b-CAP client library More...

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <netdb.h>
#include <fcntl.h>
#include <termios.h>
#include "denso_ros_control/b-Cap.h"

Include dependency graph for b-Cap.c:

Go to the source code of this file.

Classes
struct	BCAP_ARG
	BCAP_ARG. More...

struct	BCAP_PACKET
	BCAP_PACKET. More...

Macros
#define	__LITTLE_ENDIAN__

#define	BCAP_EOT 0x04 /* size of packet terminater(EOT) */

#define	BCAP_FUNC_Controller_Connect 3

#define	BCAP_FUNC_Controller_Disconnect 4

#define	BCAP_FUNC_Controller_Execute 17

#define	BCAP_FUNC_Controller_GetRobot 7

#define	BCAP_FUNC_Controller_GetTask 8

#define	BCAP_FUNC_Controller_GetVariable 9

#define	BCAP_FUNC_Robot_Change 66

#define	BCAP_FUNC_Robot_Execute 64

#define	BCAP_FUNC_Robot_GetVariable 62

#define	BCAP_FUNC_Robot_Move 72

#define	BCAP_FUNC_Robot_Release 84

#define	BCAP_FUNC_Service_Start 1

#define	BCAP_FUNC_Service_Stop 2

#define	BCAP_FUNC_Task_GetVariable 85

#define	BCAP_FUNC_Task_Release 99

#define	BCAP_FUNC_Task_Start 88

#define	BCAP_FUNC_Task_Stop 89

#define	BCAP_FUNC_Variable_GetValue 101

#define	BCAP_FUNC_Variable_PutValue 102

#define	BCAP_FUNC_Variable_PutValue 102

#define	BCAP_FUNC_Variable_Release 111

#define	BCAP_MAX_ARG_SIZE 0x1000000 /* max arg size (bytes) */

#define	BCAP_MAX_PACKET_SIZE 0x1000000 /* max packet size (bytes) */

#define	BCAP_SIZE_ARGARRAYS 4 /* size of arrays */

#define	BCAP_SIZE_ARGBASE (BCAP_SIZE_ARGLEN+BCAP_SIZE_ARGTYPE+BCAP_SIZE_ARGARRAYS)

#define	BCAP_SIZE_ARGLEN 4 /* size of length */

#define	BCAP_SIZE_ARGNUM 2 /* size of Args */

#define	BCAP_SIZE_ARGSTRLEN 4 /* size of string length */

#define	BCAP_SIZE_ARGTYPE 2 /* size of type */

#define	BCAP_SIZE_BASE

#define	BCAP_SIZE_CRC 2 /* size of CRC */

#define	BCAP_SIZE_EOT 1 /* size of terminater(EOT) */

#define	BCAP_SIZE_FUNCID 4 /* size of FunctionID */

#define	BCAP_SIZE_LEN 4 /* size of message size */

#define	BCAP_SIZE_RESERVE 2 /* size of reserved */

#define	BCAP_SIZE_SERIAL 2 /* size of serial number */

#define	BCAP_SIZE_SOH 1 /* size of header(SOH) */

#define	BCAP_SOH 0x01 /* size of packet header(SOH) */

#define	DebugPrint(message)

#define	DebugPrint2(f, a, b)

#define	LOCALBUFFER_SZ 1024

#define	LOCALRECBUFFER_SZ 1024

Typedefs
typedef struct BCAP_ARG	BCAP_ARG

typedef struct BCAP_PACKET	BCAP_PACKET

Functions
static BCAP_ARG *	Arg_Create (u_short iType, u_int lArrays, u_int lLength, void *data)

static void	Arg_Release (BCAP_ARG *pArg)

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 *pResult)

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 *plhRobot)

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 iSockFd)

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 *pResult)

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 *plhVar)

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)

static BCAP_HRESULT	bCapSendAndRec (int iSockFd, BCAP_PACKET pSndPacket, BCAP_PACKET pRecPacket)

static void	bFree (void *pPtr)

static void *	bMalloc (size_t size)

static u_int	copyFromBSTR (void pDstAsciiPtr, void pSrcBstrPtr)

static u_int	copyToBSTR (void pbDstPtr, void pbSrcPtr)

static u_int	copyValue (void pDst, void pVntValue, u_int lLength)

static u_int	copyVariantFromArg (BCAP_VARIANT pVntDst, BCAP_ARG pArg)

static BCAP_HRESULT	Packet_AddArg (BCAP_PACKET pPacket, BCAP_ARG pNewArg)

static BCAP_PACKET *	Packet_Create (u_int lFuncID)

static BCAP_HRESULT	Packet_Deserialize (void pBinData, BCAP_PACKET pPacket)

static BCAP_ARG **	Packet_GetLastArgHandle (BCAP_PACKET *pPacket)

static BCAP_HRESULT	Packet_GetResult (BCAP_PACKET pRecPacket, void pResult)

static void	Packet_Release (BCAP_PACKET *pPacket)

static BCAP_HRESULT	Packet_Send (int iSd, BCAP_PACKET *pPacket)

static BCAP_HRESULT	Packet_Serialize (BCAP_PACKET pPacket, void pBinData)

static u_char *	receivePacket (int iSockFd, int *retryp)

static BCAP_HRESULT	sendBinary (int iSockFd, u_char *pBuff, u_int lSize)

static u_int	sizeOfVariant (BCAP_VARIANT vntValue)

static u_int	sizeOfVarType (u_short iType)

Variables
int	failed_to_send_packet = 0

static u_short	m_iSerialNo = 1

static long	m_lAllocCount = 0

static long	m_lAllocSize = 0

Detailed Description

b-CAP client library

Version: 1.2

Date: 2012/12/10

Author: DENSO WAVE (y)

Definition in file b-Cap.c.

Macro Definition Documentation

#define __LITTLE_ENDIAN__

Definition at line 50 of file b-Cap.c.

#define BCAP_EOT 0x04 /* size of packet terminater(EOT) */

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

#define BCAP_FUNC_Controller_Connect 3

Definition at line 113 of file b-Cap.c.

#define BCAP_FUNC_Controller_Disconnect 4

Definition at line 114 of file b-Cap.c.

#define BCAP_FUNC_Controller_Execute 17

Definition at line 118 of file b-Cap.c.

#define BCAP_FUNC_Controller_GetRobot 7

Definition at line 115 of file b-Cap.c.

#define BCAP_FUNC_Controller_GetTask 8

Definition at line 116 of file b-Cap.c.

#define BCAP_FUNC_Controller_GetVariable 9

Definition at line 117 of file b-Cap.c.

#define BCAP_FUNC_Robot_Change 66

Definition at line 122 of file b-Cap.c.

#define BCAP_FUNC_Robot_Execute 64

Definition at line 121 of file b-Cap.c.

#define BCAP_FUNC_Robot_GetVariable 62

Definition at line 120 of file b-Cap.c.

#define BCAP_FUNC_Robot_Move 72

Definition at line 123 of file b-Cap.c.

#define BCAP_FUNC_Robot_Release 84

Definition at line 124 of file b-Cap.c.

#define BCAP_FUNC_Service_Start 1

Definition at line 111 of file b-Cap.c.

#define BCAP_FUNC_Service_Stop 2

Definition at line 112 of file b-Cap.c.

#define BCAP_FUNC_Task_GetVariable 85

Definition at line 126 of file b-Cap.c.

#define BCAP_FUNC_Task_Release 99

Definition at line 129 of file b-Cap.c.

#define BCAP_FUNC_Task_Start 88

Definition at line 127 of file b-Cap.c.

#define BCAP_FUNC_Task_Stop 89

Definition at line 128 of file b-Cap.c.

#define BCAP_FUNC_Variable_GetValue 101

Definition at line 132 of file b-Cap.c.

#define BCAP_FUNC_Variable_PutValue 102

Definition at line 133 of file b-Cap.c.

#define BCAP_FUNC_Variable_PutValue 102

Definition at line 133 of file b-Cap.c.

#define BCAP_FUNC_Variable_Release 111

Definition at line 134 of file b-Cap.c.

#define BCAP_MAX_ARG_SIZE 0x1000000 /* max arg size (bytes) */

Definition at line 107 of file b-Cap.c.

#define BCAP_MAX_PACKET_SIZE 0x1000000 /* max packet size (bytes) */

Definition at line 106 of file b-Cap.c.

#define BCAP_SIZE_ARGARRAYS 4 /* size of arrays */

Definition at line 100 of file b-Cap.c.

#define BCAP_SIZE_ARGBASE (BCAP_SIZE_ARGLEN+BCAP_SIZE_ARGTYPE+BCAP_SIZE_ARGARRAYS)

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

#define BCAP_SIZE_ARGLEN 4 /* size of length */

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

#define BCAP_SIZE_ARGNUM 2 /* size of Args */

Definition at line 87 of file b-Cap.c.

#define BCAP_SIZE_ARGSTRLEN 4 /* size of string length */

Definition at line 103 of file b-Cap.c.

#define BCAP_SIZE_ARGTYPE 2 /* size of type */

Definition at line 99 of file b-Cap.c.

#define BCAP_SIZE_BASE

Value:

(BCAP_SIZE_SOH + BCAP_SIZE_EOT + \
                                                                 BCAP_SIZE_LEN + BCAP_SIZE_SERIAL + \
                                                                 BCAP_SIZE_RESERVE + BCAP_SIZE_FUNCID + \
                                                                 BCAP_SIZE_ARGNUM)

Definition at line 91 of file b-Cap.c.

#define BCAP_SIZE_CRC 2 /* size of CRC */

Definition at line 88 of file b-Cap.c.

#define BCAP_SIZE_EOT 1 /* size of terminater(EOT) */

Definition at line 82 of file b-Cap.c.

#define BCAP_SIZE_FUNCID 4 /* size of FunctionID */

Definition at line 86 of file b-Cap.c.

#define BCAP_SIZE_LEN 4 /* size of message size */

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

#define BCAP_SIZE_RESERVE 2 /* size of reserved */

Definition at line 85 of file b-Cap.c.

#define BCAP_SIZE_SERIAL 2 /* size of serial number */

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

#define BCAP_SIZE_SOH 1 /* size of header(SOH) */

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

#define BCAP_SOH 0x01 /* size of packet header(SOH) */

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

#define DebugPrint ( message )

Definition at line 65 of file b-Cap.c.

#define DebugPrint2	(	f,
		a,
		b
	)

Definition at line 66 of file b-Cap.c.

#define LOCALBUFFER_SZ 1024

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

#define LOCALRECBUFFER_SZ 1024

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

Typedef Documentation

typedef struct BCAP_ARG BCAP_ARG

typedef struct BCAP_PACKET BCAP_PACKET

Function Documentation

static BCAP_ARG * Arg_Create	(	u_short	iType,
		u_int	lArrays,
		u_int	lDataSize,
		void *	data
	)

static

Arg_Create

Create and allocate b-Cap argument structure

 @param  iType           :       [in]  Variable type
 @param  lArrays         :       [in]  Arrays
 @param  lDataSize       :       [in]  total byte of ( "*data" ) 
 @param   *data          :       [in]  value pointer
 @retval allocated pointer is returned

 @detail Note:When BSTR is used, *data must be store "Length:4byte" + "DoubleByte String"
                                 See alose function CopyToBSTR().

Definition at line 2515 of file b-Cap.c.

static void Arg_Release ( BCAP_ARG * pArg )

static

Arg_Release

Release all args in recursive

Parameters

*pArg : [in] Arg pointer

Return values

void

Definition at line 2562 of file b-Cap.c.

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.

static BCAP_HRESULT bCapSendAndRec	(	int	iSockFd,
		BCAP_PACKET *	pSndPacket,
		BCAP_PACKET *	pRecPacket
	)

static

Definition at line 1825 of file b-Cap.c.

static void bFree ( void * pPtr )

static

Definition at line 2901 of file b-Cap.c.

static void * bMalloc ( size_t size )

static

Definition at line 2882 of file b-Cap.c.

static u_int copyFromBSTR	(	void *	pDstAsciiPtr,
		void *	pSrcBstrPtr
	)

static

Convert From BSTR into AsciiZ

Convert Send a b-Cap packet and Receive a Packet

 @param  pDstPtr         :       [out]  String pointer in AsciiZ
 @param  pSrcPtr         :       [in]  BSTR pointer
 @retval total size of BSTR is returned.

Definition at line 2717 of file b-Cap.c.

u_int copyToBSTR	(	void *	pDstBstrPtr,
		void *	pSrcAsciiPtr
	)

static

Convert into BSTR from AsciiZ

Convert Send a b-Cap packet and Receive a Packet

 @param  pDstPtr :       [out]  BSTR pointer
 @param  pSrcPtr         :       [in]  String pointer in AsciiZ
 @retval total size of BSTR is returned.

Definition at line 2687 of file b-Cap.c.

static u_int copyValue	(	void *	pDst,
		void *	pVntValue,
		u_int	lLength
	)

static

Copy Arg Value to a pointer

Copy Arg value to a destination pointer

 @param  pDstPtr         :       [out]  Destination pointer
 @param  pSrcPtr         :       [in]  Source Arg pointer
 @retval total size of BSTR is returned.

Definition at line 2845 of file b-Cap.c.

static u_int copyVariantFromArg	(	BCAP_VARIANT *	pVntDst,
		BCAP_ARG *	pArg
	)

static

Copy Arg Value to a pointer

Copy Arg value to a destination pointer

 @param  pVntDst         :       [out]  Destination BCAP_VARIANT pointer
 @param  pSrcPtr         :       [in]  Source Arg pointer
 @retval total size of BSTR is returned.

Definition at line 2751 of file b-Cap.c.

static BCAP_HRESULT Packet_AddArg	(	BCAP_PACKET *	pPacket,
		BCAP_ARG *	pNewArg
	)

static

Packet_AddArg

Add the arg into the packet

 @param  *pPacket        :       [in]  Packet pointer .
 @param  *pNewArg        :       [in]  Arg pointer should be added into pPacket.
 @retval BCAP_HRESULT is returned.

Definition at line 2145 of file b-Cap.c.

static BCAP_PACKET * Packet_Create ( u_int lFuncID )

static

Packet_Create

Create and allocate new packet structure.

 @param  lFuncID         :       [in]  Function ID.
 @retval New packet pointer is returned.

Definition at line 2206 of file b-Cap.c.

static BCAP_HRESULT Packet_Deserialize	(	void *	pSrcBinData,
		BCAP_PACKET *	pDstPacket
	)

static

Deserialize from byte array into packet.

Change from byte arrays into struct.

 @param  *pSrcBinData            :       [in]  Byte pointer to send.
 @param  *pDstPacket                     :       [out]  packet pointer to store
 @retval BCAP_HRESULT is returned.
 @detail bin  ---> struct
                 Note:   If something wrong, then release this packet and included args.

Definition at line 2370 of file b-Cap.c.

static BCAP_ARG** Packet_GetLastArgHandle ( BCAP_PACKET * pPacket )

static

Packet_GetLastArgHandle

Get last argument pointer in the packet

 @param  *pPacket        :       [in]  packet pointer
 @retval The last arg pointer is returned.

Definition at line 2109 of file b-Cap.c.

BCAP_HRESULT Packet_GetResult	(	BCAP_PACKET *	pRecPacket,
		void *	pResult
	)

static

Packet_GetResult

Parameters

*pRecPacket	: [in] Received packet
*pResult	: [out] value stored pointer

Return values

BCAP_HRESULT Note: This function write value into *pResult, So, Client program must allocate enough memory as *pResult.

Definition at line 2456 of file b-Cap.c.

static void Packet_Release ( BCAP_PACKET * pPacket )

static

Packet_Release

Release packet and all args in recursive.

 @param  *pPacket        :       [in]  Packet pointer .
 @retval void

Definition at line 2185 of file b-Cap.c.

static BCAP_HRESULT Packet_Send	(	int	iSockFd,
		BCAP_PACKET *	pPacket
	)

static

Send b-Cap packet

Convert Send a b-Cap packet and Receive a Packet

 @param  iSd     :       [in]  Socket descriptor
 @param  pPacket         :       [in]  bCap packet data to send
 @retval BCAP_HRESULT is returned.

Definition at line 2079 of file b-Cap.c.

static BCAP_HRESULT Packet_Serialize	(	BCAP_PACKET *	pSrcPacket,
		void *	pDstBinData
	)

static

Serialize from packet into byte arrays.

Change from struct into binary array.

 @param  *pSrcPacket             :       [in]  Packet pointer to send.
 @param  *pDstBinData            :       [out]  byte pointer to store packet
 @retval BCAP_HRESULT is returned.

Definition at line 2244 of file b-Cap.c.

static u_char * receivePacket	(	int	iSockFd,
		int *	retryp
	)

static

Receive bCap Packet

Receive bCap Packet from server

 @retval u_char pointer storing recieved packet 
 @detail Note:   If valid pointer is returned, this function allocate memory for sotring packet.
                                 Never forget to free() the pointer.
                                 And If NULL pointer is returned , then was allocation error/

Definition at line 1893 of file b-Cap.c.

static BCAP_HRESULT sendBinary	(	int	iSockFd,
		u_char *	pBuff,
		u_int	lSize
	)

static

Send bCap Packet

Send bCap Packet to server

@param  pRecPacket      :       [out]  Received packet pointer
@retval u_char pointer storing recieved packet 
                Note:   If valid pointer is returned, this function allocate memory for sotring packet.
                                Never forget to free() the pointer.
                                And If NULL pointer is returned , then was allocation error/

Definition at line 2036 of file b-Cap.c.

static u_int sizeOfVariant ( BCAP_VARIANT vntValue )

static

get size of Variant

Parameters

BCAP_VARIANT : [in] Variant Value

Return values

size	of Variant(bytes) Note 1: If (iType = VT_BSTR), then this function returns BCAP_SIZE_ARGSTRLEN (= 4 bytes) Note 2: Not support VT_VARIANT,VT_EMPTY,VT_NULL,VT_ERROR,VT_CY,VT_DATE

Definition at line 2589 of file b-Cap.c.

static u_int sizeOfVarType ( u_short iType )

static

get size of variable

Parameters

iType : [in] Variable type

Return values

size	of variable. Note 1: If (iType = VT_BSTR), then this function returns BCAP_SIZE_ARGSTRLEN (= 4 bytes) Note 2: Not support VT_VARIANT,VT_EMPTY,VT_NULL,VT_ERROR,VT_CY,VT_DATE

Definition at line 2629 of file b-Cap.c.

Variable Documentation

int failed_to_send_packet = 0

Send and Receive bCap Packet

Send a b-Cap packet and Receive a Packet

 @param  pSndPacket              :       [in]  Send packet pointer
 @param  pRecPacket              :       [out]  Received packet pointer
 @retval BCAP_HRESULT

Definition at line 1824 of file b-Cap.c.

u_short m_iSerialNo = 1

static

Definition at line 206 of file b-Cap.c.

long m_lAllocCount = 0

static

Definition at line 2876 of file b-Cap.c.

long m_lAllocSize = 0

static

Definition at line 2877 of file b-Cap.c.

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation