x_grecord.cpp

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#include "x_examples.h"
 
int x_grecord(GCon g)
{
  cout << "\n************************************************************************\n";
  cout << "Example GRecord() usage\n";
  cout << "************************************************************************\n";
 
  char buf[1024]; //traffic buffer
  GSize bytes_read;
 
  //-------------------------------------------------------------------------
  //Grab a data record via QR and pull out some values.
  cout << "\nQR-based data record\n";
  GDataRecord r; //user's data record union.
  x_e(GRecord(g, &r, G_QR)); //poll for data record.
  cout << r.dmc4000.sample_number << '\n'; //sample number
  cout << r.dmc4000.axis_a_reference_position << "\n"; //Axis A's reference, "RPA"
 
  //-------------------------------------------------------------------------
  //simple check for a serial connection.
  bool dr_support = true;
  if (GCommand(g, "WH", buf, 1024, &bytes_read) == G_NO_ERROR)
  {
    dr_support = (strstr(buf, "IH") != 0); //for this example, assume Ethernet connections supports DR.
  }//else assume PCI supports, note 18x2 doesn't
 
 
  if (dr_support)
  {
    //-------------------------------------------------------------------------
    //Read data records asynchronously for a given interval.
    //note -s DR must have been specified in GOpen()
    cout << "\nDR-based data record\n";
    unsigned short time = 0; //controller's sample time, 1 tick a ms with TM 1000.
    unsigned short deadline = 1000; //listen time, in ms, at TM 1000
    int original_dr;
    x_e(GCmdI(g, "MG_DR", &original_dr)); //grab the current DR value
    x_e(GRecordRate(g, 100)); //set up DR to 10Hz
    for (size_t i = 0; deadline > time; i++)
    {
      x_e(GRecord(g, &r, G_DR)); //get record
      time = r.dmc4000.sample_number; //pull out the desired value
      //time = r.dmc1806.sample_number; //note, these are product-specific
      cout << time << '\n'; //print time
      if (!i) deadline = time + deadline; //sample on first iteration to set deadline
    }
 
    sprintf(buf, "DR %d", original_dr);
    x_e(GCmd(g, buf)); //restore DR
  }
 
  //-------------------------------------------------------------------------
  //Use pointer arithmetic to pull out arbitrary types and offsets.
  cout << "\nQR-based data record with offsets\n";
  x_e(GRecord(g, &r, G_QR)); //poll for data record.
  cout << r.dmc4000.sample_number << '\n';
  cout << *((unsigned short*)(r.byte_array + 4)) << '\n'; //equivalent to sample_number for DMC-4000
  
 
#if 0
    char* trimmed; //trimmed string pointer
    //-------------------------------------------------------------------------
    // Independent motion
    x_e(GCmd(g, "DP 0")); //define position zero on A
    x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
    cout << "\nPosition: " << trimmed << '\n';
    x_e(GCmd(g, "SP 4000")); //set up speed
    x_e(GCmd(g, "AC 1280000")); //acceleration
    x_e(GCmd(g, "DC 1280000")); //deceleration
    x_e(GCmd(g, "PR 8000")); //Postion Relative. B will take longer to make its move.
    x_e(GCmd(g, "SH A")); //Servo Here
    cout << "Beginning independent motion... ";
    x_e(GCmd(g, "BG A")); //Begin motion
    x_e(x_dr_motioncomplete(g, "A")); //Block until motion is complete on axes A and B
    cout << "Motion Complete on A\n";
    x_e(GCmdT(g, "RP", buf, sizeof(buf), &trimmed));
    cout << "Position: " << trimmed << '\n';;
# endif
 
  return GALIL_EXAMPLE_OK;
}
 
 
int x_dr_motioncomplete(GCon g, GCStringIn axes)
{
    
  GReturn rc;
  GDataRecord r;
  
  
  int original_dr;
  x_e(GCmdI(g, "MG_DR", &original_dr)); //grab the current DR value
  x_e(GRecordRate(g, 100)); //set up DR to 10Hz
  
  int len = strlen(axes);
  UW* axis_status;
  for (int i = 0; i < len; /*blank*/) //iterate through all chars in axes to make the axis mask
  {
    rc = GRecord(g, &r, G_DR);
    //support just A-H
    switch (axes[i])
    {
    case 'A':
      axis_status = &r.dmc4000.axis_a_status;
      break;
    case 'B':
      axis_status = &r.dmc4000.axis_b_status;
      break;
    case 'C':
      axis_status = &r.dmc4000.axis_c_status;
      break;
    case 'D':
      axis_status = &r.dmc4000.axis_d_status;
      break;
    case 'E':
      axis_status = &r.dmc4000.axis_e_status;
      break;
    case 'F':
      axis_status = &r.dmc4000.axis_f_status;
      break;
    case 'G':
      axis_status = &r.dmc4000.axis_g_status;
      break;
    case 'H':
      axis_status = &r.dmc4000.axis_h_status;
      break;
    default:
      axis_status = 0;
    }
 
    if (axis_status)
      if (!(*axis_status & 0x8000)) //bit 15 is "Move in progress"
        i++;
  }
  
  char buf[16];
  sprintf(buf, "DR %d", original_dr);
  x_e(GCmd(g, buf)); //restore DR
 
  return GALIL_EXAMPLE_OK;
 
}