion( DWORD dwDevice );
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BOOL CALLBACK PmacGetDpramAvailable( DWORD dwDevice );
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BOOL CALLBACK PmacInBootStrapMode( DWORD dwDevice );
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// ASCII string exported functions
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BOOL CALLBACK PmacDoChecksums( DWORD dwDevice, BOOL bVal );
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PCHAR CALLBACK PmacGetRomDateA( DWORD dwDevice, PCHAR s, int maxchar );
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PCHAR CALLBACK PmacGetRomVersionA( DWORD dwDevice, PCHAR s, int maxchar );
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int CALLBACK PmacGetResponseA( DWORD dwDevice, PCHAR s, UINT maxchar, PCHAR outstr );
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int CALLBACK PmacGetResponseExA( DWORD dwDevice, PCHAR s, UINT maxchar, PCHAR outstr );
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int CALLBACK PmacGetControlResponseA( DWORD dwDevice, PCHAR s, UINT maxchar, CHAR outchar );
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int CALLBACK PmacGetControlResponseExA( DWORD dwDevice, PCHAR s, UINT maxchar, CHAR outchar );
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BOOL CALLBACK PmacSendCharA( DWORD dwDevice, CHAR outchar );
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int CALLBACK PmacSendLineA( DWORD dwDevice, PCHAR outchar );
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int CALLBACK PmacGetLineA( DWORD dwDevice, PCHAR linebuf, UINT maxCHAR );
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int CALLBACK PmacGetLineExA(DWORD dwDevice,PCHAR linebuf,UINT maxchar);
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int CALLBACK PmacGetBufferA( DWORD dwDevice, PCHAR linebuf, UINT maxchar );
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void CALLBACK PmacSendCommandA( DWORD dwDevice, PCHAR outCHAR );
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void CALLBACK PmacFlush( DWORD dwDevice );
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int CALLBACK PmacGetPmacType( DWORD dwDevice );
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BOOL CALLBACK PmacGetIVariableStrA( DWORD dwDevice, LPSTR str, UINT num );
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int CALLBACK PmacMultiDownloadA( DWORD dwDevice, DOWNLOADMSGPROC msgp, PCHAR outfile,
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PCHAR inifile, PCHAR szUserId, BOOL macro, BOOL map, BOOL log, BOOL dnld );
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int CALLBACK PmacAddDownloadFileA( DWORD dwDevice, PCHAR inifile, PCHAR szUserId, PCHAR szDLFile );
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int CALLBACK PmacRemoveDownloadFileA( DWORD dwDevice, PCHAR inifile, PCHAR szUserId, PCHAR szDLFile );
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void CALLBACK PmacRenumberFilesA( DWORD dwDevice, int file_num, PCHAR szIniFile );
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int CALLBACK PmacGetErrorStrA( DWORD dwDevice, PCHAR str, int maxchar );
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// Unicode string exported functions
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int CALLBACK PmacGetResponseW( DWORD dwDevice, PWCHAR s, UINT maxchar, PWCHAR outstr );
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int CALLBACK PmacGetResponseExW( DWORD dwDevice, PWCHAR s, UINT maxchar, PWCHAR outstr );
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int CALLBACK PmacGetControlResponseW( DWORD dwDevice, PWCHAR s, UINT maxchar, WCHAR outchar );
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int CALLBACK PmacGetControlResponseExW( DWORD dwDevice, PWCHAR s, UINT maxchar, WCHAR outchar );
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BOOL CALLBACK PmacSendCharW( DWORD dwDevice, WCHAR outchar );
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int CALLBACK PmacSendLineW( DWORD dwDevice, PWCHAR outchar );
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int CALLBACK PmacGetLineW( DWORD dwDevice, PWCHAR linebuf, UINT maxCHAR );
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int CALLBACK PmacGetLineExW(DWORD dwDevice,PWCHAR linebuf,UINT maxchar);
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int CALLBACK PmacGetBufferW( DWORD dwDevice, PWCHAR linebuf, UINT maxchar );
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void CALLBACK PmacSendCommandW( DWORD dwDevice, PWCHAR outchar );
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BOOL CALLBACK PmacGetIVariableStrW( DWORD dwDevice, LPWSTR str, UINT num );
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WORD CALLBACK PmacGetPlcStatus( DWORD dwDevice, TOTAL_PLC_STATUS_STRUCT * plc_stat );
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BOOL CALLBACK PmacIsAnyPLCRunning(DWORD dwDevice);
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int CALLBACK PmacMultiDownloadW( DWORD dwDevice, DOWNLOADMSGPROC msgp, PWCHAR outfile,
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PWCHAR inifile, PWCHAR szUserId, BOOL macro, BOOL map, BOOL log, BOOL dnld );
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int CALLBACK PmacAddDownloadFileW( DWORD dwDevice, PWCHAR inifile, PWCHAR szUserId, PWCHAR szDLFile );
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int CALLBACK PmacRemoveDownloadFileW( DWORD dwDevice, PWCHAR inifile, PWCHAR szUserId, PWCHAR szDLFile );
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void CALLBACK PmacRenumberFilesW( DWORD dwDevice, int file_num, PWCHAR szIniFile );
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int CALLBACK PmacGetErrorStrW( DWORD dwDevice, PWCHAR str, int maxchar );
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// Functions pertaining to status
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BOOL CALLBACK PmacGetGlobalStatus( DWORD dwDevice, DWORD * status );
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BOOL CALLBACK PmacGetCoordStatus( DWORD dwDevice, UINT csn, DWORD * status );
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BOOL CALLBACK PmacGetMotorStatus( DWORD dwDevice, UINT mtr, DWORD * status );
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// Functions pertaining to global
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BOOL CALLBACK PmacSysServoError( DWORD dwDevice );
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BOOL CALLBACK PmacSysReEntryError( DWORD dwDevice );
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BOOL CALLBACK PmacSysMemChecksumError( DWORD dwDevice );
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BOOL CALLBACK PmacSysPromChecksumError( DWORD dwDevice );
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// Functions pertaining to position
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double CALLBACK PmacGetCommandedPos( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacPosition( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacNetActualPosition(DWORD dwDevice,int mtr,double units);
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double CALLBACK PmacFollowError( DWORD dwDevice, int mtr, double units );
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double CALLBACK PmacGetVel( DWORD dwDevice, int mtr, double units );
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void CALLBACK PmacGetMasterPos( DWORD dwDevice, int mtr, double units, double *the_double );
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void CALLBACK PmacGetCompensationPos( DWORD dwDevice, int mtr, double units, double *the_double );
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// Functions pertaining to coord systems
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long CALLBACK PmacPe( DWORD dwDevice, int cs );
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BOOL CALLBACK PmacRotBufFull( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacSysInposition( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacSysWarnFError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacSysFatalFError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacSysRunTimeError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacSysCircleRadError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacSysAmpFaultError( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacProgRunning( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacProgStepping( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacProgContMotion( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacProgContRequest( DWORD dwDevice, int crd );
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int CALLBACK PmacProgRemaining( DWORD dwDevice, int crd );
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BOOL CALLBACK PmacMotionBufOpen( DWORD dwDevice );
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BOOL CALLBACK PmacRotBufOpen( DWORD dwDevice );
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double CALLBACK PmacGetFeedRateMode( DWORD dwDevice, int csn, int * mode );
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double CALLBACK PmacGetAxisTargetPos( DWORD dwDevice, int crd, char axchar );
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// Functions pertaining to individual motors
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BOOL CALLBACK PmacAmpEnabled( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacWarnFError( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacFatalFError( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacAmpFault( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacOnPositionLimit( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacHomeComplete( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacInposition( DWORD dwDevice, int mtr );
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double CALLBACK PmacGetTargetPos( DWORD dwDevice, int motor, double posscale );
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double CALLBACK PmacGetBiasPos( DWORD dwDevice, int motor, double posscale );
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long CALLBACK PmacTimeRemInMove( DWORD dwDevice, int cs );
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long CALLBACK PmacTimeRemInTATS( DWORD dwDevice, int cs );
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BOOL CALLBACK PmacDataBlock( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacPhasedMotor( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacMotorEnabled( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacHandwheelEnabled( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacOpenLoop( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacOnNegativeLimit( DWORD dwDevice, int mtr );
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BOOL CALLBACK PmacOnPositiveLimit( DWORD dwDevice, int mtr );
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void CALLBACK PmacSetJogReturn( DWORD dwDevice, int mtr );
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// Command Logging
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BOOL CALLBACK CommandLogging( DWORD dwDevice, PCHAR str, BOOL dirn );
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BOOL CALLBACK CommandLoggingW( DWORD dwDevice, PWCHAR outstr, BOOL dirn );
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// Logical query functions
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PROGRAM CALLBACK PmacGetProgramMode( DWORD dwDevice, int csn );
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MOTIONMODE CALLBACK PmacGetMotionMode( DWORD dwDevice, int csn );
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MOTION CALLBACK PmacGetMotorMotion( DWORD dwDevice, int mtr );
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#ifdef __cplusplus
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}
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#endif
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#ifdef UNICODE
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#define PmacGetResponse PmacGetResponseW
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#define PmacGetControlResponse PmacGetControlResponseW
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#define PmacGetControlResponseEx PmacGetControlResponseExW
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#define PmacSendChar PmacSendCharW
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#define PmacSendLine PmacSendLineW
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#define PmacGetLine PmacGetLineW
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#define PmacGetLineEx PmacGetLineExW
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#define PmacGetBuffer PmacGetBufferW
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#define PmacSendCommand PmacSendCommandW
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#define PmacMultiDownload PmacMultiDownloadW
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#define PmacAddDownloadFile PmacAddDownloadFileW
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#define PmacRemoveDownloadFile PmacRemoveDownloadFileW
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#define PmacRenumberFiles PmacRenumberFilesW
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#define PmacGetErrorStr PmacGetErrorStrW
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#else
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#define PmacGetResponse PmacGetResponseA
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#define PmacGetControlResponse PmacGetControlResponseA
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#define PmacGetControlResponseEx PmacGetControlResponseExA
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#define PmacSendChar PmacSendCharA
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#define PmacSendLine PmacSendLineA
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#define PmacGetLine PmacGetLineA
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#define PmacGetLineEx PmacGetLineExA
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#define PmacGetBuffer PmacGetBufferA
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#define PmacSendCommand PmacSendCommandA
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#define PmacMultiDownload PmacMultiDownloadA
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#define PmacAddDownloadFile PmacAddDownloadFileA
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#define PmacRemoveDownloadFile PmacRemoveDownloadFileA
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#define PmacRenumberFiles PmacRenumberFilesA
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#define PmacGetErrorStr PmacGetErrorStrA
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#endif // !UNICODE
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#endif
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