b-CAP client library header More...

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Classes
struct	BCAP_VARIANT

Macros
#define	B_CAP_H

#define	BCAP_CONNECTION_UDP

#define	FAILED(Status) ((int)(Status) < 0)

#define	SERIAL_BAUDRATE 0x0000f /B38400/

#define	SUCCEEDED(Status) ((int)(Status) >= 0)

#define	VT_ARRAY 0x2000 /* Array */

#define	VT_BOOL 11 /* (2Byte) */

#define	VT_BSTR 8 /* (ascii string length 2 + 4 Byte) /

#define	VT_CY 6 /* (8Byte) */

#define	VT_DATE 7 /* (8Byte) */

#define	VT_EMPTY 0 /* (0Byte) */

#define	VT_ERROR 10 /* (2Byte) */

#define	VT_I2 2 /* (2Byte) */

#define	VT_I4 3 /* (4Byte) */

#define	VT_NULL 1 /* (0Byte) */

#define	VT_R4 4 /* (4Byte) */

#define	VT_R8 5 /* (8Byte) */

#define	VT_UI1 17 /* (1Byte) */

#define	VT_UI2 18 /* (2Byte) */

#define	VT_UI4 19 /* (4Byte) */

#define	VT_VARIANT 12 /* Variant */

Typedefs
typedef enum BCAP_HRESULT	BCAP_HRESULT

typedef unsigned char	u_char

typedef unsigned int	u_int

typedef unsigned short	u_short

Enumerations
enum	BCAP_HRESULT { BCAP_S_OK = 0, BCAP_E_NOTIMPL = 0x80004001, BCAP_E_ABORT = 0x80004004, BCAP_E_FAIL = 0x80004005, BCAP_E_UNEXPECTED = 0x8000FFFF, BCAP_E_INVALIDRCVPACKET = 0x80010001, BCAP_E_INVALIDSNDPACKET = 0x80010002, BCAP_E_INVALIDARGTYPE = 0x80010003, BCAP_E_ROBOTISBUSY = 0x80010004, BCAP_E_INVALIDCOMMAND = 0x80010005, BCAP_E_PACKETSIZEOVER = 0x80010011, BCAP_E_ARGSIZEOVER = 0x80010012, BCAP_E_ACCESSDENIED = 0x80070005, BCAP_E_HANDLE = 0x80070006, BCAP_E_OUTOFMEMORY = 0x8007000E, BCAP_E_INVALIDARG = 0x80070057, BCAP_E_BUF_FULL = 0x83201483 }
	BCAP_HRESULT values. More...

Functions
BCAP_HRESULT	bCap_Close (int iSockFd)

BCAP_HRESULT	bCap_ControllerConnect (int iSockFd, char pStrCtrlname, char pStrProvName, char pStrPcName, char pStrOption, u_int *plhController)

BCAP_HRESULT	bCap_ControllerDisconnect (int iSockFd, u_int lhController)

BCAP_HRESULT	bCap_ControllerExecute (int iSockFd, u_int lhController, char pStrCommand, char pStrOption, void *plResult)

BCAP_HRESULT	bCap_ControllerExecute2 (int iSockFd, u_int lhController, char pStrCommand, BCAP_VARIANT pVntOption, BCAP_VARIANT *pvntResult)

BCAP_HRESULT	bCap_ControllerGetRobot (int iSockFd, u_int lhController, char pStrRobotName, char pStrOption, u_int *lhRobot)

BCAP_HRESULT	bCap_ControllerGetTask (int iSockFd, u_int lhController, char pTskName, char pstrOption, u_int *plhVar)

BCAP_HRESULT	bCap_ControllerGetVariable (int iSockFd, u_int lhController, char pVarName, char pstrOption, u_int *plhVar)

BCAP_HRESULT	bCap_Open (const char pIPStr, int iPort, int piSockFd)

BCAP_HRESULT	bCap_RobotChange (int iSockFd, u_int lhRobot, char *pStrCommand)

BCAP_HRESULT	bCap_RobotExecute (int iSockFd, u_int lhRobot, char pStrCommand, char pStrOption, void *plResult)

BCAP_HRESULT	bCap_RobotExecute2 (int iSockFd, u_int lhRobot, char pStrCommand, BCAP_VARIANT pVntOption, BCAP_VARIANT *pvntResult)

BCAP_HRESULT	bCap_RobotExecuteSlaveMove (int iSockFd, u_int lhRobot, char pStrCommand, float pfOption, void *pResult)

BCAP_HRESULT	bCap_RobotGetVariable (int iSockFd, u_int lhRobot, char pVarName, char pStrOption, u_int *lhVarCurJnt)

BCAP_HRESULT	bCap_RobotMove (int iSockFd, u_int lhRobot, long lComp, char pStrPose, char pStrOption)

BCAP_HRESULT	bCap_RobotRelease (int iSockFd, u_int lhRobot)

BCAP_HRESULT	bCap_ServiceStart (int iSockFd)

BCAP_HRESULT	bCap_ServiceStop (int iSockFd)

BCAP_HRESULT	bCap_TaskGetVariable (int iSockFd, u_int lhTask, char pVarName, char pstrOption, u_int *plhVar)

BCAP_HRESULT	bCap_TaskRelease (int iSockFd, u_int lhTask)

BCAP_HRESULT	bCap_TaskStart (int iSockFd, u_int lhTask, long lMode, char *pStrOption)

BCAP_HRESULT	bCap_TaskStop (int iSockFd, u_int lhTask, long lMode, char *pStrOption)

BCAP_HRESULT	bCap_VariableGetValue (int iSockFd, u_int lhVar, void *pVntValue)

BCAP_HRESULT	bCap_VariablePutValue (int iSockFd, u_int lhVar, u_short iType, u_int lArrays, void *pVntValue)

BCAP_HRESULT	bCap_VariableRelease (int iSockFd, u_int lhVar)

Detailed Description

b-CAP client library header

Version: 1.2

Date: 2012/12/10

Author: DENSO WAVE (y)

Definition in file b-Cap.h.

Macro Definition Documentation

#define B_CAP_H

Definition at line 23 of file b-Cap.h.

#define BCAP_CONNECTION_UDP

Definition at line 28 of file b-Cap.h.

#define FAILED ( Status ) ((int)(Status) < 0)

Definition at line 93 of file b-Cap.h.

#define SERIAL_BAUDRATE 0x0000f /*B38400*/

Definition at line 32 of file b-Cap.h.

#define SUCCEEDED ( Status ) ((int)(Status) >= 0)

Definition at line 89 of file b-Cap.h.

#define VT_ARRAY 0x2000 /* Array */

Definition at line 84 of file b-Cap.h.

#define VT_BOOL 11 /* (2Byte) */

Definition at line 80 of file b-Cap.h.

#define VT_BSTR 8 /* (ascii string length *2 + 4 Byte) */

Definition at line 81 of file b-Cap.h.

#define VT_CY 6 /* (8Byte) */

Definition at line 78 of file b-Cap.h.

#define VT_DATE 7 /* (8Byte) */

Definition at line 79 of file b-Cap.h.

#define VT_EMPTY 0 /* (0Byte) */

Definition at line 68 of file b-Cap.h.

#define VT_ERROR 10 /* (2Byte) */

Definition at line 70 of file b-Cap.h.

#define VT_I2 2 /* (2Byte) */

Definition at line 72 of file b-Cap.h.

#define VT_I4 3 /* (4Byte) */

Definition at line 74 of file b-Cap.h.

#define VT_NULL 1 /* (0Byte) */

Definition at line 69 of file b-Cap.h.

#define VT_R4 4 /* (4Byte) */

Definition at line 76 of file b-Cap.h.

#define VT_R8 5 /* (8Byte) */

Definition at line 77 of file b-Cap.h.

#define VT_UI1 17 /* (1Byte) */

Definition at line 71 of file b-Cap.h.

#define VT_UI2 18 /* (2Byte) */

Definition at line 73 of file b-Cap.h.

#define VT_UI4 19 /* (4Byte) */

Definition at line 75 of file b-Cap.h.

#define VT_VARIANT 12 /* Variant */

Definition at line 83 of file b-Cap.h.

Typedef Documentation

typedef enum BCAP_HRESULT BCAP_HRESULT

typedef unsigned char u_char

Definition at line 98 of file b-Cap.h.

typedef unsigned int u_int

Definition at line 104 of file b-Cap.h.

typedef unsigned short u_short

Definition at line 101 of file b-Cap.h.

Enumeration Type Documentation

enum BCAP_HRESULT

BCAP_HRESULT values.

Enumerator
BCAP_S_OK
BCAP_E_NOTIMPL
BCAP_E_ABORT
BCAP_E_FAIL
BCAP_E_UNEXPECTED
BCAP_E_INVALIDRCVPACKET
BCAP_E_INVALIDSNDPACKET
BCAP_E_INVALIDARGTYPE
BCAP_E_ROBOTISBUSY
BCAP_E_INVALIDCOMMAND
BCAP_E_PACKETSIZEOVER
BCAP_E_ARGSIZEOVER
BCAP_E_ACCESSDENIED
BCAP_E_HANDLE
BCAP_E_OUTOFMEMORY
BCAP_E_INVALIDARG
BCAP_E_BUF_FULL

Definition at line 38 of file b-Cap.h.

Function Documentation

BCAP_HRESULT bCap_Close ( int iSockFd )

Close socket

 @param  iSockFd :       [in]  Socket descriptor
 @retval BCAP_HRESULT

Definition at line 359 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerConnect	(	int	iSockFd,
		char *	pStrCtrlname,
		char *	pStrProvName,
		char *	pStrPcName,
		char *	pStrOption,
		u_int *	plhController
	)

Controller_Connect

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  pStrCtrlname    :       [in]  CtrlName in AsciiZ
 @param  pStrProvName    :       [in]  ProvName in AsciiZ 
 @param  pStrPcName              :       [in]  PCName in AsciiZ
 @param  pStrOption              :       [in]  Option string in AsciiZ
 @param  plhController   :       [out]  handle of the controller that returned from the robot controller.
 @retval BCAP_HRESULT

Definition at line 467 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerDisconnect	(	int	iSockFd,
		u_int	lhController
	)

Disconnect b-Cap

Controller_Disconnect

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhController            :       [in]  controller handle to disconnect
 @retval BCAP_HRESULT

Definition at line 542 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerExecute	(	int	iSockFd,
		u_int	lhController,
		char *	pStrCommand,
		char *	pStrOption,
		void *	pResult
	)

Controller_Execute

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhController            :       [in]  controller handle
 @param  pStrCommand             :       [in]  command string in AsciiZ
 @param  pstrOption              :       [in]  option string in AsciiZ
 @param  *pResult                :       [out]  value stored pointer
 @retval BCAP_HRESULT
 @detail Note:    This function write value into *pResult,
                                 So, Client program must allocate enough memory as *pResult.

Definition at line 800 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerExecute2	(	int	iSockFd,
		u_int	lhController,
		char *	pStrCommand,
		BCAP_VARIANT *	pVntOption,
		BCAP_VARIANT *	pVntResult
	)

Controller_Execute

Controller_Execute with a variant option

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhController            :       [in]  controller handle
 @param  pStrCommand             :       [in]  command string in AsciiZ
 @param  iOption                 :       [in]  option value in Integer(VT_I2)
 @param  plResult                :       [out]  result value
 @retval BCAP_HRESULT

Definition at line 867 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerGetRobot	(	int	iSockFd,
		u_int	lhController,
		char *	pStrRobotName,
		char *	pStrOption,
		u_int *	plhRobot
	)

Controller_GetRobot

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhController            :       [in]  controller handle
 @param  pStrRobotName           :       [in]  Robot name string in AsciiZ
 @param  pStrOption                      :       [in]  Option string in AsciiZ
 @param  lhRobot                         :       [out]  robot handle 
 @retval BCAP_HRESULT

Definition at line 587 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerGetTask	(	int	iSockFd,
		u_int	lhController,
		char *	pTskName,
		char *	pstrOption,
		u_int *	plhVar
	)

Controller_GetTask

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhController            :       [in]  controller handle
 @param  pTskName                :       [in]  task name string in AsciiZ
 @param  pstrOption              :       [in]  option string in AsciiZ
 @param  plhVar          :       [out]  task handle
 @retval BCAP_HRESULT

Definition at line 726 of file b-Cap.c.

BCAP_HRESULT bCap_ControllerGetVariable	(	int	iSockFd,
		u_int	lhController,
		char *	pVarName,
		char *	pstrOption,
		u_int *	plhVar
	)

Controller_GetVariable

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhController    :       [in]  controller handle 
 @param  pVarName                :       [in]  Variable name string in AsciiZ
 @param  pstrOption              :       [in]  Option string in AsciiZ
 @param  plhVar                  :       [out]  variable handle 
 @retval BCAP_HRESULT

Definition at line 655 of file b-Cap.c.

BCAP_HRESULT bCap_Open	(	const char *	pIPStr,
		int	iPort,
		int *	iSockFd
	)

Init and Open socket

 @param  iSockFd :       [in]  Socket descriptor
 @retval BCAP_HRESULT

Definition at line 225 of file b-Cap.c.

BCAP_HRESULT bCap_RobotChange	(	int	iSockFd,
		u_int	lhRobot,
		char *	pStrCommand
	)

Robot_Change

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhRobot         :       [in]  robot handle
 @param  pStrCommand             :       [in]  command string in AsciiZ
 @param  pstrOption              :       [in]  option string in AsciiZ
 @param  plhVar          :       [out]  result value
 @retval BCAP_HRESULT

Definition at line 1194 of file b-Cap.c.

BCAP_HRESULT bCap_RobotExecute	(	int	iSockFd,
		u_int	lhRobot,
		char *	pStrCommand,
		char *	pStrOption,
		void *	pResult
	)

Robot_Execute

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhRobot                 :       [in]  robot handle
 @param  pStrCommand             :       [in]  command string in AsciiZ
 @param  pstrOption              :       [in]  option string in AsciiZ
 @param  *pResult                :       [out]  value stored pointer
 @retval BCAP_HRESULT
 @detail Note:    This function write value into *pResult,
                                 So, Client program must allocate enough memory as *pResult.

Definition at line 1054 of file b-Cap.c.

BCAP_HRESULT bCap_RobotExecute2	(	int	iSockFd,
		u_int	lhRobot,
		char *	pStrCommand,
		BCAP_VARIANT *	pVntOption,
		BCAP_VARIANT *	pVntResult
	)

Robot_Execute

Robot_Execute with a variant option

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhRobot         :       [in]  robot handle
 @param  pStrCommand             :       [in]  command string in AsciiZ
 @param  iOption                 :       [in]  option value in Integer(VT_I2)
 @param  plResult                :       [out]  result value
 @retval BCAP_HRESULT

Definition at line 1121 of file b-Cap.c.

BCAP_HRESULT bCap_RobotExecuteSlaveMove	(	int	iSockFd,
		u_int	lhRobot,
		char *	pStrCommand,
		float *	pfOption,
		void *	pResult
	)

Robot_Execute for SlaveMove

Robot_Execute

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhRobot                 :       [in]  robot handle
 @param  pStrCommand             :       [in]  command string in AsciiZ
 @param  pstrOption              :       [in]  option string in AsciiZ
 @param  *pResult                :       [out]  value stored pointer
 @retval BCAP_HRESULT
 @detail Note:    This function write value into *pResult,
                                 So, Client program must allocate enough memory as *pResult.

Definition at line 1327 of file b-Cap.c.

BCAP_HRESULT bCap_RobotGetVariable	(	int	iSockFd,
		u_int	lhRobot,
		char *	pVarName,
		char *	pstrOption,
		u_int *	plhVar
	)

Robot_GetVariable

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhRobot                 :       [in]  robot handle
 @param  pVarName                :       [in]  Variable name string in AsciiZ
 @param  pstrOption              :       [in]  Option string in AsciiZ
 @param  plhVar                  :       [out]  result value = variable handle
 @retval BCAP_HRESULT

Definition at line 982 of file b-Cap.c.

BCAP_HRESULT bCap_RobotMove	(	int	iSockFd,
		u_int	lhRobot,
		long	lComp,
		char *	pStrPose,
		char *	pStrOption
	)

Robot_Move

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhRobot         :       [in]  robot handle
 @param  lComp           :       [in]  completion parameter
 @param  pStrPose                :       [in]  Pose string in AsciiZ
 @param  pstrOption              :       [in]  Option string in AsciiZ
 @retval BCAP_HRESULT

Definition at line 1252 of file b-Cap.c.

BCAP_HRESULT bCap_RobotRelease	(	int	iSockFd,
		u_int	lhRobot
	)

Robot_Release

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhRobot         :       [in]  robot handle
 @retval BCAP_HRESULT

Definition at line 936 of file b-Cap.c.

BCAP_HRESULT bCap_ServiceStart ( int iSockFd )

Start b-Cap service

Start b-Cap servic

 @param  iSockFd :       [in]  Socket descriptor
 @retval BCAP_HRESULT

Definition at line 396 of file b-Cap.c.

BCAP_HRESULT bCap_ServiceStop ( int iSockFd )

Stop b-Cap service

 @param  iSockFd :       [in]  Socket descriptor
 @retval BCAP_HRESULT

Definition at line 428 of file b-Cap.c.

BCAP_HRESULT bCap_TaskGetVariable	(	int	iSockFd,
		u_int	lhTask,
		char *	pVarName,
		char *	pstrOption,
		u_int *	plhVar
	)

Task_GetVariable

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhTask                  :       [in]  task handle
 @param  pVarName                :       [in]  Variable name string in AsciiZ
 @param  pstrOption              :       [in]  Option string in AsciiZ
 @param  plhVar                  :       [out]  result value = variable handle
 @retval BCAP_HRESULT

Definition at line 1434 of file b-Cap.c.

BCAP_HRESULT bCap_TaskRelease	(	int	iSockFd,
		u_int	lhTask
	)

Task_Release

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhTask          :       [in]  task handle
 @retval BCAP_HRESULT

Definition at line 1389 of file b-Cap.c.

BCAP_HRESULT bCap_TaskStart	(	int	iSockFd,
		u_int	lhTask,
		long	lMode,
		char *	pStrOption
	)

Task_Start

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhTask          :       [in]  task handle
 @param  lMode           :       [in]  start parameter
 @param  pstrOption              :       [in]  Option string in AsciiZ
 @retval BCAP_HRESULT

Definition at line 1503 of file b-Cap.c.

BCAP_HRESULT bCap_TaskStop	(	int	iSockFd,
		u_int	lhTask,
		long	lMode,
		char *	pStrOption
	)

Task_Stop

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhTask          :       [in]  task handle
 @param  lMode           :       [in]  stop parameter
 @param  pstrOption              :       [in]  Option string in AsciiZ
 @retval BCAP_HRESULT

Definition at line 1569 of file b-Cap.c.

BCAP_HRESULT bCap_VariableGetValue	(	int	iSockFd,
		u_int	lhVar,
		void *	pVntValue
	)

Variable_GetValue

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhVar                   :       [in]  robot handle
 @param  *pVntValue              :       [out]  value stored pointer
 @retval BCAP_HRESULT
 @detail Note:    This function write value into *pVntValue,
                                 So, Client program must allocate enough memory as *pVntValue.

Definition at line 1676 of file b-Cap.c.

BCAP_HRESULT bCap_VariablePutValue	(	int	iSockFd,
		u_int	lhVar,
		u_short	iType,
		u_int	lArrays,
		void *	pVntValue
	)

Variable_PutValue

 @param  iSockFd                 :       [in]  Socket descriptor
 @param  lhVar                   :       [in]  robot handle
 @param  iType                   :       [in]  variable type
 @param  lArrays                 :       [in]  array counter
 @param  *pVntValue              :       [in]  value stored pointer
 @retval BCAP_HRESULT

Definition at line 1727 of file b-Cap.c.

BCAP_HRESULT bCap_VariableRelease	(	int	iSockFd,
		u_int	lhVar
	)

Variable_Release

 @param  iSockFd :       [in]  Socket descriptor
 @param  lhVariable              :       [in]  variable handle
 @retval BCAP_HRESULT

Definition at line 1633 of file b-Cap.c.

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation