/***************************************************************************
  (C) Copyright DELTA TAU DATA SYSTEMS Inc., 1992

  Title:    UtilDT.h

  Version:  1.00

  Date:   11/18/1992

  Author(s):  Dennis Smith

  Header file for Utility functions.

  Note(s):

----------------------------------------------------------------------------

  Change log:

    Date       Rev   Who      Description
  --------- ----- ----- --------------------------------------------
17Aug99 JET added PmacNetActualPosition()
19Nov97 JET added PmacLMH()
**************************************************************************/

#ifndef _UTILDT_H
  #define _UTILDT_H

  #include <stdio.h>
  #include "pmacsock.h"

///////////////////////////////////////////////////////////////////////////
// Status structures

typedef struct {
  BOOL  plc_enabled;
  UINT  plc_start_addr;
  UINT  plc_end_addr;
  UINT  plc_size;
 } PLC_STATUS_STRUCT;

typedef struct {
 BOOL  plcc_loaded;
 BOOL  plcc_enabled;
 UINT  plcc_start_addr;
 UINT  plcc_end_addr;
 UINT  plcc_size;
} PLCC_STATUS_STRUCT;

typedef struct {
 UINT num_plc;
 UINT num_plcc;
 UINT I5;
 PLC_STATUS_STRUCT plc[32];
 PLCC_STATUS_STRUCT plcc[32];
} TOTAL_PLC_STATUS_STRUCT;

///////////////////////////////////////////////////////////////////////////
// Functions
  #ifdef __cplusplus
extern "C" {
  #endif

  // Internal functions
  BOOL   GetFileName( HWND hWindow, BOOL save, LPTSTR title, LPTSTR fileName, LPTSTR filter );
  FILE *getFilePointer( const char *full_path, const char *mode );
  BOOL   SetPmacType( DWORD dwDevice );
  DWORD  SetMaxMotors( DWORD dwDevice );
  BOOL   SetRomDate( DWORD dwDevice );
  BOOL   SetRomVersion( DWORD dwDevice );
  BOOL   SetLinkList( DWORD dwDevice );
  BOOL  CALLBACK BackupLinkList( DWORD dwDevice );
  BOOL  CALLBACK  RestoreLinkList( char *szFirmwareVersion );
  BOOL   SetScales( DWORD dwDevice );
  void   ReportSystemError( PCHAR name );
  BOOL   CalibrateTimeout( DWORD timeoutMsec, DWORD * timeoutCount );
  int    CALLBACK PmacGetEnumeration(DWORD dwDevice);
  LOCATIONTYPE CALLBACK PmacGetLocation(DWORD dwDevice);

  // Exported functions
  BOOL   CALLBACK OpenPmacDevice( DWORD dwDevice );
  BOOL   CALLBACK ClosePmacDevice( DWORD dwDevice );
  BOOL CALLBACK VMETestOpenPmacDevice( DWORD dwDevice, BOOL bMailboxOnly );
  BOOL CALLBACK VMETestClosePmacDevice( DWORD dwDevice );
  BOOL CALLBACK bPMACIsTurbo( DWORD dwDevice );

  BOOL CALLBACK StoreUSResponse(DWORD dwDevice,CHAR * buf, DWORD size);
  BOOL CALLBACK GetUSResponse(DWORD dwDevice, PCHAR buf, UINT maxchar);
  BOOL CALLBACK USReadReady(DWORD dwDevice);
  BOOL CALLBACK ChangeStore(DWORD dwDevice,CHAR * buf);
  BOOL CALLBACK ChangeGet(DWORD dwDevice, PCHAR buf, UINT maxchar);
  BOOL CALLBACK ChangeReadReady(DWORD dwDevice);
  DWORD CALLBACK MapDeviceNumToEnumAndLocation(LOCATIONTYPE loc,DWORD dwEnum);
  DWORD CALLBACK MapLocAndEnumFromDeviceNum(DWORD dwDevNum, LOCATIONTYPE  *loc,DWORD *dwEnum);
  BOOL CALLBACK ShutdownPmacDevice(DWORD dwDevice,BOOL bForceShutdown);

  BOOL   CALLBACK PmacNcAvailable( void );
  BOOL   CALLBACK PmacSetLanguage( const DWORD dwDevice, char *locale );
  void   CALLBACK PmacLMH( HANDLE * hndl );
  BOOL   CALLBACK SetLanguageModule( const char *locale, const HMODULE hProcess, HMODULE * h );
  void   CALLBACK PmacSetWindow( DWORD dwDevice, HWND hWnd );
  LPSTR  CALLBACK szLoadStringA( HMODULE hInst, int iID );
  PCHAR  CALLBACK szStripControlCharA( PCHAR str );
  PCHAR  CALLBACK szStripWhiteSpaceA( PCHAR str );
  BOOL   CALLBACK PmacReadReady( DWORD dwDevice );
  DWORD  CALLBACK PmacReadReadyEx( DWORD dwDevice );
  int    CALLBACK PmacGetError( DWORD dwDevice );
  ASCIIMODE CALLBACK PmacGetAsciiComm( DWORD dwDevice );
  BOOL   CALLBACK PmacSetAsciiComm( DWORD dwDevice, ASCIIMODE m );
  BOOL   CALLBACK PmacMotionBufOpen( DWORD dwDevice );
  BOOL   CALLBACK PmacRotBufOpen( DWORD dwDevice );
  BYTE   CALLBACK PmacGetIntStatusReg( DWORD dwDevice );

  BOOL CALLBACK PmacLoadNTDriver( DWORD dwDevice );
  BOOL CALLBACK PmacUnloadNTDriver( DWORD dwDevice );
  BOOL CALLBACK PmacNTDriverLoaded( DWORD dwDevice );
  BOOL CALLBACK PmacRemoveNTDriver( DWORD dwDevice );
  void CALLBACK LockPmac( DWORD dwDevice );
  void CALLBACK ReleasePmac( DWORD dwDevice );

  BOOL CALLBACK  PmacSetCriticalIVars(DWORD dwDevice);

  BOOL   CALLBACK PmacGetVariableStrA( DWORD dwDevice, CHAR ch, LPSTR str, UINT num );
  short int CALLBACK PmacGetVariable( DWORD dwDevice, CHAR ch, UINT num, short int def );
  short int CALLBACK PmacGetIVariable( DWORD dwDevice, UINT num, short int def );
  long   CALLBACK PmacGetVariableLong( DWORD dwDevice, TCHAR ch, UINT num, long def );
  double CALLBACK PmacGetVariableDouble( DWORD dwDevice, TCHAR ch, UINT num, double def );
  long   CALLBACK PmacGetIVariableLong( DWORD dwDevice, UINT num, long def );
  double CALLBACK PmacGetIVariableDouble( DWORD dwDevice, UINT num, double def );

  void   CALLBACK PmacSetVariable( DWORD dwDevice, CHAR ch, UINT num, short int val );
  void   CALLBACK PmacSetIVariable( DWORD dwDevice, UINT num, short int val );
  void   CALLBACK PmacSetVariableLong( DWORD dwDevice, TCHAR ch, UINT num, long val );
  void   CALLBACK PmacSetVariableDouble( DWORD dwDevice, TCHAR ch, UINT num, double val );
  void   CALLBACK PmacSetIVariableLong( DWORD dwDevice, UINT num, long val );
  void   CALLBACK PmacSetIVariableDouble( DWORD dwDevice, UINT num, double val );
  int    CALLBACK PmacGetProgramInfo( DWORD dwDevice, BOOL plc, int num, UINT * sadr, UINT * fadr );
  PUSER_HANDLE CALLBACK PmacGetUserHandle( DWORD dwDevice );
  BOOL   CALLBACK PmacConfigure( HWND hwnd, DWORD dwDevice );
  double CALLBACK PmacGetDrvVersion( DWORD dwDevice );
  BOOL   CALLBACK PmacGetDpramAvailable( DWORD dwDevice );
  BOOL   CALLBACK PmacInBootStrapMode( DWORD dwDevice );

  // ASCII string exported functions
  BOOL  CALLBACK PmacDoChecksums( DWORD dwDevice, BOOL bVal );
  PCHAR CALLBACK PmacGetRomDateA( DWORD dwDevice, PCHAR s, int maxchar );
  PCHAR CALLBACK PmacGetRomVersionA( DWORD dwDevice, PCHAR s, int maxchar );

  int   CALLBACK PmacGetResponseA( DWORD dwDevice, PCHAR s, UINT maxchar, PCHAR outstr );
  int   CALLBACK PmacGetResponseExA( DWORD dwDevice, PCHAR s, UINT maxchar, PCHAR outstr );
  int   CALLBACK PmacGetControlResponseA( DWORD dwDevice, PCHAR s, UINT maxchar, CHAR outchar );
  int   CALLBACK PmacGetControlResponseExA( DWORD dwDevice, PCHAR s, UINT maxchar, CHAR outchar );

  BOOL  CALLBACK PmacSendCharA( DWORD dwDevice, CHAR outchar );
  int   CALLBACK PmacSendLineA( DWORD dwDevice, PCHAR outchar );
  int   CALLBACK PmacGetLineA( DWORD dwDevice, PCHAR linebuf, UINT maxCHAR );
  int   CALLBACK PmacGetLineExA(DWORD dwDevice,PCHAR linebuf,UINT maxchar);
  int   CALLBACK PmacGetBufferA( DWORD dwDevice, PCHAR linebuf, UINT maxchar );
  void  CALLBACK PmacSendCommandA( DWORD dwDevice, PCHAR outCHAR );
  void  CALLBACK PmacFlush( DWORD dwDevice );
  int   CALLBACK PmacGetPmacType( DWORD dwDevice );
  BOOL  CALLBACK PmacGetIVariableStrA( DWORD dwDevice, LPSTR str, UINT num );
  int   CALLBACK PmacMultiDownloadA( DWORD dwDevice, DOWNLOADMSGPROC msgp, PCHAR outfile,
                   PCHAR inifile, PCHAR szUserId, BOOL macro, BOOL map, BOOL log, BOOL dnld );
  int   CALLBACK PmacAddDownloadFileA( DWORD dwDevice, PCHAR inifile, PCHAR szUserId, PCHAR szDLFile );
  int   CALLBACK PmacRemoveDownloadFileA( DWORD dwDevice, PCHAR inifile, PCHAR szUserId, PCHAR szDLFile );
  void  CALLBACK PmacRenumberFilesA( DWORD dwDevice, int file_num, PCHAR szIniFile );
  int   CALLBACK PmacGetErrorStrA( DWORD dwDevice, PCHAR str, int maxchar );

  // Unicode string exported functions
  int  CALLBACK PmacGetResponseW( DWORD dwDevice, PWCHAR s, UINT maxchar, PWCHAR outstr );
  int  CALLBACK PmacGetResponseExW( DWORD dwDevice, PWCHAR s, UINT maxchar, PWCHAR outstr );
  int  CALLBACK PmacGetControlResponseW( DWORD dwDevice, PWCHAR s, UINT maxchar, WCHAR outchar );
  int  CALLBACK PmacGetControlResponseExW( DWORD dwDevice, PWCHAR s, UINT maxchar, WCHAR outchar );
  BOOL CALLBACK PmacSendCharW( DWORD dwDevice, WCHAR outchar );
  int  CALLBACK PmacSendLineW( DWORD dwDevice, PWCHAR outchar );
  int  CALLBACK PmacGetLineW( DWORD dwDevice, PWCHAR linebuf, UINT maxCHAR );
  int  CALLBACK PmacGetLineExW(DWORD dwDevice,PWCHAR linebuf,UINT maxchar);
  int  CALLBACK PmacGetBufferW( DWORD dwDevice, PWCHAR linebuf, UINT maxchar );
  void CALLBACK PmacSendCommandW( DWORD dwDevice, PWCHAR outchar );
  BOOL CALLBACK PmacGetIVariableStrW( DWORD dwDevice, LPWSTR str, UINT num );
  WORD CALLBACK PmacGetPlcStatus( DWORD dwDevice, TOTAL_PLC_STATUS_STRUCT * plc_stat );
  BOOL CALLBACK PmacIsAnyPLCRunning(DWORD dwDevice);
  int  CALLBACK PmacMultiDownloadW( DWORD dwDevice, DOWNLOADMSGPROC msgp, PWCHAR outfile,
                   PWCHAR inifile, PWCHAR szUserId, BOOL macro, BOOL map, BOOL log, BOOL dnld );
  int  CALLBACK PmacAddDownloadFileW( DWORD dwDevice, PWCHAR inifile, PWCHAR szUserId, PWCHAR szDLFile );
  int  CALLBACK PmacRemoveDownloadFileW( DWORD dwDevice, PWCHAR inifile, PWCHAR szUserId, PWCHAR szDLFile );
  void CALLBACK PmacRenumberFilesW( DWORD dwDevice, int file_num, PWCHAR szIniFile );
  int  CALLBACK PmacGetErrorStrW( DWORD dwDevice, PWCHAR str, int maxchar );

  // Functions  pertaining to status
  BOOL CALLBACK PmacGetGlobalStatus( DWORD dwDevice, DWORD * status );
  BOOL CALLBACK PmacGetCoordStatus( DWORD dwDevice, UINT csn, DWORD * status );
  BOOL CALLBACK PmacGetMotorStatus( DWORD dwDevice, UINT mtr, DWORD * status );

  // Functions  pertaining to global
  BOOL CALLBACK PmacSysServoError( DWORD dwDevice );
  BOOL CALLBACK PmacSysReEntryError( DWORD dwDevice );
  BOOL CALLBACK PmacSysMemChecksumError( DWORD dwDevice );
  BOOL CALLBACK PmacSysPromChecksumError( DWORD dwDevice );

  // Functions pertaining to position
  double CALLBACK PmacGetCommandedPos( DWORD dwDevice, int mtr, double units );
  double CALLBACK PmacPosition( DWORD dwDevice, int mtr, double units );
  double CALLBACK PmacNetActualPosition(DWORD dwDevice,int mtr,double units);
  double CALLBACK PmacFollowError( DWORD dwDevice, int mtr, double units );
  double CALLBACK PmacGetVel( DWORD dwDevice, int mtr, double units );
  void   CALLBACK PmacGetMasterPos( DWORD dwDevice, int mtr, double units, double *the_double );
  void   CALLBACK PmacGetCompensationPos( DWORD dwDevice, int mtr, double units, double *the_double );


  // Functions pertaining to coord systems
  long CALLBACK PmacPe( DWORD dwDevice, int cs );
  BOOL CALLBACK PmacRotBufFull( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacSysInposition( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacSysWarnFError( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacSysFatalFError( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacSysRunTimeError( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacSysCircleRadError( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacSysAmpFaultError( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacProgRunning( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacProgStepping( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacProgContMotion( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacProgContRequest( DWORD dwDevice, int crd );
  int  CALLBACK PmacProgRemaining( DWORD dwDevice, int crd );
  BOOL CALLBACK PmacMotionBufOpen( DWORD dwDevice );
  BOOL CALLBACK PmacRotBufOpen( DWORD dwDevice );
  double CALLBACK PmacGetFeedRateMode( DWORD dwDevice, int csn, int * mode );
  double CALLBACK PmacGetAxisTargetPos( DWORD dwDevice, int crd, char axchar );

  // Functions pertaining to individual motors
  BOOL  CALLBACK PmacAmpEnabled( DWORD dwDevice, int mtr );
  BOOL  CALLBACK PmacWarnFError( DWORD dwDevice, int mtr );
  BOOL  CALLBACK PmacFatalFError( DWORD dwDevice, int mtr );
  BOOL  CALLBACK PmacAmpFault( DWORD dwDevice, int mtr );
  BOOL  CALLBACK PmacOnPositionLimit( DWORD dwDevice, int mtr );
  BOOL  CALLBACK PmacHomeComplete( DWORD dwDevice, int mtr );
  BOOL  CALLBACK PmacInposition( DWORD dwDevice, int mtr );
  double CALLBACK PmacGetTargetPos( DWORD dwDevice, int motor, double posscale );
  double CALLBACK PmacGetBiasPos( DWORD dwDevice, int motor, double posscale );
  long  CALLBACK PmacTimeRemInMove( DWORD dwDevice, int cs );
  long  CALLBACK PmacTimeRemInTATS( DWORD dwDevice, int cs );
  BOOL CALLBACK PmacDataBlock( DWORD dwDevice, int mtr );
  BOOL CALLBACK PmacPhasedMotor( DWORD dwDevice, int mtr );
  BOOL CALLBACK PmacMotorEnabled( DWORD dwDevice, int mtr );
  BOOL CALLBACK PmacHandwheelEnabled( DWORD dwDevice, int mtr );
  BOOL CALLBACK PmacOpenLoop( DWORD dwDevice, int mtr );
  BOOL CALLBACK PmacOnNegativeLimit( DWORD dwDevice, int mtr );
  BOOL CALLBACK PmacOnPositiveLimit( DWORD dwDevice, int mtr );
  void CALLBACK PmacSetJogReturn( DWORD dwDevice, int mtr );

  // Command Logging
  BOOL CALLBACK CommandLogging( DWORD dwDevice, PCHAR str, BOOL dirn );
  BOOL CALLBACK CommandLoggingW( DWORD dwDevice, PWCHAR outstr, BOOL dirn );

  // Logical query functions
  PROGRAM    CALLBACK PmacGetProgramMode( DWORD dwDevice, int csn );
  MOTIONMODE CALLBACK PmacGetMotionMode( DWORD dwDevice, int csn );
  MOTION     CALLBACK PmacGetMotorMotion( DWORD dwDevice, int mtr );

  #ifdef __cplusplus
}
  #endif

  #ifdef UNICODE
    #define PmacGetResponse PmacGetResponseW
    #define PmacGetControlResponse PmacGetControlResponseW
    #define PmacGetControlResponseEx PmacGetControlResponseExW
    #define PmacSendChar PmacSendCharW
    #define PmacSendLine PmacSendLineW
    #define PmacGetLine PmacGetLineW
    #define PmacGetLineEx PmacGetLineExW
    #define PmacGetBuffer PmacGetBufferW
    #define PmacSendCommand PmacSendCommandW
    #define PmacMultiDownload PmacMultiDownloadW
    #define PmacAddDownloadFile PmacAddDownloadFileW
    #define PmacRemoveDownloadFile PmacRemoveDownloadFileW
    #define PmacRenumberFiles PmacRenumberFilesW
    #define PmacGetErrorStr PmacGetErrorStrW
  #else
    #define PmacGetResponse PmacGetResponseA
    #define PmacGetControlResponse PmacGetControlResponseA
    #define PmacGetControlResponseEx PmacGetControlResponseExA
    #define PmacSendChar PmacSendCharA
    #define PmacSendLine PmacSendLineA
    #define PmacGetLine PmacGetLineA
    #define PmacGetLineEx PmacGetLineExA
    #define PmacGetBuffer PmacGetBufferA
    #define PmacSendCommand PmacSendCommandA
    #define PmacMultiDownload PmacMultiDownloadA
    #define PmacAddDownloadFile PmacAddDownloadFileA
    #define PmacRemoveDownloadFile PmacRemoveDownloadFileA
    #define PmacRenumberFiles PmacRenumberFilesA
    #define PmacGetErrorStr PmacGetErrorStrA
  #endif // !UNICODE

#endif