kni_wrapper.h

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/********************************************************************************
 * kni_wrapper.h - 
 * A wrapper for the kni library so that the C++ library 
 * can be accessed by C based environments (MatLab, LabView ...)
 * Copyright (C) Neuronics AG
 * Philipp Keller, Tino Perucchi, 2008
********************************************************************************/

/* define EXPORT_FCNS before including this file in source files that build the library*/

#ifndef _KNI_WRAPPER_H_
#define _KNI_WRAPPER_H_

#ifdef EXPORT_FCNS
        /********************************************************************************/
        #include "kniBase.h"
        #include "common/exception.h"
        #include <vector>
        /********************************************************************************/
        #ifdef WIN32
                /*define a macro for marking functions for dllexport*/
                #define DLLEXPORT __declspec(dllexport)
        #else
                #define DLLEXPORT 
        #endif
#else
        #ifdef WIN32
                #define DLLEXPORT __declspec(dllimport)
        #else
                #define DLLEXPORT
        #endif
#endif

const double PI = 3.14159265358979323846;
//additional error codes
enum{ 
        ERR_NONE = 0,
        ERR_SUCCESS = 1
};

/********************************************************************************/

#ifdef __cplusplus
extern "C" {
#endif

        struct TPos{
                double X, Y, Z;
                double phi, theta, psi;
        };
        enum ETransition{
                PTP = 1,
                LINEAR = 2
        };
        struct TMovement{
                TPos pos;
                ETransition transition;
                int velocity;
                int acceleration;
        };
        struct TCurrentMot{
                int idx;
                bool running;
                bool dir;
        };

        DLLEXPORT int  allMotorsOff();
        
        DLLEXPORT int  allMotorsOn();

        DLLEXPORT int  calibrate(int axis);
        
        DLLEXPORT int  clearMoveBuffers();
        
        DLLEXPORT int  closeGripper();  
        
        DLLEXPORT int  deleteMovementFromStack(char* name, int index);  
        
        DLLEXPORT int  deleteMovementStack(char* name); 
        
        DLLEXPORT int executeConnectedMovement(struct TMovement *movement, struct TPos *startPos,
                        bool first, bool last);
        
        DLLEXPORT int  executeMovement(struct TMovement *movement);
        
        DLLEXPORT int flushMoveBuffers();
        
        // length of value array at least 12, will be '\0' terminated
        DLLEXPORT int  getAxisFirmwareVersion(int axis, char value[]);  
        
        DLLEXPORT int  getDrive(int axis, int &value);  
        
        DLLEXPORT int  getEncoder(int axis, int &value);

        DLLEXPORT int  getNumberOfMotors();

        DLLEXPORT int  getPosition(struct TPos *pos);

        DLLEXPORT int  getVelocity(int axis, int &value);

        // length of value array at least 8, will be '\0' terminated
        DLLEXPORT int  getVersion(char value[]);
        
        DLLEXPORT int  initKatana(char* configFile, char* ipaddress);
        
        DLLEXPORT int  IO_readInput(int inputNr, int &value);

        //I/O Interface
        DLLEXPORT int  IO_setOutput(char output, int value);

        // and returns it in the value argument given by reference
        DLLEXPORT int  ModBusTCP_readWord(int address, int &value);
        
        DLLEXPORT int  ModBusTCP_writeWord(int address, int value);

        DLLEXPORT int  motorOff(int axis);
        
        DLLEXPORT int  motorOn(int axis);
        
        DLLEXPORT int  moveMot(int axis, int enc, int speed, int accel);
        
        DLLEXPORT int  moveMotAndWait(int axis, int targetpos, int tolerance);
        
        DLLEXPORT int  moveToPos(struct TPos *pos, int velocity, int acceleration);
        
        DLLEXPORT int  moveToPosEnc(int enc1, int enc2, int enc3, int enc4, int enc5, int enc6, int velocity, int acceleration, int tolerance, bool _wait);
        
        DLLEXPORT int  moveToPosLin(struct TPos *targetPos, int velocity, int acceleration);
        
        DLLEXPORT int  openGripper();

        DLLEXPORT int  ping(int axis);

        DLLEXPORT int  pushMovementToStack(struct TMovement *movement, char* name);

        DLLEXPORT int  runThroughMovementStack(char* name, int loops);

        //Linear Movement
        DLLEXPORT int  sendSplineToMotor(int axis, int targetpos, int duration, int p0, int p1, int p2, int p3);
        
        DLLEXPORT int  setCollisionDetection(int axis, bool state);
        
        DLLEXPORT int  setCollisionParameters(int axis, int position, int velocity);
        
        DLLEXPORT int  setControllerParameters(int axis, int ki, int kspeed, int kpos);
        
        DLLEXPORT int  setGripper(bool hasGripper);     

        DLLEXPORT int  setMaxAccel(int axis, int acceleration);
        
        DLLEXPORT int  setMaxVelocity(int axis, int vel);
        
        DLLEXPORT int  setPositionCollisionLimit(int axis, int limit);
        
        DLLEXPORT int  setVelocityCollisionLimit(int axis, int limit); 
        
        DLLEXPORT int  setForceLimit(int axis, int limit); 
        
        DLLEXPORT int  getForce(int axis); 
        
        DLLEXPORT int  getCurrentControllerType(int axis); 
        
        DLLEXPORT int  startSplineMovement(int contd, int exactflag);

        DLLEXPORT int  unblock();

        DLLEXPORT int  waitForMot(int axis, int targetpos, int tolerance);
                
//********************************************************************************/

#ifdef __cplusplus
}
#endif


#endif //_KNI_WRAPPER_H_