/********************************************************************* * * $Id: yocto_multiaxiscontroller.h 59978 2024-03-18 15:04:46Z mvuilleu $ * * Declares yFindMultiAxisController(), the high-level API for MultiAxisController functions * * - - - - - - - - - License information: - - - - - - - - - * * Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland. * * Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual * non-exclusive license to use, modify, copy and integrate this * file into your software for the sole purpose of interfacing * with Yoctopuce products. * * You may reproduce and distribute copies of this file in * source or object form, as long as the sole purpose of this * code is to interface with Yoctopuce products. You must retain * this notice in the distributed source file. * * You should refer to Yoctopuce General Terms and Conditions * for additional information regarding your rights and * obligations. * * THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT * WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING * WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS * FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO * EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL, * INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, * COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR * SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT * LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR * CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE * BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF * WARRANTY, OR OTHERWISE. * *********************************************************************/ #ifndef YOCTO_MULTIAXISCONTROLLER_H #define YOCTO_MULTIAXISCONTROLLER_H #include #include #include "yocto_api.h" #ifdef YOCTOLIB_NAMESPACE namespace YOCTOLIB_NAMESPACE { #endif //--- (YMultiAxisController return codes) //--- (end of YMultiAxisController return codes) //--- (YMultiAxisController yapiwrapper) //--- (end of YMultiAxisController yapiwrapper) //--- (YMultiAxisController definitions) class YMultiAxisController; // forward declaration typedef void (*YMultiAxisControllerValueCallback)(YMultiAxisController *func, const string& functionValue); #ifndef _Y_GLOBALSTATE_ENUM #define _Y_GLOBALSTATE_ENUM typedef enum { Y_GLOBALSTATE_ABSENT = 0, Y_GLOBALSTATE_ALERT = 1, Y_GLOBALSTATE_HI_Z = 2, Y_GLOBALSTATE_STOP = 3, Y_GLOBALSTATE_RUN = 4, Y_GLOBALSTATE_BATCH = 5, Y_GLOBALSTATE_INVALID = -1, } Y_GLOBALSTATE_enum; #endif #define Y_NAXIS_INVALID (YAPI_INVALID_UINT) #define Y_COMMAND_INVALID (YAPI_INVALID_STRING) //--- (end of YMultiAxisController definitions) //--- (YMultiAxisController declaration) /** * YMultiAxisController Class: MultiAxisController function interface * * The YMultiAxisController class allows you to drive multiple stepper motors * synchronously. */ class YOCTO_CLASS_EXPORT YMultiAxisController: public YFunction { #ifdef __BORLANDC__ #pragma option push -w-8022 #endif //--- (end of YMultiAxisController declaration) protected: //--- (YMultiAxisController attributes) // Attributes (function value cache) int _nAxis; Y_GLOBALSTATE_enum _globalState; string _command; YMultiAxisControllerValueCallback _valueCallbackMultiAxisController; friend YMultiAxisController *yFindMultiAxisController(const string& func); friend YMultiAxisController *yFirstMultiAxisController(void); // Function-specific method for parsing of JSON output and caching result virtual int _parseAttr(YJSONObject *json_val); // Constructor is protected, use yFindMultiAxisController factory function to instantiate YMultiAxisController(const string& func); //--- (end of YMultiAxisController attributes) public: virtual ~YMultiAxisController(); //--- (YMultiAxisController accessors declaration) static const int NAXIS_INVALID = YAPI_INVALID_UINT; static const Y_GLOBALSTATE_enum GLOBALSTATE_ABSENT = Y_GLOBALSTATE_ABSENT; static const Y_GLOBALSTATE_enum GLOBALSTATE_ALERT = Y_GLOBALSTATE_ALERT; static const Y_GLOBALSTATE_enum GLOBALSTATE_HI_Z = Y_GLOBALSTATE_HI_Z; static const Y_GLOBALSTATE_enum GLOBALSTATE_STOP = Y_GLOBALSTATE_STOP; static const Y_GLOBALSTATE_enum GLOBALSTATE_RUN = Y_GLOBALSTATE_RUN; static const Y_GLOBALSTATE_enum GLOBALSTATE_BATCH = Y_GLOBALSTATE_BATCH; static const Y_GLOBALSTATE_enum GLOBALSTATE_INVALID = Y_GLOBALSTATE_INVALID; static const string COMMAND_INVALID; /** * Returns the number of synchronized controllers. * * @return an integer corresponding to the number of synchronized controllers * * On failure, throws an exception or returns YMultiAxisController::NAXIS_INVALID. */ int get_nAxis(void); inline int nAxis(void) { return this->get_nAxis(); } /** * Changes the number of synchronized controllers. * * @param newval : an integer corresponding to the number of synchronized controllers * * @return YAPI::SUCCESS if the call succeeds. * * On failure, throws an exception or returns a negative error code. */ int set_nAxis(int newval); inline int setNAxis(int newval) { return this->set_nAxis(newval); } /** * Returns the stepper motor set overall state. * * @return a value among YMultiAxisController::GLOBALSTATE_ABSENT, * YMultiAxisController::GLOBALSTATE_ALERT, YMultiAxisController::GLOBALSTATE_HI_Z, * YMultiAxisController::GLOBALSTATE_STOP, YMultiAxisController::GLOBALSTATE_RUN and * YMultiAxisController::GLOBALSTATE_BATCH corresponding to the stepper motor set overall state * * On failure, throws an exception or returns YMultiAxisController::GLOBALSTATE_INVALID. */ Y_GLOBALSTATE_enum get_globalState(void); inline Y_GLOBALSTATE_enum globalState(void) { return this->get_globalState(); } string get_command(void); inline string command(void) { return this->get_command(); } int set_command(const string& newval); inline int setCommand(const string& newval) { return this->set_command(newval); } /** * Retrieves a multi-axis controller for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the multi-axis controller is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the multi-axis controller is * indeed online at a given time. In case of ambiguity when looking for * a multi-axis controller by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the multi-axis controller, for instance * MyDevice.multiAxisController. * * @return a YMultiAxisController object allowing you to drive the multi-axis controller. */ static YMultiAxisController* FindMultiAxisController(string func); /** * Registers the callback function that is invoked on every change of advertised value. * The callback is invoked only during the execution of ySleep or yHandleEvents. * This provides control over the time when the callback is triggered. For good responsiveness, remember to call * one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument. * * @param callback : the callback function to call, or a NULL pointer. The callback function should take two * arguments: the function object of which the value has changed, and the character string describing * the new advertised value. * @noreturn */ virtual int registerValueCallback(YMultiAxisControllerValueCallback callback); using YFunction::registerValueCallback; virtual int _invokeValueCallback(string value); virtual int sendCommand(string command); /** * Reinitialize all controllers and clear all alert flags. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int reset(void); /** * Starts all motors backward at the specified speeds, to search for the motor home position. * * @param speed : desired speed for all axis, in steps per second. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int findHomePosition(vector speed); /** * Starts all motors synchronously to reach a given absolute position. * The time needed to reach the requested position will depend on the lowest * acceleration and max speed parameters configured for all motors. * The final position will be reached on all axis at the same time. * * @param absPos : absolute position, measured in steps from each origin. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int moveTo(vector absPos); /** * Starts all motors synchronously to reach a given relative position. * The time needed to reach the requested position will depend on the lowest * acceleration and max speed parameters configured for all motors. * The final position will be reached on all axis at the same time. * * @param relPos : relative position, measured in steps from the current position. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int moveRel(vector relPos); /** * Keep the motor in the same state for the specified amount of time, before processing next command. * * @param waitMs : wait time, specified in milliseconds. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int pause(int waitMs); /** * Stops the motor with an emergency alert, without taking any additional precaution. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int emergencyStop(void); /** * Stops the motor smoothly as soon as possible, without waiting for ongoing move completion. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int abortAndBrake(void); /** * Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion. * * @return YAPI::SUCCESS if the call succeeds. * On failure, throws an exception or returns a negative error code. */ virtual int abortAndHiZ(void); inline static YMultiAxisController *Find(string func) { return YMultiAxisController::FindMultiAxisController(func); } /** * Continues the enumeration of multi-axis controllers started using yFirstMultiAxisController(). * Caution: You can't make any assumption about the returned multi-axis controllers order. * If you want to find a specific a multi-axis controller, use MultiAxisController.findMultiAxisController() * and a hardwareID or a logical name. * * @return a pointer to a YMultiAxisController object, corresponding to * a multi-axis controller currently online, or a NULL pointer * if there are no more multi-axis controllers to enumerate. */ YMultiAxisController *nextMultiAxisController(void); inline YMultiAxisController *next(void) { return this->nextMultiAxisController();} /** * Starts the enumeration of multi-axis controllers currently accessible. * Use the method YMultiAxisController::nextMultiAxisController() to iterate on * next multi-axis controllers. * * @return a pointer to a YMultiAxisController object, corresponding to * the first multi-axis controller currently online, or a NULL pointer * if there are none. */ static YMultiAxisController *FirstMultiAxisController(void); inline static YMultiAxisController *First(void) { return YMultiAxisController::FirstMultiAxisController();} #ifdef __BORLANDC__ #pragma option pop #endif //--- (end of YMultiAxisController accessors declaration) }; //--- (YMultiAxisController functions declaration) /** * Retrieves a multi-axis controller for a given identifier. * The identifier can be specified using several formats: * * - FunctionLogicalName * - ModuleSerialNumber.FunctionIdentifier * - ModuleSerialNumber.FunctionLogicalName * - ModuleLogicalName.FunctionIdentifier * - ModuleLogicalName.FunctionLogicalName * * * This function does not require that the multi-axis controller is online at the time * it is invoked. The returned object is nevertheless valid. * Use the method isOnline() to test if the multi-axis controller is * indeed online at a given time. In case of ambiguity when looking for * a multi-axis controller by logical name, no error is notified: the first instance * found is returned. The search is performed first by hardware name, * then by logical name. * * If a call to this object's is_online() method returns FALSE although * you are certain that the matching device is plugged, make sure that you did * call registerHub() at application initialization time. * * @param func : a string that uniquely characterizes the multi-axis controller, for instance * MyDevice.multiAxisController. * * @return a YMultiAxisController object allowing you to drive the multi-axis controller. */ inline YMultiAxisController *yFindMultiAxisController(const string& func) { return YMultiAxisController::FindMultiAxisController(func);} /** * Starts the enumeration of multi-axis controllers currently accessible. * Use the method YMultiAxisController::nextMultiAxisController() to iterate on * next multi-axis controllers. * * @return a pointer to a YMultiAxisController object, corresponding to * the first multi-axis controller currently online, or a NULL pointer * if there are none. */ inline YMultiAxisController *yFirstMultiAxisController(void) { return YMultiAxisController::FirstMultiAxisController();} //--- (end of YMultiAxisController functions declaration) #ifdef YOCTOLIB_NAMESPACE // end of namespace definition } #endif #endif