b-Cap.h

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/*
[NOTES]
 This is a sample source code. Copy and modify this code in accordance with a device and a device version. Especially please note timeout and timeout-retry settings.
*/

#pragma pack(push,1) // for BCAP_VARIANT members alignment
#ifdef __cplusplus
extern "C"{
#endif


#ifndef B_CAP_H
#define B_CAP_H

/*#define       BCAP_CONNECTION_TCP             TCP/IP (DEFAULT if BCAP_CONNECTION_XXX is not defined.) */ 
/*#define       BCAP_CONNECTION_UDP             UDP/IP */ 
/*#define       BCAP_CONNECTION_COM             COM(Serial device) */ 
#define BCAP_CONNECTION_UDP
#if WIN32
#define SERIAL_BAUDRATE         115200
#else
#define SERIAL_BAUDRATE         0x0000f /*B38400*/
#endif

typedef enum BCAP_HRESULT {             

        BCAP_S_OK                               = 0                     ,       /*      OK                                                      */
        BCAP_E_NOTIMPL                  = 0x80004001,   /*      Not implemented function is called      */
        BCAP_E_ABORT                    = 0x80004004,   /*      Function aborted                        */
        BCAP_E_FAIL                             = 0x80004005,   /*      Function failed                         */
        BCAP_E_UNEXPECTED               = 0x8000FFFF,   /*      Fatal Error occurred            */
        BCAP_E_INVALIDRCVPACKET = 0x80010001,   /*      Invalid packet is received. */
                                                                                        /* When this error is occurred, robot controller disconnect from client immediately.*/
                                                                                        /* Please make sure the packet that you sent. */

        BCAP_E_INVALIDSNDPACKET = 0x80010002,   /*      Invalid packet is sent          */
        BCAP_E_INVALIDARGTYPE   = 0x80010003,   /*      Invalid argument type           */
        BCAP_E_ROBOTISBUSY              = 0x80010004,   /*      Robot is busy (Wait for a while)        */
        BCAP_E_INVALIDCOMMAND   = 0x80010005,   /*      Invalid command string is received      */

        BCAP_E_PACKETSIZEOVER   = 0x80010011,   /*      Received packet size over ( > 16Mbytes) */

        BCAP_E_ARGSIZEOVER              = 0x80010012,   /*      An argument siez over of the received packet. ( > 16Mbytes) */
        BCAP_E_ACCESSDENIED             = 0x80070005,   /*      Access denied                           */
        BCAP_E_HANDLE                   = 0x80070006,   /*      Invalid handle                          */
        BCAP_E_OUTOFMEMORY              = 0x8007000E,   /*      Out of memory                           */
        BCAP_E_INVALIDARG               = 0x80070057,   /*      Invalid argument                        */
        BCAP_E_BUF_FULL                 = 0x83201483    /* buffer full */

} BCAP_HRESULT;


 
/* b-CAP Type id */
#define VT_EMPTY                                0                       /* (0Byte) */
#define VT_NULL                                 1                       /* (0Byte) */
#define VT_ERROR                                10                      /* (2Byte) */
#define VT_UI1                                  17                      /* (1Byte) */
#define VT_I2                                   2                       /* (2Byte) */
#define VT_UI2                                  18                      /* (2Byte) */
#define VT_I4                                   3                       /* (4Byte) */
#define VT_UI4                                  19                      /* (4Byte) */
#define VT_R4                                   4                       /* (4Byte) */
#define VT_R8                                   5                       /* (8Byte) */
#define VT_CY                                   6                       /* (8Byte) */
#define VT_DATE                                 7                       /* (8Byte) */
#define VT_BOOL                                 11                      /* (2Byte) */
#define VT_BSTR                                 8                       /* (ascii string length *2 + 4 Byte) */
                                                                                        /* Double bytes per character */
#define VT_VARIANT                              12                      /* Variant */
#define VT_ARRAY                                0x2000          /* Array */


/* b-CAP Utility macros */
#ifndef SUCCEEDED
#define SUCCEEDED(Status) ((int)(Status) >= 0)
#endif

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

/* b-CAP standard types */
#ifndef u_char
typedef unsigned char u_char;
#endif
#ifndef u_short
typedef unsigned short u_short;
#endif
#ifndef u_int
typedef unsigned int u_int;
#endif


/*  b-CAP Variant Parameter */
typedef struct  {       
        u_short Type;                                                   /* b-CAP Type id */
        u_int   Arrays;                                                 /* Array count, must be >= 1 */
        union {
                u_char  CharValue; 
                u_short ShortValue; 
                u_int   LongValue;
                float   FloatValue;
                double  DoubleValue;

                u_char  String[40 + 1]; 
                float   FloatArray[16];
                double  DoubleArray[16];

                // void *Data;                                          /* When the Type is VT_Array, Value is stored in *Data */
                                                                                        /* The client program must allocate memorys and set the pointer to *Data.  */
        } Value;
} BCAP_VARIANT;

/* b-CAP Functions */
BCAP_HRESULT    bCap_Open(const char *pIPStr, int iPort, int *piSockFd);
BCAP_HRESULT    bCap_Close(int iSockFd);

BCAP_HRESULT    bCap_ServiceStart(int iSockFd);
BCAP_HRESULT    bCap_ServiceStop(int iSockFd);

/* b-CAP Controller Functions */
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_ControllerGetRobot(int iSockFd, u_int lhController, char *pStrRobotName, char *pStrOption, u_int *lhRobot);
BCAP_HRESULT    bCap_ControllerGetVariable(int iSockFd, u_int lhController, char *pVarName, char *pstrOption, u_int *plhVar);
BCAP_HRESULT    bCap_ControllerGetTask(int iSockFd, u_int lhController, char *pTskName, char *pstrOption, u_int *plhVar);
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);

/* b-CAP Robot Functions */
BCAP_HRESULT    bCap_RobotRelease(int iSockFd, u_int lhRobot);
BCAP_HRESULT    bCap_RobotGetVariable(int iSockFd, u_int lhRobot, char *pVarName, char *pStrOption, u_int *lhVarCurJnt);
BCAP_HRESULT    bCap_RobotExecute(int iSockFd, u_int lhRobot, char *pStrCommand, char *pStrOption, void *plResult);
BCAP_HRESULT    bCap_RobotChange(int iSockFd, u_int lhRobot, char *pStrCommand);
BCAP_HRESULT    bCap_RobotMove(int iSockFd, u_int lhRobot, long lComp, char *pStrPose, char *pStrOption);
BCAP_HRESULT    bCap_RobotExecuteSlaveMove(int iSockFd, u_int lhRobot, char *pStrCommand, float *pfOption, void *pResult);
BCAP_HRESULT    bCap_RobotExecute2(int iSockFd, u_int lhRobot, char *pStrCommand, BCAP_VARIANT *pVntOption, BCAP_VARIANT *pvntResult);

/* b-CAP Task Functions */
BCAP_HRESULT    bCap_TaskRelease(int iSockFd, u_int lhTask);
BCAP_HRESULT    bCap_TaskGetVariable(int iSockFd, u_int lhTask, char *pVarName, char *pstrOption, u_int *plhVar);
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);

/* b-CAP Variable Functions */
BCAP_HRESULT    bCap_VariableRelease(int iSockFd, u_int lhVar);
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);

#endif

#ifdef __cplusplus
}
#endif

#pragma pack(pop)