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00015 #include "schunk_libm5api/m5apiw32.h"
00016 #include "../Device/Device.h"
00017 #include "../Util/IOFunctions.h"
00018 #include "../Util/Message.h"
00019
00020
00021
00022
00023
00024 #ifdef DEBUG_M5_API
00025 M5DLL_API int g_iM5DebugLevel = 5;
00026 M5DLL_API int g_iM5DebugFile = 1;
00027 M5DLL_API int g_iM5Debug = 0;
00028 #else
00029 M5DLL_API int g_iM5DebugLevel = 0;
00030 M5DLL_API int g_iM5DebugFile = 0;
00031 M5DLL_API int g_iM5Debug = 0;
00032 #endif
00033
00034
00035
00036
00037
00038 static std::vector<CDevice*> g_apclDevice;
00039 static std::vector<int> g_aiDeviceRefCount;
00040
00041
00042 #if defined (_WIN32)
00043 BOOL APIENTRY DllMain( HANDLE hModule, DWORD ul_reason_for_call, LPVOID lpReserved )
00044 {
00045
00046
00047
00048 switch (ul_reason_for_call)
00049 {
00050
00051
00052
00053 case DLL_PROCESS_ATTACH:
00054
00055
00056
00057
00058
00059
00060
00061
00062
00063
00064
00065
00066
00067
00068
00069
00070
00071
00072
00073
00074
00075
00076
00077
00078
00079
00080
00081
00082
00083 break;
00084
00085
00086
00087 case DLL_THREAD_ATTACH:
00088
00089
00090 break;
00091
00092
00093
00094 case DLL_THREAD_DETACH:
00095
00096
00097 break;
00098
00099
00100
00101
00102 case DLL_PROCESS_DETACH:
00103
00104
00105
00106
00107
00108
00109 break;
00110
00111 default:
00112 break;
00113 }
00114
00115 return TRUE;
00116 UNREFERENCED_PARAMETER(hModule);
00117 UNREFERENCED_PARAMETER(lpReserved);
00118 }
00119 #endif
00120
00121 M5DLL_API int WINAPI PCube_getDllVersion()
00122 {
00123 return M5DLLVERSION;
00124 }
00125
00126 M5DLL_API int WINAPI PCube_setDllDebug( int iDebug, int iDebugLevel, int iDebugFile )
00127 {
00128 g_iM5Debug = iDebug;
00129 g_iM5DebugLevel = iDebugFile;
00130 g_iM5DebugFile = iDebugLevel;
00131 for(int i = 0; i < g_aiDeviceRefCount.size();i++)
00132 if( g_apclDevice[i] != NULL )
00133 {
00134 g_apclDevice[i]->setDebug(iDebug);
00135 g_apclDevice[i]->setDebugLevel(iDebugLevel);
00136 g_apclDevice[i]->setDebugFile(iDebugFile);
00137 }
00138 return 0;
00139 }
00140
00141 M5DLL_API int WINAPI PCube_configFromFile( const char* acFileName )
00142 {
00143 int iRetVal, i, j;
00144 char acBuffer[128];
00145 char acInitString[128];
00146 char acDevice[128];
00147 char acModule[128];
00148 char acDeviceName[128];
00149 int iDeviceNumber = 0;
00150 int iDeviceStart = 0;
00151 int iModuleNumber = 0;
00152 int iModuleStart = 0;
00153 int iDeviceId = -1;
00154 int iModuleId = -1;
00155 float fHomeOffset = 0.0;
00156 float fHomeVel = 0.0;
00157 int iC0 = 0;
00158 int iDamp = 0;
00159 int iA0 = 0;
00160 float fMinPos = 0.0;
00161 float fMaxPos = 0.0;
00162 float fMaxDeltaPos = 0.0;
00163 float fMaxVel = 0.0;
00164 float fMaxAcc = 0.0;
00165 float fMaxCur = 0.0;
00166 util_searchString("PROCESS", "Debug", "0", acBuffer, 128, acFileName);
00167 g_iM5Debug = atoi(acBuffer);
00168 util_searchString("PROCESS", "DebugLevel", "0", acBuffer, 128, acFileName);
00169 g_iM5DebugLevel = atoi(acBuffer);
00170 util_searchString("PROCESS", "DebugFile", "0", acBuffer, 128, acFileName);
00171 g_iM5DebugFile = atoi(acBuffer);
00172 CMessage clDebug("M5apiw32", g_iM5DebugLevel, g_iM5Debug, g_iM5DebugFile);
00173
00174 iRetVal = util_searchString("PROCESS", "DeviceNumber", "0", acBuffer, 128, acFileName);
00175 if(iRetVal < 0)
00176 {
00177 clDebug.warning("could not open file %s", acFileName);
00178 return ERRID_DEV_OPENINIFILE;
00179 }
00180 iDeviceNumber = atoi(acBuffer);
00181 util_searchString("PROCESS", "DeviceStart", "0", acBuffer, 128, acFileName);
00182 iDeviceStart = atoi(acBuffer);
00183 util_searchString("PROCESS", "ModuleNumber", "0", acBuffer, 128, acFileName);
00184 iModuleNumber = atoi(acBuffer);
00185 util_searchString("PROCESS", "ModuleStart", "0", acBuffer, 128, acFileName);
00186 iModuleStart = atoi(acBuffer);
00187
00188 for(i = 0; i < iDeviceNumber; i++)
00189 {
00190 sprintf(acDevice,"DEVICE_%02d",i + iDeviceStart);
00191 util_searchString(acDevice, "DeviceName", "not available", acDeviceName, 128, acFileName);
00192 util_searchString(acDevice, "InitString", "not available", acInitString, 128, acFileName);
00193 clDebug.debug(0,"Trying to open device %s with initstring %s", acDeviceName, acInitString);
00194 iRetVal = PCube_openDevice(&iDeviceId, acInitString);
00195 if(iRetVal < 0)
00196 {
00197 clDebug.debug(0,"Cound not open device %s with initstring %s", acDeviceName, acInitString);
00198 return iRetVal;
00199 }
00200 (g_apclDevice[iDeviceId])->setName(acDeviceName);
00201 clDebug.debug(0,"Successfully open device %s with initstring %s", acDeviceName, acInitString);
00202 }
00203
00204 for(i = 0; i < iModuleNumber; i++)
00205 {
00206 sprintf(acModule,"MODULE_%02d",i + iModuleStart);
00207 util_searchString(acModule, "DeviceName", "CAN", acDeviceName, 128, acFileName);
00208 util_searchString(acModule, "ModuleId", "-1", acBuffer, 128, acFileName);
00209 iModuleId = atoi(acBuffer);
00210 clDebug.debug(0,"Trying to config module %i on device %s ", iModuleId, acDeviceName);
00211 iDeviceId = -1;
00212 for(j = 0; j < g_apclDevice.size(); j++)
00213 {
00214 if(g_apclDevice[j] != NULL)
00215 if(strcmp(acDeviceName, (g_apclDevice[j])->getName()) == 0)
00216 {
00217 iDeviceId = j;
00218 break;
00219 }
00220 }
00221 if(iDeviceId < 0)
00222 {
00223 clDebug.debug(0,"Cound not found device %s", acDeviceName);
00224 return ERRID_DEV_NODEVICENAME;
00225 }
00226 util_searchString(acModule, "HomeOffset", "not available", acBuffer, 128, acFileName);
00227 if(strcmp(acBuffer, "not available") != 0)
00228 {
00229 fHomeOffset = atof(acBuffer);
00230 iRetVal = PCube_setHomeOffset(iDeviceId, iModuleId, fHomeOffset);
00231 if(iRetVal < 0)
00232 {
00233 clDebug.debug(0,"Cound not set homeoffset of module %i on device %s", iModuleId, acDeviceName);
00234 return iRetVal;
00235 }
00236 clDebug.debug(0,"Set homeoffset to %f of module %i on device %s", fHomeOffset, iModuleId, acDeviceName);
00237 }
00238 util_searchString(acModule, "HomeVel", "not available", acBuffer, 128, acFileName);
00239 if(strcmp(acBuffer, "not available") != 0)
00240 {
00241 fHomeVel = atof(acBuffer);
00242 iRetVal = PCube_setHomeVel(iDeviceId, iModuleId, fHomeVel);
00243 if(iRetVal < 0)
00244 {
00245 clDebug.debug(0,"Cound not set homevel of module %i on device %s", iModuleId, acDeviceName);
00246 return iRetVal;
00247 }
00248 clDebug.debug(0,"Set homevel to %f of module %i on device %s", fHomeVel, iModuleId, acDeviceName);
00249 }
00250 util_searchString(acModule, "C0", "not available", acBuffer, 128, acFileName);
00251 if(strcmp(acBuffer, "not available") != 0)
00252 {
00253 iC0 = atoi(acBuffer);
00254 iRetVal = PCube_setC0(iDeviceId, iModuleId, iC0);
00255 if(iRetVal < 0)
00256 {
00257 clDebug.debug(0,"Cound not set C0 of module %i on device %s", iModuleId, acDeviceName);
00258 return iRetVal;
00259 }
00260 clDebug.debug(0,"Set CO to %i of module %i on device %s", iC0, iModuleId, acDeviceName);
00261 }
00262 util_searchString(acModule, "Damp", "not available", acBuffer, 128, acFileName);
00263 if(strcmp(acBuffer, "not available") != 0)
00264 {
00265 iDamp= atoi(acBuffer);
00266 iRetVal = PCube_setDamp(iDeviceId, iModuleId, iDamp);
00267 if(iRetVal < 0)
00268 {
00269 clDebug.debug(0,"Cound not set damp of module %i on device %s", iModuleId, acDeviceName);
00270 return iRetVal;
00271 }
00272 clDebug.debug(0,"Set damp to %i of module %i on device %s", iDamp, iModuleId, acDeviceName);
00273 }
00274 util_searchString(acModule, "A0", "not available", acBuffer, 128, acFileName);
00275 if(strcmp(acBuffer, "not available") != 0)
00276 {
00277 iA0 = atoi(acBuffer);
00278 iRetVal = PCube_setA0(iDeviceId, iModuleId, iA0);
00279 if(iRetVal < 0)
00280 {
00281 clDebug.debug(0,"Cound not set A0 of module %i on device %s", iModuleId, acDeviceName);
00282 return iRetVal;
00283 }
00284 clDebug.debug(0,"Set A0 to %i of module %i on device %s", iA0, iModuleId, acDeviceName);
00285 }
00286 util_searchString(acModule, "MinPos", "not available", acBuffer, 128, acFileName);
00287 if(strcmp(acBuffer, "not available") != 0)
00288 {
00289 fMinPos = atof(acBuffer);
00290 iRetVal = PCube_setMinPos(iDeviceId, iModuleId, fMinPos);
00291 if(iRetVal < 0)
00292 {
00293 clDebug.debug(0,"Cound not set minpos of module %i on device %s", iModuleId, acDeviceName);
00294 return iRetVal;
00295 }
00296 clDebug.debug(0,"Set minpos to %f of module %i on device %s", fMinPos, iModuleId, acDeviceName);
00297 }
00298 util_searchString(acModule, "MaxPos", "not available", acBuffer, 128, acFileName);
00299 if(strcmp(acBuffer, "not available") != 0)
00300 {
00301 fMaxPos = atof(acBuffer);
00302 iRetVal = PCube_setMaxPos(iDeviceId, iModuleId, fMaxPos);
00303 if(iRetVal < 0)
00304 {
00305 clDebug.debug(0,"Cound not set maxpos of module %i on device %s", iModuleId, acDeviceName);
00306 return iRetVal;
00307 }
00308 clDebug.debug(0,"Set maxpos to %f of module %i on device %s", fMaxPos, iModuleId, acDeviceName);
00309 }
00310 util_searchString(acModule, "MaxDeltaPos", "not available", acBuffer, 128, acFileName);
00311 if(strcmp(acBuffer, "not available") != 0)
00312 {
00313 fMaxDeltaPos = atof(acBuffer);
00314 iRetVal = PCube_setMaxDeltaPos(iDeviceId, iModuleId, fMaxDeltaPos);
00315 if(iRetVal < 0)
00316 {
00317 clDebug.debug(0,"Cound not set maxdeltapos of module %i on device %s", iModuleId, acDeviceName);
00318 return iRetVal;
00319 }
00320 clDebug.debug(0,"Set maxdeltapos to %f of module %i on device %s", fMaxDeltaPos, iModuleId, acDeviceName);
00321 }
00322 util_searchString(acModule, "MaxVel", "not available", acBuffer, 128, acFileName);
00323 if(strcmp(acBuffer, "not available") != 0)
00324 {
00325 fMaxVel = atof(acBuffer);
00326 iRetVal = PCube_setMaxVel(iDeviceId, iModuleId, fMaxVel);
00327 if(iRetVal < 0)
00328 {
00329 clDebug.debug(0,"Cound not set maxvel of module %i on device %s", iModuleId, acDeviceName);
00330 return iRetVal;
00331 }
00332 clDebug.debug(0,"Set maxvel to %f of module %i on device %s", fMaxVel, iModuleId, acDeviceName);
00333 }
00334 util_searchString(acModule, "MaxAcc", "not available", acBuffer, 128, acFileName);
00335 if(strcmp(acBuffer, "not available") != 0)
00336 {
00337 fMaxAcc = atof(acBuffer);
00338 iRetVal = PCube_setMaxAcc(iDeviceId, iModuleId, fMaxAcc);
00339 if(iRetVal < 0)
00340 {
00341 clDebug.debug(0,"Cound not set maxacc of module %i on device %s", iModuleId, acDeviceName);
00342 return iRetVal;
00343 }
00344 clDebug.debug(0,"Set maxacc to %f of module %i on device %s", fMaxAcc, iModuleId, acDeviceName);
00345 }
00346 util_searchString(acModule, "MaxCur", "not available", acBuffer, 128, acFileName);
00347 if(strcmp(acBuffer, "not available") != 0)
00348 {
00349 fMaxCur = atof(acBuffer);
00350 iRetVal = PCube_setMaxCur(iDeviceId, iModuleId, fMaxCur);
00351 if(iRetVal < 0)
00352 {
00353 clDebug.debug(0,"Cound not set maxcur of module %i on device %s", iModuleId, acDeviceName);
00354 return iRetVal;
00355 }
00356 clDebug.debug(0,"Set maxcur to %f of module %i on device %s", fMaxCur, iModuleId, acDeviceName);
00357 }
00358 clDebug.debug(0,"Successfully config module %i on device %s ", iModuleId, acDeviceName);
00359 }
00360 return 0;
00361 }
00362
00363 M5DLL_API int WINAPI PCube_openDevice( int* piDeviceId, const char* acInitString )
00364 {
00365 int iRetVal = 0;
00366 int i, iDeviceNumber;
00367 bool bReplace = false;
00368 CMessage clDebug("M5apiw32", g_iM5DebugLevel, g_iM5Debug, g_iM5DebugFile);
00369 if(acInitString == NULL || strlen(acInitString) == 0)
00370 {
00371 return ERRID_DEV_NOINITSTRING;
00372 }
00373 iDeviceNumber = g_apclDevice.size();
00374 clDebug.debug(0,"number of possible devices %i", iDeviceNumber);
00375 for (i=0;i<iDeviceNumber;i++)
00376 {
00377 clDebug.debug(0,"checking device %i", i);
00378 if(g_apclDevice[i] != NULL)
00379 if(strcmp(g_apclDevice[i]->getInitString(),acInitString)==0)
00380 {
00381 *piDeviceId = i;
00382 g_aiDeviceRefCount[i]++;
00383 clDebug.debug(0,"using device with id %i", i);
00384 return 0;
00385 }
00386 }
00387 CDevice* pclDevice = newDevice(acInitString);
00388 if(pclDevice == NULL)
00389 {
00390 return ERRID_DEV_NODEVICENAME;
00391 }
00392 clDebug.debug(0,"created new device");
00393 pclDevice->setDebug(g_iM5Debug);
00394 pclDevice->setDebugLevel(g_iM5DebugLevel);
00395 pclDevice->setDebugFile(g_iM5DebugFile);
00396 iRetVal = pclDevice->init(acInitString);
00397 if(iRetVal != 0)
00398 {
00399 clDebug.debug(0,"init error device");
00400 delete pclDevice;
00401 return iRetVal;
00402 }
00403
00404 for (i=0;i<iDeviceNumber;i++)
00405 if(g_apclDevice[i] == NULL)
00406 {
00407 g_apclDevice[i] = pclDevice;
00408 g_aiDeviceRefCount[i] = 1;
00409 *piDeviceId = i;
00410 bReplace = true;
00411 clDebug.debug(0,"replacing device with id %i", i);
00412 break;
00413 }
00414 if(bReplace == false)
00415 {
00416 g_apclDevice.push_back(pclDevice);
00417 g_aiDeviceRefCount.push_back(1);
00418 *piDeviceId = g_apclDevice.size()-1;
00419 clDebug.debug(0,"adding device with id %i", *piDeviceId);
00420 }
00421 return iRetVal;
00422 }
00423
00424 M5DLL_API int WINAPI PCube_closeDevice( int iDeviceId )
00425 {
00426 if(0 > iDeviceId || iDeviceId >= g_aiDeviceRefCount.size())
00427 return ERRID_DEV_WRONGDEVICEID;
00428 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00429 return ERRID_DEV_WRONGDEVICEID;
00430 if( g_apclDevice[iDeviceId] == NULL )
00431 return ERRID_DEV_NOTINITIALIZED;
00432
00433 g_aiDeviceRefCount[iDeviceId]--;
00434 if (g_aiDeviceRefCount[iDeviceId]>0)
00435 return 0;
00436
00437 int iRetVal = g_apclDevice[iDeviceId]->exit();
00438 delete g_apclDevice[iDeviceId];
00439 g_apclDevice[iDeviceId] = NULL;
00440 return iRetVal;
00441 }
00442
00443 M5DLL_API int WINAPI PCube_closeDevices( void )
00444 {
00445 int i;
00446 for(i = 0; i < g_aiDeviceRefCount.size();i++)
00447 g_aiDeviceRefCount[i] = 0;
00448 for(i = 0; i < g_aiDeviceRefCount.size();i++)
00449 if( g_apclDevice[i] != NULL )
00450 {
00451 g_apclDevice[i]->exit();
00452 delete g_apclDevice[i];
00453 g_apclDevice[i] = NULL;
00454 }
00455 return 0;
00456 }
00457
00458 M5DLL_API const char* WINAPI PCube_getDeviceRevision( int iDeviceId )
00459 {
00460 static const char acString[] = "";
00461 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00462 return acString;
00463 if( g_apclDevice[iDeviceId] == NULL )
00464 return acString;
00465
00466 return g_apclDevice[iDeviceId]->getRevision();
00467 }
00468
00469 M5DLL_API const char* WINAPI PCube_getDeviceName( int iDeviceId )
00470 {
00471 static const char acString[] = "";
00472 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00473 return acString;
00474 if( g_apclDevice[iDeviceId] == NULL )
00475 return acString;
00476
00477 return g_apclDevice[iDeviceId]->getName();
00478 }
00479
00480 M5DLL_API const char* WINAPI PCube_getDeviceInitString( int iDeviceId )
00481 {
00482 static const char acString[] = "";
00483 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00484 return acString;
00485 if( g_apclDevice[iDeviceId] == NULL )
00486 return acString;
00487
00488 return g_apclDevice[iDeviceId]->getInitString();
00489 }
00490
00491 M5DLL_API int WINAPI PCube_setDeviceName( int iDeviceId, const char* acDeviceName )
00492 {
00493 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00494 return ERRID_DEV_WRONGDEVICEID;
00495 if( g_apclDevice[iDeviceId] == NULL )
00496 return ERRID_DEV_NOTINITIALIZED;
00497
00498 g_apclDevice[iDeviceId]->setName(acDeviceName);
00499 return 0;
00500 }
00501
00502 M5DLL_API int WINAPI PCube_setDeviceDebug( int iDeviceId, int iDebug, int iDebugLevel, int iDebugFile )
00503 {
00504 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00505 return ERRID_DEV_WRONGDEVICEID;
00506 if( g_apclDevice[iDeviceId] == NULL )
00507 return ERRID_DEV_NOTINITIALIZED;
00508
00509 g_apclDevice[iDeviceId]->setDebug(iDebug);
00510 g_apclDevice[iDeviceId]->setDebugLevel(iDebugLevel);
00511 g_apclDevice[iDeviceId]->setDebugFile(iDebugFile);
00512 return 0;
00513 }
00514
00515 M5DLL_API int WINAPI PCube_getDeviceCount( void )
00516 {
00517 int iDeviceCount = 0;
00518 for(int i = 0; i < g_apclDevice.size(); i++)
00519 if( g_apclDevice[i] != NULL )
00520 iDeviceCount++;
00521
00522 return iDeviceCount;
00523 }
00524
00525 M5DLL_API int WINAPI PCube_getDeviceIdMap( int* aiIdMap )
00526 {
00527 int iDeviceCount = 0;
00528 for(int i = 0; i < g_apclDevice.size(); i++)
00529 if( g_apclDevice[i] != NULL )
00530 {
00531 *(aiIdMap++) = i;
00532 iDeviceCount++;
00533 }
00534
00535 return iDeviceCount;
00536 }
00537
00538 M5DLL_API int WINAPI PCube_getModuleCount( int iDeviceId )
00539 {
00540 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00541 return ERRID_DEV_WRONGDEVICEID;
00542 if( g_apclDevice[iDeviceId] == NULL )
00543 return ERRID_DEV_NOTINITIALIZED;
00544
00545 return g_apclDevice[iDeviceId]->getModuleCount();
00546 }
00547
00548 M5DLL_API int WINAPI PCube_getModuleIdMap( int iDeviceId, int* aiIdMap )
00549 {
00550 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00551 return ERRID_DEV_WRONGDEVICEID;
00552 if( g_apclDevice[iDeviceId] == NULL )
00553 return ERRID_DEV_NOTINITIALIZED;
00554
00555 int i;
00556 static std::vector<int> aiModules;
00557 int iRetVal = g_apclDevice[iDeviceId]->getModuleIdMap(aiModules);
00558 for(i = 0; i < aiModules.size(); i++)
00559 *(aiIdMap++) = aiModules[i];
00560 for(i = aiModules.size(); i < MAX_MODULES; i++)
00561 *(aiIdMap++) = 0;
00562 return iRetVal;
00563 }
00564
00565 M5DLL_API int WINAPI PCube_getModuleState( int iDeviceId, int iModuleId, unsigned long* puiState )
00566 {
00567 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00568 return ERRID_DEV_WRONGDEVICEID;
00569 if( g_apclDevice[iDeviceId] == NULL )
00570 return ERRID_DEV_NOTINITIALIZED;
00571
00572 int iRetVal = g_apclDevice[iDeviceId]->getModuleState( iModuleId, puiState );
00573
00574 return iRetVal;
00575 }
00576
00577 M5DLL_API int WINAPI PCube_getModuleType( int iDeviceId, int iModuleId, unsigned char* pucValue )
00578 {
00579 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00580 return ERRID_DEV_WRONGDEVICEID;
00581 if( g_apclDevice[iDeviceId] == NULL )
00582 return ERRID_DEV_NOTINITIALIZED;
00583
00584 int iRetVal = g_apclDevice[iDeviceId]->getModuleType( iModuleId, pucValue );
00585
00586 return iRetVal;
00587 }
00588
00589 M5DLL_API int WINAPI PCube_getModuleVersion( int iDeviceId, int iModuleId, unsigned short* puiValue )
00590 {
00591 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00592 return ERRID_DEV_WRONGDEVICEID;
00593 if( g_apclDevice[iDeviceId] == NULL )
00594 return ERRID_DEV_NOTINITIALIZED;
00595
00596 int iRetVal = g_apclDevice[iDeviceId]->getModuleVersion( iModuleId, puiValue );
00597
00598 return iRetVal;
00599 }
00600
00601 M5DLL_API int WINAPI PCube_getModuleSerialNo( int iDeviceId, int iModuleId, unsigned long* puiValue )
00602 {
00603 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00604 return ERRID_DEV_WRONGDEVICEID;
00605 if( g_apclDevice[iDeviceId] == NULL )
00606 return ERRID_DEV_NOTINITIALIZED;
00607
00608 int iRetVal = g_apclDevice[iDeviceId]->getModuleSerialNo( iModuleId, puiValue );
00609
00610 return iRetVal;
00611 }
00612
00613 M5DLL_API int WINAPI PCube_getDefConfig( int iDeviceId, int iModuleId, unsigned long* puiValue )
00614 {
00615 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00616 return ERRID_DEV_WRONGDEVICEID;
00617 if( g_apclDevice[iDeviceId] == NULL )
00618 return ERRID_DEV_NOTINITIALIZED;
00619
00620 int iRetVal = g_apclDevice[iDeviceId]->getDefConfig( iModuleId, puiValue );
00621
00622 return iRetVal;
00623 }
00624
00625 M5DLL_API int WINAPI PCube_getDefSetup( int iDeviceId, int iModuleId, unsigned long* puiValue )
00626 {
00627 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00628 return ERRID_DEV_WRONGDEVICEID;
00629 if( g_apclDevice[iDeviceId] == NULL )
00630 return ERRID_DEV_NOTINITIALIZED;
00631
00632 int iRetVal = g_apclDevice[iDeviceId]->getDefSetup( iModuleId, puiValue );
00633
00634 return iRetVal;
00635 }
00636
00637 M5DLL_API int WINAPI PCube_getDefBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue )
00638 {
00639 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00640 return ERRID_DEV_WRONGDEVICEID;
00641 if( g_apclDevice[iDeviceId] == NULL )
00642 return ERRID_DEV_NOTINITIALIZED;
00643
00644 int iRetVal = g_apclDevice[iDeviceId]->getDefBaudRate( iModuleId, pucValue );
00645
00646 return iRetVal;
00647 }
00648
00649 M5DLL_API int WINAPI PCube_getDefBurnCount( int iDeviceId, int iModuleId, unsigned char* pucValue )
00650 {
00651 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00652 return ERRID_DEV_WRONGDEVICEID;
00653 if( g_apclDevice[iDeviceId] == NULL )
00654 return ERRID_DEV_NOTINITIALIZED;
00655
00656 int iRetVal = g_apclDevice[iDeviceId]->getDefBurnCount( iModuleId, pucValue );
00657
00658 return iRetVal;
00659 }
00660
00661 M5DLL_API int WINAPI PCube_getDefGearRatio( int iDeviceId, int iModuleId, float* pfValue )
00662 {
00663 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00664 return ERRID_DEV_WRONGDEVICEID;
00665 if( g_apclDevice[iDeviceId] == NULL )
00666 return ERRID_DEV_NOTINITIALIZED;
00667
00668 int iRetVal = g_apclDevice[iDeviceId]->getDefGearRatio( iModuleId, pfValue );
00669
00670 return iRetVal;
00671 }
00672
00673 M5DLL_API int WINAPI PCube_getDefLinearRatio( int iDeviceId, int iModuleId, float* pfValue )
00674 {
00675 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00676 return ERRID_DEV_WRONGDEVICEID;
00677 if( g_apclDevice[iDeviceId] == NULL )
00678 return ERRID_DEV_NOTINITIALIZED;
00679
00680 int iRetVal = g_apclDevice[iDeviceId]->getDefLinearRatio( iModuleId, pfValue );
00681
00682 return iRetVal;
00683 }
00684
00685 M5DLL_API int WINAPI PCube_getDefCurRatio( int iDeviceId, int iModuleId, float* pfValue )
00686 {
00687 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00688 return ERRID_DEV_WRONGDEVICEID;
00689 if( g_apclDevice[iDeviceId] == NULL )
00690 return ERRID_DEV_NOTINITIALIZED;
00691
00692 int iRetVal = g_apclDevice[iDeviceId]->getDefCurRatio( iModuleId, pfValue );
00693
00694 return iRetVal;
00695 }
00696
00697 M5DLL_API int WINAPI PCube_getDefBrakeTimeOut( int iDeviceId, int iModuleId, unsigned short* puiValue )
00698 {
00699 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00700 return ERRID_DEV_WRONGDEVICEID;
00701 if( g_apclDevice[iDeviceId] == NULL )
00702 return ERRID_DEV_NOTINITIALIZED;
00703
00704 int iRetVal = g_apclDevice[iDeviceId]->getDefBrakeTimeOut( iModuleId, puiValue );
00705
00706 return iRetVal;
00707 }
00708
00709 M5DLL_API int WINAPI PCube_getDefIncPerTurn( int iDeviceId, int iModuleId, unsigned long* puiValue )
00710 {
00711 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00712 return ERRID_DEV_WRONGDEVICEID;
00713 if( g_apclDevice[iDeviceId] == NULL )
00714 return ERRID_DEV_NOTINITIALIZED;
00715
00716 int iRetVal = g_apclDevice[iDeviceId]->getDefIncPerTurn( iModuleId, puiValue );
00717
00718 return iRetVal;
00719 }
00720
00721 M5DLL_API int WINAPI PCube_getDefDioData( int iDeviceId, int iModuleId, unsigned long* puiValue )
00722 {
00723 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00724 return ERRID_DEV_WRONGDEVICEID;
00725 if( g_apclDevice[iDeviceId] == NULL )
00726 return ERRID_DEV_NOTINITIALIZED;
00727
00728 int iRetVal = g_apclDevice[iDeviceId]->getDefDioData( iModuleId, puiValue );
00729
00730 return iRetVal;
00731 }
00732
00733 M5DLL_API int WINAPI PCube_getDefA0( int iDeviceId, int iModuleId, short* piValue )
00734 {
00735 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00736 return ERRID_DEV_WRONGDEVICEID;
00737 if( g_apclDevice[iDeviceId] == NULL )
00738 return ERRID_DEV_NOTINITIALIZED;
00739
00740 int iRetVal = g_apclDevice[iDeviceId]->getDefA0( iModuleId, piValue );
00741
00742 return iRetVal;
00743 }
00744
00745 M5DLL_API int WINAPI PCube_getDefC0( int iDeviceId, int iModuleId, short* piValue )
00746 {
00747 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00748 return ERRID_DEV_WRONGDEVICEID;
00749 if( g_apclDevice[iDeviceId] == NULL )
00750 return ERRID_DEV_NOTINITIALIZED;
00751
00752 int iRetVal = g_apclDevice[iDeviceId]->getDefC0( iModuleId, piValue );
00753
00754 return iRetVal;
00755 }
00756
00757 M5DLL_API int WINAPI PCube_getDefDamp( int iDeviceId, int iModuleId, short* piValue )
00758 {
00759 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00760 return ERRID_DEV_WRONGDEVICEID;
00761 if( g_apclDevice[iDeviceId] == NULL )
00762 return ERRID_DEV_NOTINITIALIZED;
00763
00764 int iRetVal = g_apclDevice[iDeviceId]->getDefDamp( iModuleId, piValue );
00765
00766 return iRetVal;
00767 }
00768
00769 M5DLL_API int WINAPI PCube_getDefHomeOffset( int iDeviceId, int iModuleId, float* pfValue )
00770 {
00771 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00772 return ERRID_DEV_WRONGDEVICEID;
00773 if( g_apclDevice[iDeviceId] == NULL )
00774 return ERRID_DEV_NOTINITIALIZED;
00775
00776 int iRetVal = g_apclDevice[iDeviceId]->getDefHomeOffset( iModuleId, pfValue );
00777
00778 return iRetVal;
00779 }
00780
00781 M5DLL_API int WINAPI PCube_getDefHomeVel( int iDeviceId, int iModuleId, float* pfValue )
00782 {
00783 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00784 return ERRID_DEV_WRONGDEVICEID;
00785 if( g_apclDevice[iDeviceId] == NULL )
00786 return ERRID_DEV_NOTINITIALIZED;
00787
00788 int iRetVal = g_apclDevice[iDeviceId]->getDefHomeVel( iModuleId, pfValue );
00789
00790 return iRetVal;
00791 }
00792
00793 M5DLL_API int WINAPI PCube_getDefMinPos( int iDeviceId, int iModuleId, float* pfValue )
00794 {
00795 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00796 return ERRID_DEV_WRONGDEVICEID;
00797 if( g_apclDevice[iDeviceId] == NULL )
00798 return ERRID_DEV_NOTINITIALIZED;
00799
00800 int iRetVal = g_apclDevice[iDeviceId]->getDefMinPos( iModuleId, pfValue );
00801
00802 return iRetVal;
00803 }
00804
00805 M5DLL_API int WINAPI PCube_getDefMaxPos( int iDeviceId, int iModuleId, float* pfValue )
00806 {
00807 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00808 return ERRID_DEV_WRONGDEVICEID;
00809 if( g_apclDevice[iDeviceId] == NULL )
00810 return ERRID_DEV_NOTINITIALIZED;
00811
00812 int iRetVal = g_apclDevice[iDeviceId]->getDefMaxPos( iModuleId, pfValue );
00813
00814 return iRetVal;
00815 }
00816
00817 M5DLL_API int WINAPI PCube_getDefMaxVel( int iDeviceId, int iModuleId, float* pfValue )
00818 {
00819 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00820 return ERRID_DEV_WRONGDEVICEID;
00821 if( g_apclDevice[iDeviceId] == NULL )
00822 return ERRID_DEV_NOTINITIALIZED;
00823
00824 int iRetVal = g_apclDevice[iDeviceId]->getDefMaxVel( iModuleId, pfValue );
00825
00826 return iRetVal;
00827 }
00828
00829 M5DLL_API int WINAPI PCube_getDefMaxAcc( int iDeviceId, int iModuleId, float* pfValue )
00830 {
00831 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00832 return ERRID_DEV_WRONGDEVICEID;
00833 if( g_apclDevice[iDeviceId] == NULL )
00834 return ERRID_DEV_NOTINITIALIZED;
00835
00836 int iRetVal = g_apclDevice[iDeviceId]->getDefMaxAcc( iModuleId, pfValue );
00837
00838 return iRetVal;
00839 }
00840
00841 M5DLL_API int WINAPI PCube_getDefMaxCur( int iDeviceId, int iModuleId, float* pfValue )
00842 {
00843 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00844 return ERRID_DEV_WRONGDEVICEID;
00845 if( g_apclDevice[iDeviceId] == NULL )
00846 return ERRID_DEV_NOTINITIALIZED;
00847
00848 int iRetVal = g_apclDevice[iDeviceId]->getDefMaxCur( iModuleId, pfValue );
00849
00850 return iRetVal;
00851 }
00852
00853 M5DLL_API int WINAPI PCube_getDefMaxDeltaPos( int iDeviceId, int iModuleId, float* pfValue )
00854 {
00855 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00856 return ERRID_DEV_WRONGDEVICEID;
00857 if( g_apclDevice[iDeviceId] == NULL )
00858 return ERRID_DEV_NOTINITIALIZED;
00859
00860 int iRetVal = g_apclDevice[iDeviceId]->getDefMaxDeltaPos( iModuleId, pfValue );
00861
00862 return iRetVal;
00863 }
00864
00865 M5DLL_API int WINAPI PCube_getConfig( int iDeviceId, int iModuleId, unsigned long* puiValue )
00866 {
00867 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00868 return ERRID_DEV_WRONGDEVICEID;
00869 if( g_apclDevice[iDeviceId] == NULL )
00870 return ERRID_DEV_NOTINITIALIZED;
00871
00872 int iRetVal = g_apclDevice[iDeviceId]->getConfig( iModuleId, puiValue );
00873
00874 return iRetVal;
00875 }
00876
00877 M5DLL_API int WINAPI PCube_getHomeOffset( int iDeviceId, int iModuleId, float* pValue )
00878 {
00879 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00880 return ERRID_DEV_WRONGDEVICEID;
00881 if( g_apclDevice[iDeviceId] == NULL )
00882 return ERRID_DEV_NOTINITIALIZED;
00883
00884 int iRetVal = g_apclDevice[iDeviceId]->getHomeOffset( iModuleId, pValue );
00885
00886 return iRetVal;
00887 }
00888
00889 M5DLL_API int WINAPI PCube_getHomeOffsetInc( int iDeviceId, int iModuleId, long* piValue )
00890 {
00891 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00892 return ERRID_DEV_WRONGDEVICEID;
00893 if( g_apclDevice[iDeviceId] == NULL )
00894 return ERRID_DEV_NOTINITIALIZED;
00895
00896 int iRetVal = g_apclDevice[iDeviceId]->getHomeOffsetInc( iModuleId, piValue );
00897
00898 return iRetVal;
00899 }
00900
00901 M5DLL_API int WINAPI PCube_getIncRatio( int iDeviceId, int iModuleId, float* pValue )
00902 {
00903 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00904 return ERRID_DEV_WRONGDEVICEID;
00905 if( g_apclDevice[iDeviceId] == NULL )
00906 return ERRID_DEV_NOTINITIALIZED;
00907
00908 int iRetVal = g_apclDevice[iDeviceId]->getIncRatio( iModuleId, pValue );
00909
00910 return iRetVal;
00911 }
00912
00913 M5DLL_API int WINAPI PCube_getDioData( int iDeviceId, int iModuleId, unsigned long* puiValue )
00914 {
00915 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00916 return ERRID_DEV_WRONGDEVICEID;
00917 if( g_apclDevice[iDeviceId] == NULL )
00918 return ERRID_DEV_NOTINITIALIZED;
00919
00920 int iRetVal = g_apclDevice[iDeviceId]->getDioData( iModuleId, puiValue );
00921
00922 return iRetVal;
00923 }
00924
00925 M5DLL_API int WINAPI PCube_getA0( int iDeviceId, int iModuleId, short* piValue )
00926 {
00927 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00928 return ERRID_DEV_WRONGDEVICEID;
00929 if( g_apclDevice[iDeviceId] == NULL )
00930 return ERRID_DEV_NOTINITIALIZED;
00931
00932 int iRetVal = g_apclDevice[iDeviceId]->getA0( iModuleId, piValue );
00933
00934 return iRetVal;
00935 }
00936
00937 M5DLL_API int WINAPI PCube_getC0( int iDeviceId, int iModuleId, short* piValue )
00938 {
00939 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00940 return ERRID_DEV_WRONGDEVICEID;
00941 if( g_apclDevice[iDeviceId] == NULL )
00942 return ERRID_DEV_NOTINITIALIZED;
00943
00944 int iRetVal = g_apclDevice[iDeviceId]->getC0( iModuleId, piValue );
00945
00946 return iRetVal;
00947 }
00948
00949 M5DLL_API int WINAPI PCube_getDamp( int iDeviceId, int iModuleId, short* piValue )
00950 {
00951 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00952 return ERRID_DEV_WRONGDEVICEID;
00953 if( g_apclDevice[iDeviceId] == NULL )
00954 return ERRID_DEV_NOTINITIALIZED;
00955
00956 int iRetVal = g_apclDevice[iDeviceId]->getDamp( iModuleId, piValue );
00957
00958 return iRetVal;
00959 }
00960
00961 M5DLL_API int WINAPI PCube_getPos( int iDeviceId, int iModuleId, float* pfPos )
00962 {
00963 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00964 return ERRID_DEV_WRONGDEVICEID;
00965 if( g_apclDevice[iDeviceId] == NULL )
00966 return ERRID_DEV_NOTINITIALIZED;
00967
00968 int iRetVal = g_apclDevice[iDeviceId]->getPos( iModuleId, pfPos );
00969
00970 return iRetVal;
00971 }
00972
00973 M5DLL_API int WINAPI PCube_getVel( int iDeviceId, int iModuleId, float* pfVel )
00974 {
00975 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00976 return ERRID_DEV_WRONGDEVICEID;
00977 if( g_apclDevice[iDeviceId] == NULL )
00978 return ERRID_DEV_NOTINITIALIZED;
00979
00980 int iRetVal = g_apclDevice[iDeviceId]->getVel( iModuleId, pfVel );
00981
00982 return iRetVal;
00983 }
00984
00985 M5DLL_API int WINAPI PCube_getCur( int iDeviceId, int iModuleId, float* pfCur )
00986 {
00987 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
00988 return ERRID_DEV_WRONGDEVICEID;
00989 if( g_apclDevice[iDeviceId] == NULL )
00990 return ERRID_DEV_NOTINITIALIZED;
00991
00992 int iRetVal = g_apclDevice[iDeviceId]->getCur( iModuleId, pfCur );
00993
00994 return iRetVal;
00995 }
00996
00997 M5DLL_API int WINAPI PCube_getMinPos( int iDeviceId, int iModuleId, float* pfValue )
00998 {
00999 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01000 return ERRID_DEV_WRONGDEVICEID;
01001 if( g_apclDevice[iDeviceId] == NULL )
01002 return ERRID_DEV_NOTINITIALIZED;
01003
01004 int iRetVal = g_apclDevice[iDeviceId]->getMinPos( iModuleId, pfValue );
01005
01006 return iRetVal;
01007 }
01008
01009 M5DLL_API int WINAPI PCube_getMaxPos( int iDeviceId, int iModuleId, float* pfValue )
01010 {
01011 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01012 return ERRID_DEV_WRONGDEVICEID;
01013 if( g_apclDevice[iDeviceId] == NULL )
01014 return ERRID_DEV_NOTINITIALIZED;
01015
01016 int iRetVal = g_apclDevice[iDeviceId]->getMaxPos( iModuleId, pfValue );
01017
01018 return iRetVal;
01019 }
01020
01021 M5DLL_API int WINAPI PCube_getMaxVel( int iDeviceId, int iModuleId, float* pfValue )
01022 {
01023 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01024 return ERRID_DEV_WRONGDEVICEID;
01025 if( g_apclDevice[iDeviceId] == NULL )
01026 return ERRID_DEV_NOTINITIALIZED;
01027
01028 int iRetVal = g_apclDevice[iDeviceId]->getMaxVel( iModuleId, pfValue );
01029
01030 return iRetVal;
01031 }
01032
01033 M5DLL_API int WINAPI PCube_getMaxAcc( int iDeviceId, int iModuleId, float* pfValue )
01034 {
01035 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01036 return ERRID_DEV_WRONGDEVICEID;
01037 if( g_apclDevice[iDeviceId] == NULL )
01038 return ERRID_DEV_NOTINITIALIZED;
01039
01040 int iRetVal = g_apclDevice[iDeviceId]->getMaxAcc( iModuleId, pfValue );
01041
01042 return iRetVal;
01043 }
01044
01045 M5DLL_API int WINAPI PCube_getMaxCur( int iDeviceId, int iModuleId, float* pfValue )
01046 {
01047 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01048 return ERRID_DEV_WRONGDEVICEID;
01049 if( g_apclDevice[iDeviceId] == NULL )
01050 return ERRID_DEV_NOTINITIALIZED;
01051
01052 int iRetVal = g_apclDevice[iDeviceId]->getMaxCur( iModuleId, pfValue );
01053
01054 return iRetVal;
01055 }
01056
01057 M5DLL_API int WINAPI PCube_getDeltaPos( int iDeviceId, int iModuleId, float* pfValue )
01058 {
01059 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01060 return ERRID_DEV_WRONGDEVICEID;
01061 if( g_apclDevice[iDeviceId] == NULL )
01062 return ERRID_DEV_NOTINITIALIZED;
01063
01064 int iRetVal = g_apclDevice[iDeviceId]->getDeltaPos( iModuleId, pfValue );
01065
01066 return iRetVal;
01067 }
01068
01069 M5DLL_API int WINAPI PCube_getMaxDeltaPos( int iDeviceId, int iModuleId, float* pfValue )
01070 {
01071 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01072 return ERRID_DEV_WRONGDEVICEID;
01073 if( g_apclDevice[iDeviceId] == NULL )
01074 return ERRID_DEV_NOTINITIALIZED;
01075
01076 int iRetVal = g_apclDevice[iDeviceId]->getMaxDeltaPos( iModuleId, pfValue );
01077
01078 return iRetVal;
01079 }
01080
01081 M5DLL_API int WINAPI PCube_getSavePos( int iDeviceId, int iModuleId, float* pfValue )
01082 {
01083 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01084 return ERRID_DEV_WRONGDEVICEID;
01085 if( g_apclDevice[iDeviceId] == NULL )
01086 return ERRID_DEV_NOTINITIALIZED;
01087
01088 int iRetVal = g_apclDevice[iDeviceId]->getSavePos( iModuleId, pfValue );
01089
01090 return iRetVal;
01091 }
01092
01093 M5DLL_API int WINAPI PCube_getIPolVel( int iDeviceId, int iModuleId, float* pValue )
01094 {
01095 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01096 return ERRID_DEV_WRONGDEVICEID;
01097 if( g_apclDevice[iDeviceId] == NULL )
01098 return ERRID_DEV_NOTINITIALIZED;
01099
01100 int iRetVal = g_apclDevice[iDeviceId]->getIPolVel( iModuleId, pValue );
01101
01102 return iRetVal;
01103 }
01104
01105 M5DLL_API int WINAPI PCube_getPosCountInc( int iDeviceId, int iModuleId, long* piValue )
01106 {
01107 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01108 return ERRID_DEV_WRONGDEVICEID;
01109 if( g_apclDevice[iDeviceId] == NULL )
01110 return ERRID_DEV_NOTINITIALIZED;
01111
01112 int iRetVal = g_apclDevice[iDeviceId]->getPosCountInc( iModuleId, piValue );
01113
01114 return iRetVal;
01115 }
01116
01117 M5DLL_API int WINAPI PCube_getPosInc( int iDeviceId, int iModuleId, long* piValue )
01118 {
01119 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01120 return ERRID_DEV_WRONGDEVICEID;
01121 if( g_apclDevice[iDeviceId] == NULL )
01122 return ERRID_DEV_NOTINITIALIZED;
01123
01124 int iRetVal = g_apclDevice[iDeviceId]->getPosInc( iModuleId, piValue );
01125
01126 return iRetVal;
01127 }
01128
01129 M5DLL_API int WINAPI PCube_getVelInc( int iDeviceId, int iModuleId, long* piValue )
01130 {
01131 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01132 return ERRID_DEV_WRONGDEVICEID;
01133 if( g_apclDevice[iDeviceId] == NULL )
01134 return ERRID_DEV_NOTINITIALIZED;
01135
01136 int iRetVal = g_apclDevice[iDeviceId]->getVelInc( iModuleId, piValue );
01137
01138 return iRetVal;
01139 }
01140
01141 M5DLL_API int WINAPI PCube_getCurInc( int iDeviceId, int iModuleId, short* piValue )
01142 {
01143 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01144 return ERRID_DEV_WRONGDEVICEID;
01145 if( g_apclDevice[iDeviceId] == NULL )
01146 return ERRID_DEV_NOTINITIALIZED;
01147
01148 int iRetVal = g_apclDevice[iDeviceId]->getCurInc( iModuleId, piValue );
01149
01150 return iRetVal;
01151 }
01152
01153 M5DLL_API int WINAPI PCube_getMinPosInc( int iDeviceId, int iModuleId, long* piValue )
01154 {
01155 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01156 return ERRID_DEV_WRONGDEVICEID;
01157 if( g_apclDevice[iDeviceId] == NULL )
01158 return ERRID_DEV_NOTINITIALIZED;
01159
01160 int iRetVal = g_apclDevice[iDeviceId]->getMinPosInc( iModuleId, piValue );
01161
01162 return iRetVal;
01163 }
01164
01165 M5DLL_API int WINAPI PCube_getMaxPosInc( int iDeviceId, int iModuleId, long* piValue )
01166 {
01167 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01168 return ERRID_DEV_WRONGDEVICEID;
01169 if( g_apclDevice[iDeviceId] == NULL )
01170 return ERRID_DEV_NOTINITIALIZED;
01171
01172 int iRetVal = g_apclDevice[iDeviceId]->getMaxPosInc( iModuleId, piValue );
01173
01174 return iRetVal;
01175 }
01176
01177 M5DLL_API int WINAPI PCube_getMaxVelInc( int iDeviceId, int iModuleId, long* piValue )
01178 {
01179 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01180 return ERRID_DEV_WRONGDEVICEID;
01181 if( g_apclDevice[iDeviceId] == NULL )
01182 return ERRID_DEV_NOTINITIALIZED;
01183
01184 int iRetVal = g_apclDevice[iDeviceId]->getMaxVelInc( iModuleId, piValue );
01185
01186 return iRetVal;
01187 }
01188
01189 M5DLL_API int WINAPI PCube_getMaxAccInc( int iDeviceId, int iModuleId, long* piValue )
01190 {
01191 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01192 return ERRID_DEV_WRONGDEVICEID;
01193 if( g_apclDevice[iDeviceId] == NULL )
01194 return ERRID_DEV_NOTINITIALIZED;
01195
01196 int iRetVal = g_apclDevice[iDeviceId]->getMaxAccInc( iModuleId, piValue );
01197
01198 return iRetVal;
01199 }
01200
01201 M5DLL_API int WINAPI PCube_getDeltaPosInc( int iDeviceId, int iModuleId, long* piValue )
01202 {
01203 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01204 return ERRID_DEV_WRONGDEVICEID;
01205 if( g_apclDevice[iDeviceId] == NULL )
01206 return ERRID_DEV_NOTINITIALIZED;
01207
01208 int iRetVal = g_apclDevice[iDeviceId]->getDeltaPosInc( iModuleId, piValue );
01209
01210 return iRetVal;
01211 }
01212
01213 M5DLL_API int WINAPI PCube_getMaxDeltaPosInc( int iDeviceId, int iModuleId, long* piValue )
01214 {
01215 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01216 return ERRID_DEV_WRONGDEVICEID;
01217 if( g_apclDevice[iDeviceId] == NULL )
01218 return ERRID_DEV_NOTINITIALIZED;
01219
01220 int iRetVal = g_apclDevice[iDeviceId]->getMaxDeltaPosInc( iModuleId, piValue );
01221
01222 return iRetVal;
01223 }
01224
01225 M5DLL_API int WINAPI PCube_getStateDioPos( int iDeviceId, int iModuleId, unsigned long* puiState, unsigned char* pucDio, float* pfPos )
01226 {
01227 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01228 return ERRID_DEV_WRONGDEVICEID;
01229 if( g_apclDevice[iDeviceId] == NULL )
01230 return ERRID_DEV_NOTINITIALIZED;
01231
01232 int iRetVal = g_apclDevice[iDeviceId]->getStateDioPos( iModuleId, puiState, pucDio, pfPos);
01233
01234 return iRetVal;
01235 }
01236
01237 M5DLL_API int WINAPI PCube_getHomeVel( int iDeviceId, int iModuleId, float* pValue )
01238 {
01239 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01240 return ERRID_DEV_WRONGDEVICEID;
01241 if( g_apclDevice[iDeviceId] == NULL )
01242 return ERRID_DEV_NOTINITIALIZED;
01243
01244 int iRetVal = g_apclDevice[iDeviceId]->getHomeVel( iModuleId, pValue );
01245
01246 return iRetVal;
01247 }
01248
01249 M5DLL_API int WINAPI PCube_getHomeVelInc( int iDeviceId, int iModuleId, long* piValue )
01250 {
01251 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01252 return ERRID_DEV_WRONGDEVICEID;
01253 if( g_apclDevice[iDeviceId] == NULL )
01254 return ERRID_DEV_NOTINITIALIZED;
01255
01256 int iRetVal = g_apclDevice[iDeviceId]->getHomeVelInc( iModuleId, piValue );
01257
01258 return iRetVal;
01259 }
01260
01261 M5DLL_API int WINAPI PCube_getSyncTime( int iDeviceId, int iModuleId, short* piValue )
01262 {
01263 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01264 return ERRID_DEV_WRONGDEVICEID;
01265 if( g_apclDevice[iDeviceId] == NULL )
01266 return ERRID_DEV_NOTINITIALIZED;
01267
01268 int iRetVal = g_apclDevice[iDeviceId]->getSyncTime( iModuleId, piValue );
01269
01270 return iRetVal;
01271 }
01272
01273 M5DLL_API int WINAPI PCube_setConfig( int iDeviceId, int iModuleId, unsigned long puiValue )
01274 {
01275 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01276 return ERRID_DEV_WRONGDEVICEID;
01277 if( g_apclDevice[iDeviceId] == NULL )
01278 return ERRID_DEV_NOTINITIALIZED;
01279
01280 int iRetVal = g_apclDevice[iDeviceId]->setConfig( iModuleId, puiValue );
01281
01282 return iRetVal;
01283 }
01284
01285 M5DLL_API int WINAPI PCube_setHomeOffset( int iDeviceId, int iModuleId, float fValue )
01286 {
01287 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01288 return ERRID_DEV_WRONGDEVICEID;
01289 if( g_apclDevice[iDeviceId] == NULL )
01290 return ERRID_DEV_NOTINITIALIZED;
01291
01292 int iRetVal = g_apclDevice[iDeviceId]->setHomeOffset( iModuleId, fValue );
01293
01294 return iRetVal;
01295 }
01296
01297 M5DLL_API int WINAPI PCube_setHomeOffsetInc( int iDeviceId, int iModuleId, long iValue )
01298 {
01299 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01300 return ERRID_DEV_WRONGDEVICEID;
01301 if( g_apclDevice[iDeviceId] == NULL )
01302 return ERRID_DEV_NOTINITIALIZED;
01303
01304 int iRetVal = g_apclDevice[iDeviceId]->setHomeOffsetInc( iModuleId, iValue );
01305
01306 return iRetVal;
01307 }
01308
01309 M5DLL_API int WINAPI PCube_setDioData( int iDeviceId, int iModuleId, unsigned long uiValue )
01310 {
01311 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01312 return ERRID_DEV_WRONGDEVICEID;
01313 if( g_apclDevice[iDeviceId] == NULL )
01314 return ERRID_DEV_NOTINITIALIZED;
01315
01316 int iRetVal = g_apclDevice[iDeviceId]->setDioData( iModuleId, uiValue );
01317
01318 return iRetVal;
01319 }
01320
01321 M5DLL_API int WINAPI PCube_setA0( int iDeviceId, int iModuleId, short iValue )
01322 {
01323 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01324 return ERRID_DEV_WRONGDEVICEID;
01325 if( g_apclDevice[iDeviceId] == NULL )
01326 return ERRID_DEV_NOTINITIALIZED;
01327
01328 int iRetVal = g_apclDevice[iDeviceId]->setA0( iModuleId, iValue );
01329
01330 return iRetVal;
01331 }
01332
01333 M5DLL_API int WINAPI PCube_setC0( int iDeviceId, int iModuleId, short iValue )
01334 {
01335 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01336 return ERRID_DEV_WRONGDEVICEID;
01337 if( g_apclDevice[iDeviceId] == NULL )
01338 return ERRID_DEV_NOTINITIALIZED;
01339
01340 int iRetVal = g_apclDevice[iDeviceId]->setC0( iModuleId, iValue );
01341
01342 return iRetVal;
01343 }
01344
01345 M5DLL_API int WINAPI PCube_setDamp( int iDeviceId, int iModuleId, short iValue )
01346 {
01347 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01348 return ERRID_DEV_WRONGDEVICEID;
01349 if( g_apclDevice[iDeviceId] == NULL )
01350 return ERRID_DEV_NOTINITIALIZED;
01351
01352 int iRetVal = g_apclDevice[iDeviceId]->setDamp( iModuleId, iValue );
01353
01354 return iRetVal;
01355 }
01356
01357 M5DLL_API int WINAPI PCube_setMinPos( int iDeviceId, int iModuleId, float fValue )
01358 {
01359 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01360 return ERRID_DEV_WRONGDEVICEID;
01361 if( g_apclDevice[iDeviceId] == NULL )
01362 return ERRID_DEV_NOTINITIALIZED;
01363
01364 int iRetVal = g_apclDevice[iDeviceId]->setMinPos( iModuleId, fValue );
01365
01366 return iRetVal;
01367 }
01368
01369 M5DLL_API int WINAPI PCube_setMaxPos( int iDeviceId, int iModuleId, float fValue )
01370 {
01371 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01372 return ERRID_DEV_WRONGDEVICEID;
01373 if( g_apclDevice[iDeviceId] == NULL )
01374 return ERRID_DEV_NOTINITIALIZED;
01375
01376 int iRetVal = g_apclDevice[iDeviceId]->setMaxPos( iModuleId, fValue );
01377
01378 return iRetVal;
01379 }
01380
01381 M5DLL_API int WINAPI PCube_setMaxVel( int iDeviceId, int iModuleId, float fValue )
01382 {
01383 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01384 return ERRID_DEV_WRONGDEVICEID;
01385 if( g_apclDevice[iDeviceId] == NULL )
01386 return ERRID_DEV_NOTINITIALIZED;
01387
01388 int iRetVal = g_apclDevice[iDeviceId]->setMaxVel( iModuleId, fValue );
01389
01390 return iRetVal;
01391 }
01392
01393 M5DLL_API int WINAPI PCube_setMaxAcc( int iDeviceId, int iModuleId, float fValue )
01394 {
01395 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01396 return ERRID_DEV_WRONGDEVICEID;
01397 if( g_apclDevice[iDeviceId] == NULL )
01398 return ERRID_DEV_NOTINITIALIZED;
01399
01400 int iRetVal = g_apclDevice[iDeviceId]->setMaxAcc( iModuleId, fValue );
01401
01402 return iRetVal;
01403 }
01404
01405 M5DLL_API int WINAPI PCube_setMaxCur( int iDeviceId, int iModuleId, float fValue )
01406 {
01407 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01408 return ERRID_DEV_WRONGDEVICEID;
01409 if( g_apclDevice[iDeviceId] == NULL )
01410 return ERRID_DEV_NOTINITIALIZED;
01411
01412 int iRetVal = g_apclDevice[iDeviceId]->setMaxCur( iModuleId, fValue );
01413
01414 return iRetVal;
01415 }
01416
01417 M5DLL_API int WINAPI PCube_setMaxDeltaPos( int iDeviceId, int iModuleId, float fValue )
01418 {
01419 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01420 return ERRID_DEV_WRONGDEVICEID;
01421 if( g_apclDevice[iDeviceId] == NULL )
01422 return ERRID_DEV_NOTINITIALIZED;
01423
01424 int iRetVal = g_apclDevice[iDeviceId]->setMaxDeltaPos( iModuleId, fValue );
01425
01426 return iRetVal;
01427 }
01428
01429 M5DLL_API int WINAPI PCube_setMinPosInc( int iDeviceId, int iModuleId, long iValue )
01430 {
01431 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01432 return ERRID_DEV_WRONGDEVICEID;
01433 if( g_apclDevice[iDeviceId] == NULL )
01434 return ERRID_DEV_NOTINITIALIZED;
01435
01436 int iRetVal = g_apclDevice[iDeviceId]->setMinPosInc( iModuleId, iValue );
01437
01438 return iRetVal;
01439 }
01440
01441 M5DLL_API int WINAPI PCube_setMaxPosInc( int iDeviceId, int iModuleId, long iValue )
01442 {
01443 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01444 return ERRID_DEV_WRONGDEVICEID;
01445 if( g_apclDevice[iDeviceId] == NULL )
01446 return ERRID_DEV_NOTINITIALIZED;
01447
01448 int iRetVal = g_apclDevice[iDeviceId]->setMaxPosInc( iModuleId, iValue );
01449
01450 return iRetVal;
01451 }
01452
01453 M5DLL_API int WINAPI PCube_setMaxVelInc( int iDeviceId, int iModuleId, long iValue )
01454 {
01455 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01456 return ERRID_DEV_WRONGDEVICEID;
01457 if( g_apclDevice[iDeviceId] == NULL )
01458 return ERRID_DEV_NOTINITIALIZED;
01459
01460 int iRetVal = g_apclDevice[iDeviceId]->setMaxVelInc( iModuleId, iValue );
01461
01462 return iRetVal;
01463 }
01464
01465 M5DLL_API int WINAPI PCube_setMaxAccInc( int iDeviceId, int iModuleId, long iValue )
01466 {
01467 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01468 return ERRID_DEV_WRONGDEVICEID;
01469 if( g_apclDevice[iDeviceId] == NULL )
01470 return ERRID_DEV_NOTINITIALIZED;
01471
01472 int iRetVal = g_apclDevice[iDeviceId]->setMaxAccInc( iModuleId, iValue );
01473
01474 return iRetVal;
01475 }
01476
01477 M5DLL_API int WINAPI PCube_setMaxDeltaPosInc( int iDeviceId, int iModuleId, long iValue )
01478 {
01479 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01480 return ERRID_DEV_WRONGDEVICEID;
01481 if( g_apclDevice[iDeviceId] == NULL )
01482 return ERRID_DEV_NOTINITIALIZED;
01483
01484 int iRetVal = g_apclDevice[iDeviceId]->setMaxDeltaPosInc( iModuleId, iValue );
01485
01486 return iRetVal;
01487 }
01488
01489 M5DLL_API int WINAPI PCube_setHomeVel( int iDeviceId, int iModuleId, float fValue )
01490 {
01491 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01492 return ERRID_DEV_WRONGDEVICEID;
01493 if( g_apclDevice[iDeviceId] == NULL )
01494 return ERRID_DEV_NOTINITIALIZED;
01495
01496 int iRetVal = g_apclDevice[iDeviceId]->setHomeVel( iModuleId, fValue );
01497
01498 return iRetVal;
01499 }
01500
01501 M5DLL_API int WINAPI PCube_setHomeVelInc( int iDeviceId, int iModuleId, long iValue )
01502 {
01503 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01504 return ERRID_DEV_WRONGDEVICEID;
01505 if( g_apclDevice[iDeviceId] == NULL )
01506 return ERRID_DEV_NOTINITIALIZED;
01507
01508 int iRetVal = g_apclDevice[iDeviceId]->setHomeVelInc( iModuleId, iValue );
01509
01510 return iRetVal;
01511 }
01512
01513 M5DLL_API int WINAPI PCube_setRampVel( int iDeviceId, int iModuleId, float fValue )
01514 {
01515 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01516 return ERRID_DEV_WRONGDEVICEID;
01517 if( g_apclDevice[iDeviceId] == NULL )
01518 return ERRID_DEV_NOTINITIALIZED;
01519
01520 int iRetVal = g_apclDevice[iDeviceId]->setRampVel( iModuleId, fValue );
01521
01522 return iRetVal;
01523 }
01524
01525 M5DLL_API int WINAPI PCube_setRampVelInc( int iDeviceId, int iModuleId, long iValue )
01526 {
01527 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01528 return ERRID_DEV_WRONGDEVICEID;
01529 if( g_apclDevice[iDeviceId] == NULL )
01530 return ERRID_DEV_NOTINITIALIZED;
01531
01532 int iRetVal = g_apclDevice[iDeviceId]->setRampVelInc( iModuleId, iValue );
01533
01534 return iRetVal;
01535 }
01536
01537 M5DLL_API int WINAPI PCube_setRampAcc( int iDeviceId, int iModuleId, float fValue )
01538 {
01539 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01540 return ERRID_DEV_WRONGDEVICEID;
01541 if( g_apclDevice[iDeviceId] == NULL )
01542 return ERRID_DEV_NOTINITIALIZED;
01543
01544 int iRetVal = g_apclDevice[iDeviceId]->setRampAcc( iModuleId, fValue );
01545
01546 return iRetVal;
01547 }
01548
01549 M5DLL_API int WINAPI PCube_setRampAccInc( int iDeviceId, int iModuleId, long iValue )
01550 {
01551 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01552 return ERRID_DEV_WRONGDEVICEID;
01553 if( g_apclDevice[iDeviceId] == NULL )
01554 return ERRID_DEV_NOTINITIALIZED;
01555
01556 int iRetVal = g_apclDevice[iDeviceId]->setRampAccInc( iModuleId, iValue );
01557
01558 return iRetVal;
01559 }
01560
01561 M5DLL_API int WINAPI PCube_setSyncTime( int iDeviceId, int iModuleId, short iValue )
01562 {
01563 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01564 return ERRID_DEV_WRONGDEVICEID;
01565 if( g_apclDevice[iDeviceId] == NULL )
01566 return ERRID_DEV_NOTINITIALIZED;
01567
01568 int iRetVal = g_apclDevice[iDeviceId]->setSyncTime( iModuleId, iValue );
01569
01570 return iRetVal;
01571 }
01572
01573 M5DLL_API int WINAPI PCube_updateModuleIdMap( int iDeviceId )
01574 {
01575 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01576 return ERRID_DEV_WRONGDEVICEID;
01577 if( g_apclDevice[iDeviceId] == NULL )
01578 return ERRID_DEV_NOTINITIALIZED;
01579
01580 int iRetVal = g_apclDevice[iDeviceId]->updateModuleIdMap();
01581
01582 return iRetVal;
01583 }
01584
01585 M5DLL_API int WINAPI PCube_homeModule( int iDeviceId, int iModuleId )
01586 {
01587 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01588 return ERRID_DEV_WRONGDEVICEID;
01589 if( g_apclDevice[iDeviceId] == NULL )
01590 return ERRID_DEV_NOTINITIALIZED;
01591
01592 int iRetVal = g_apclDevice[iDeviceId]->homeModule( iModuleId );
01593
01594 return iRetVal;
01595 }
01596
01597 M5DLL_API int WINAPI PCube_haltModule( int iDeviceId, int iModuleId )
01598 {
01599 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01600 return ERRID_DEV_WRONGDEVICEID;
01601 if( g_apclDevice[iDeviceId] == NULL )
01602 return ERRID_DEV_NOTINITIALIZED;
01603
01604 int iRetVal = g_apclDevice[iDeviceId]->haltModule( iModuleId );
01605
01606 return iRetVal;
01607 }
01608
01609 M5DLL_API int WINAPI PCube_resetModule( int iDeviceId, int iModuleId )
01610 {
01611 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01612 return ERRID_DEV_WRONGDEVICEID;
01613 if( g_apclDevice[iDeviceId] == NULL )
01614 return ERRID_DEV_NOTINITIALIZED;
01615
01616 int iRetVal = g_apclDevice[iDeviceId]->resetModule( iModuleId );
01617
01618 return iRetVal;
01619 }
01620
01621 M5DLL_API int WINAPI PCube_recalcPIDParams( int iDeviceId, int iModuleId )
01622 {
01623 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01624 return ERRID_DEV_WRONGDEVICEID;
01625 if( g_apclDevice[iDeviceId] == NULL )
01626 return ERRID_DEV_NOTINITIALIZED;
01627
01628 int iRetVal = g_apclDevice[iDeviceId]->recalcPIDParams( iModuleId );
01629
01630 return iRetVal;
01631 }
01632
01633 M5DLL_API int WINAPI PCube_movePos( int iDeviceId, int iModuleId, float fPos )
01634 {
01635 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01636 return ERRID_DEV_WRONGDEVICEID;
01637 if( g_apclDevice[iDeviceId] == NULL )
01638 return ERRID_DEV_NOTINITIALIZED;
01639
01640 int iRetVal = g_apclDevice[iDeviceId]->movePos( iModuleId, fPos );
01641
01642 return iRetVal;
01643 }
01644
01645 M5DLL_API int WINAPI PCube_moveRamp( int iDeviceId, int iModuleId, float fPos, float fVel, float fAcc )
01646 {
01647 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01648 return ERRID_DEV_WRONGDEVICEID;
01649 if( g_apclDevice[iDeviceId] == NULL )
01650 return ERRID_DEV_NOTINITIALIZED;
01651
01652 int iRetVal = g_apclDevice[iDeviceId]->moveRamp( iModuleId, fPos, fVel, fAcc );
01653
01654 return iRetVal;
01655 }
01656
01657 M5DLL_API int WINAPI PCube_moveVel( int iDeviceId, int iModuleId, float fVel )
01658 {
01659 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01660 return ERRID_DEV_WRONGDEVICEID;
01661 if( g_apclDevice[iDeviceId] == NULL )
01662 return ERRID_DEV_NOTINITIALIZED;
01663
01664 int iRetVal = g_apclDevice[iDeviceId]->moveVel( iModuleId, fVel );
01665
01666 return iRetVal;
01667 }
01668
01669 M5DLL_API int WINAPI PCube_moveCur( int iDeviceId, int iModuleId, float fCur )
01670 {
01671 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01672 return ERRID_DEV_WRONGDEVICEID;
01673 if( g_apclDevice[iDeviceId] == NULL )
01674 return ERRID_DEV_NOTINITIALIZED;
01675
01676 int iRetVal = g_apclDevice[iDeviceId]->moveCur( iModuleId, fCur );
01677
01678 return iRetVal;
01679 }
01680
01681 M5DLL_API int WINAPI PCube_moveStep( int iDeviceId, int iModuleId, float fPos, unsigned short uiTime )
01682 {
01683 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01684 return ERRID_DEV_WRONGDEVICEID;
01685 if( g_apclDevice[iDeviceId] == NULL )
01686 return ERRID_DEV_NOTINITIALIZED;
01687
01688 int iRetVal = g_apclDevice[iDeviceId]->moveStep( iModuleId, fPos, uiTime );
01689
01690 return iRetVal;
01691 }
01692
01693 M5DLL_API int WINAPI PCube_movePosInc( int iDeviceId, int iModuleId, long iPos )
01694 {
01695 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01696 return ERRID_DEV_WRONGDEVICEID;
01697 if( g_apclDevice[iDeviceId] == NULL )
01698 return ERRID_DEV_NOTINITIALIZED;
01699
01700 int iRetVal = g_apclDevice[iDeviceId]->movePosInc( iModuleId, iPos );
01701
01702 return iRetVal;
01703 }
01704
01705 M5DLL_API int WINAPI PCube_moveRampInc( int iDeviceId, int iModuleId, long iPos, long iVel, long iAcc )
01706 {
01707 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01708 return ERRID_DEV_WRONGDEVICEID;
01709 if( g_apclDevice[iDeviceId] == NULL )
01710 return ERRID_DEV_NOTINITIALIZED;
01711
01712 int iRetVal = g_apclDevice[iDeviceId]->moveRampInc( iModuleId, iPos, iVel, iAcc );
01713
01714 return iRetVal;
01715 }
01716
01717 M5DLL_API int WINAPI PCube_moveVelInc( int iDeviceId, int iModuleId, long iVel )
01718 {
01719 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01720 return ERRID_DEV_WRONGDEVICEID;
01721 if( g_apclDevice[iDeviceId] == NULL )
01722 return ERRID_DEV_NOTINITIALIZED;
01723
01724 int iRetVal = g_apclDevice[iDeviceId]->moveVelInc( iModuleId, iVel );
01725
01726 return iRetVal;
01727 }
01728
01729 M5DLL_API int WINAPI PCube_moveCurInc( int iDeviceId, int iModuleId, long iCur )
01730 {
01731 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01732 return ERRID_DEV_WRONGDEVICEID;
01733 if( g_apclDevice[iDeviceId] == NULL )
01734 return ERRID_DEV_NOTINITIALIZED;
01735
01736 int iRetVal = g_apclDevice[iDeviceId]->moveCurInc( iModuleId, iCur );
01737
01738 return iRetVal;
01739 }
01740
01741 M5DLL_API int WINAPI PCube_moveStepInc( int iDeviceId, int iModuleId, long iPos, unsigned short uiTime )
01742 {
01743 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01744 return ERRID_DEV_WRONGDEVICEID;
01745 if( g_apclDevice[iDeviceId] == NULL )
01746 return ERRID_DEV_NOTINITIALIZED;
01747
01748 int iRetVal = g_apclDevice[iDeviceId]->moveStepInc( iModuleId, iPos, uiTime );
01749
01750 return iRetVal;
01751 }
01752
01753 M5DLL_API int WINAPI PCube_movePosExtended( int iDeviceId, int iModuleId, float fPos, unsigned long* puiState, unsigned char* pucDio, float* pfPos )
01754 {
01755 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01756 return ERRID_DEV_WRONGDEVICEID;
01757 if( g_apclDevice[iDeviceId] == NULL )
01758 return ERRID_DEV_NOTINITIALIZED;
01759
01760 int iRetVal = g_apclDevice[iDeviceId]->movePosExtended( iModuleId, fPos, puiState, pucDio, pfPos );
01761
01762 return iRetVal;
01763 }
01764
01765 M5DLL_API int WINAPI PCube_moveRampExtended( int iDeviceId, int iModuleId, float fPos, float fVel, float fAcc, unsigned long* puiState, unsigned char* pucDio, float* pfPos )
01766 {
01767 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01768 return ERRID_DEV_WRONGDEVICEID;
01769 if( g_apclDevice[iDeviceId] == NULL )
01770 return ERRID_DEV_NOTINITIALIZED;
01771
01772 int iRetVal = g_apclDevice[iDeviceId]->moveRampExtended( iModuleId, fPos, fVel, fAcc, puiState, pucDio, pfPos );
01773
01774 return iRetVal;
01775 }
01776
01777 M5DLL_API int WINAPI PCube_moveVelExtended( int iDeviceId, int iModuleId, float fCur, unsigned long* puiState, unsigned char* pucDio, float* pfPos )
01778 {
01779 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01780 return ERRID_DEV_WRONGDEVICEID;
01781 if( g_apclDevice[iDeviceId] == NULL )
01782 return ERRID_DEV_NOTINITIALIZED;
01783
01784 int iRetVal = g_apclDevice[iDeviceId]->moveVelExtended( iModuleId, fCur, puiState, pucDio, pfPos );
01785
01786 return iRetVal;
01787 }
01788
01789 M5DLL_API int WINAPI PCube_moveCurExtended( int iDeviceId, int iModuleId, float fCur, unsigned long* puiState, unsigned char* pucDio, float* pfPos )
01790 {
01791 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01792 return ERRID_DEV_WRONGDEVICEID;
01793 if( g_apclDevice[iDeviceId] == NULL )
01794 return ERRID_DEV_NOTINITIALIZED;
01795
01796 int iRetVal = g_apclDevice[iDeviceId]->moveCurExtended( iModuleId, fCur, puiState, pucDio, pfPos );
01797
01798 return iRetVal;
01799 }
01800
01801 M5DLL_API int WINAPI PCube_moveStepExtended( int iDeviceId, int iModuleId, float fPos, unsigned short uiTime, unsigned long* puiState, unsigned char* pucDio, float* pfPos )
01802 {
01803 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01804 return ERRID_DEV_WRONGDEVICEID;
01805 if( g_apclDevice[iDeviceId] == NULL )
01806 return ERRID_DEV_NOTINITIALIZED;
01807
01808 int iRetVal = g_apclDevice[iDeviceId]->moveStepExtended( iModuleId, fPos, uiTime, puiState, pucDio, pfPos );
01809
01810 return iRetVal;
01811 }
01812
01813 M5DLL_API int WINAPI PCube_homeAll( int iDeviceId )
01814 {
01815 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01816 return ERRID_DEV_WRONGDEVICEID;
01817 if( g_apclDevice[iDeviceId] == NULL )
01818 return ERRID_DEV_NOTINITIALIZED;
01819
01820 int iRetVal = g_apclDevice[iDeviceId]->homeAll();
01821
01822 return iRetVal;
01823 }
01824
01825 M5DLL_API int WINAPI PCube_resetAll( int iDeviceId )
01826 {
01827 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01828 return ERRID_DEV_WRONGDEVICEID;
01829 if( g_apclDevice[iDeviceId] == NULL )
01830 return ERRID_DEV_NOTINITIALIZED;
01831
01832 int iRetVal = g_apclDevice[iDeviceId]->resetAll();
01833
01834 return iRetVal;
01835 }
01836
01837 M5DLL_API int WINAPI PCube_haltAll( int iDeviceId )
01838 {
01839 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01840 return ERRID_DEV_WRONGDEVICEID;
01841 if( g_apclDevice[iDeviceId] == NULL )
01842 return ERRID_DEV_NOTINITIALIZED;
01843
01844 int iRetVal = g_apclDevice[iDeviceId]->haltAll();
01845
01846 return iRetVal;
01847 }
01848
01849 M5DLL_API int WINAPI PCube_serveWatchdogAll( int iDeviceId )
01850 {
01851 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01852 return ERRID_DEV_WRONGDEVICEID;
01853 if( g_apclDevice[iDeviceId] == NULL )
01854 return ERRID_DEV_NOTINITIALIZED;
01855
01856 int iRetVal = g_apclDevice[iDeviceId]->serveWatchdogAll();
01857
01858 return iRetVal;
01859 }
01860
01861 M5DLL_API int WINAPI PCube_setBaudRateAll( int iDeviceId, unsigned char ucValue )
01862 {
01863 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01864 return ERRID_DEV_WRONGDEVICEID;
01865 if( g_apclDevice[iDeviceId] == NULL )
01866 return ERRID_DEV_NOTINITIALIZED;
01867
01868 int iRetVal = g_apclDevice[iDeviceId]->setBaudRateAll(ucValue);
01869
01870 return iRetVal;
01871 }
01872
01873 M5DLL_API int WINAPI PCube_startMotionAll( int iDeviceId )
01874 {
01875 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01876 return ERRID_DEV_WRONGDEVICEID;
01877 if( g_apclDevice[iDeviceId] == NULL )
01878 return ERRID_DEV_NOTINITIALIZED;
01879
01880 int iRetVal = g_apclDevice[iDeviceId]->startMotionAll();
01881
01882 return iRetVal;
01883 }
01884
01885 M5DLL_API int WINAPI PCube_savePosAll( int iDeviceId )
01886 {
01887 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01888 return ERRID_DEV_WRONGDEVICEID;
01889 if( g_apclDevice[iDeviceId] == NULL )
01890 return ERRID_DEV_NOTINITIALIZED;
01891
01892 int iRetVal = g_apclDevice[iDeviceId]->savePosAll();
01893
01894 return iRetVal;
01895 }
01896
01897 M5DLL_API int WINAPI PCube_waitForHomeEnd( int iDeviceId, int iModuleId, unsigned long uiTime )
01898 {
01899 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01900 return ERRID_DEV_WRONGDEVICEID;
01901 if( g_apclDevice[iDeviceId] == NULL )
01902 return ERRID_DEV_NOTINITIALIZED;
01903
01904 int iRetVal = g_apclDevice[iDeviceId]->waitForHomeEnd( iModuleId, uiTime );
01905
01906 return iRetVal;
01907 }
01908
01909 M5DLL_API int WINAPI PCube_waitForMotionEnd( int iDeviceId, int iModuleId, unsigned long uiTime )
01910 {
01911 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01912 return ERRID_DEV_WRONGDEVICEID;
01913 if( g_apclDevice[iDeviceId] == NULL )
01914 return ERRID_DEV_NOTINITIALIZED;
01915
01916 int iRetVal = g_apclDevice[iDeviceId]->waitForMotionEnd( iModuleId, uiTime );
01917
01918 return iRetVal;
01919 }
01920
01921 M5DLL_API int WINAPI PCube_waitForRampEnd( int iDeviceId, int iModuleId, unsigned long uiTime )
01922 {
01923 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01924 return ERRID_DEV_WRONGDEVICEID;
01925 if( g_apclDevice[iDeviceId] == NULL )
01926 return ERRID_DEV_NOTINITIALIZED;
01927
01928 int iRetVal = g_apclDevice[iDeviceId]->waitForRampEnd( iModuleId, uiTime );
01929
01930 return iRetVal;
01931 }
01932
01933 M5DLL_API int WINAPI PCube_waitForRampDec( int iDeviceId, int iModuleId, unsigned long uiTime )
01934 {
01935 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01936 return ERRID_DEV_WRONGDEVICEID;
01937 if( g_apclDevice[iDeviceId] == NULL )
01938 return ERRID_DEV_NOTINITIALIZED;
01939
01940 int iRetVal = g_apclDevice[iDeviceId]->waitForRampDec( iModuleId, uiTime );
01941
01942 return iRetVal;
01943 }
01944
01945 M5DLL_API int WINAPI PCube_waitForRampSteady( int iDeviceId, int iModuleId, unsigned long uiTime )
01946 {
01947 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01948 return ERRID_DEV_WRONGDEVICEID;
01949 if( g_apclDevice[iDeviceId] == NULL )
01950 return ERRID_DEV_NOTINITIALIZED;
01951
01952 int iRetVal = g_apclDevice[iDeviceId]->waitForRampSteady( iModuleId, uiTime );
01953
01954 return iRetVal;
01955 }
01956
01957 M5DLL_API int WINAPI PCube_waitForHomeEndAll( int iDeviceId, unsigned long uiTime )
01958 {
01959 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01960 return ERRID_DEV_WRONGDEVICEID;
01961 if( g_apclDevice[iDeviceId] == NULL )
01962 return ERRID_DEV_NOTINITIALIZED;
01963
01964 int iRetVal = g_apclDevice[iDeviceId]->waitForHomeEndAll( uiTime );
01965
01966 return iRetVal;
01967 }
01968
01969 M5DLL_API int WINAPI PCube_waitForMotionEndAll( int iDeviceId, unsigned long uiTime )
01970 {
01971 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01972 return ERRID_DEV_WRONGDEVICEID;
01973 if( g_apclDevice[iDeviceId] == NULL )
01974 return ERRID_DEV_NOTINITIALIZED;
01975
01976 int iRetVal = g_apclDevice[iDeviceId]->waitForMotionEndAll( uiTime );
01977
01978 return iRetVal;
01979 }
01980
01981 M5DLL_API int WINAPI PCube_waitForRampEndAll( int iDeviceId, unsigned long uiTime )
01982 {
01983 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01984 return ERRID_DEV_WRONGDEVICEID;
01985 if( g_apclDevice[iDeviceId] == NULL )
01986 return ERRID_DEV_NOTINITIALIZED;
01987
01988 int iRetVal = g_apclDevice[iDeviceId]->waitForRampEndAll( uiTime );
01989
01990 return iRetVal;
01991 }
01992
01993 M5DLL_API int WINAPI PCube_waitForStartMotionAll( int iDeviceId )
01994 {
01995 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
01996 return ERRID_DEV_WRONGDEVICEID;
01997 if( g_apclDevice[iDeviceId] == NULL )
01998 return ERRID_DEV_NOTINITIALIZED;
01999
02000 int iRetVal = g_apclDevice[iDeviceId]->waitForStartMotionAll();
02001
02002 return iRetVal;
02003 }
02004
02005 M5DLL_API int WINAPI PCube_xmit8Bytes( int iDeviceId, int iModuleId, void* pBytes )
02006 {
02007 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02008 return ERRID_DEV_WRONGDEVICEID;
02009 if( g_apclDevice[iDeviceId] == NULL )
02010 return ERRID_DEV_NOTINITIALIZED;
02011
02012 int iRetVal = g_apclDevice[iDeviceId]->xmit8Bytes( iModuleId, pBytes );
02013
02014 return iRetVal;
02015 }
02016
02017 M5DLL_API int WINAPI PCube_xack8Bytes( int iDeviceId, int iModuleId, void* pBytes )
02018 {
02019 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02020 return ERRID_DEV_WRONGDEVICEID;
02021 if( g_apclDevice[iDeviceId] == NULL )
02022 return ERRID_DEV_NOTINITIALIZED;
02023
02024 int iRetVal = g_apclDevice[iDeviceId]->xack8Bytes( iModuleId, pBytes );
02025
02026 return iRetVal;
02027 }
02028
02029 M5DLL_API int WINAPI PCube_doInternal( int iDeviceId, int iModuleId, void* pBytes )
02030 {
02031 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02032 return ERRID_DEV_WRONGDEVICEID;
02033 if( g_apclDevice[iDeviceId] == NULL )
02034 return ERRID_DEV_NOTINITIALIZED;
02035
02036 int iRetVal = g_apclDevice[iDeviceId]->doInternal( iModuleId, pBytes );
02037
02038 return iRetVal;
02039 }
02040
02041 M5DLL_API int WINAPI PCube_getStateInternal( int iDeviceId, int iModuleId, unsigned long* pStat )
02042 {
02043 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02044 return ERRID_DEV_WRONGDEVICEID;
02045 if( g_apclDevice[iDeviceId] == NULL )
02046 return ERRID_DEV_NOTINITIALIZED;
02047
02048 int iRetVal = g_apclDevice[iDeviceId]->getStateInternal( iModuleId, pStat );
02049
02050 return iRetVal;
02051 }
02052
02053 M5DLL_API int WINAPI PCube_initDLR_FTS( int iDeviceId )
02054 {
02055 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02056 return ERRID_DEV_WRONGDEVICEID;
02057 if( g_apclDevice[iDeviceId] == NULL )
02058 return ERRID_DEV_NOTINITIALIZED;
02059
02060 int iRetVal = g_apclDevice[iDeviceId]->initDLR_FTS();
02061
02062 return iRetVal;
02063 }
02064
02065 M5DLL_API int WINAPI PCube_getDataDLR_FTS( int iDeviceId, float* fVal0, float* fVal1, float* fVal2, float* fVal3, float* fVal4, float* fVal5, long* piState )
02066 {
02067 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02068 return ERRID_DEV_WRONGDEVICEID;
02069 if( g_apclDevice[iDeviceId] == NULL )
02070 return ERRID_DEV_NOTINITIALIZED;
02071
02072 static std::vector<float> afVector;
02073 int iRetVal = g_apclDevice[iDeviceId]->getDataDLR_FTS( afVector, piState );
02074 *fVal0 = afVector[0];
02075 *fVal1 = afVector[1];
02076 *fVal2 = afVector[2];
02077 *fVal3 = afVector[3];
02078 *fVal4 = afVector[4];
02079 *fVal5 = afVector[5];
02080
02081 return iRetVal;
02082 }
02083
02084 M5DLL_API int WINAPI PCube_getDataSCHUNK_FTC( int iDeviceId, int iModulId, int iChannelTypeId, float* fVal0, float* fVal1, float* fVal2, float* fVal3, float* fVal4, float* fVal5, short* piState )
02085 {
02086 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02087 return ERRID_DEV_WRONGDEVICEID;
02088 if( g_apclDevice[iDeviceId] == NULL )
02089 return ERRID_DEV_NOTINITIALIZED;
02090
02091 static std::vector<float> afVector;
02092 int iRetVal = g_apclDevice[iDeviceId]->getDataSCHUNK_FTC( iModulId, iChannelTypeId, afVector, piState );
02093 *fVal0 = afVector[0];
02094 *fVal1 = afVector[1];
02095 *fVal2 = afVector[2];
02096 *fVal3 = afVector[3];
02097 *fVal4 = afVector[4];
02098 *fVal5 = afVector[5];
02099
02100 return iRetVal;
02101 }
02102
02103 M5DLL_API int WINAPI PCube_setNullSCHUNK_FTC( int iDeviceId, int iModulId, short* piState )
02104 {
02105 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02106 return ERRID_DEV_WRONGDEVICEID;
02107 if( g_apclDevice[iDeviceId] == NULL )
02108 return ERRID_DEV_NOTINITIALIZED;
02109
02110 int iRetVal = g_apclDevice[iDeviceId]->setNullSCHUNK_FTC( iModulId, piState );
02111
02112 return iRetVal;
02113 }
02114
02115 M5DLL_API int WINAPI PCube_initEMS_IO( int iDeviceId, unsigned char ucType, unsigned long uiSerialNo )
02116 {
02117 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02118 return ERRID_DEV_WRONGDEVICEID;
02119 if( g_apclDevice[iDeviceId] == NULL )
02120 return ERRID_DEV_NOTINITIALIZED;
02121
02122
02123
02124 return ERRID_DEV_WRONGDEVICEID;
02125 }
02126
02127 M5DLL_API int WINAPI PCube_getDataEMS_DIO( int iDeviceId, int iModuleId, int iChannelId, int* pData )
02128 {
02129 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02130 return ERRID_DEV_WRONGDEVICEID;
02131 if( g_apclDevice[iDeviceId] == NULL )
02132 return ERRID_DEV_NOTINITIALIZED;
02133
02134 bool bData = false;
02135
02136
02137
02138 return ERRID_DEV_WRONGDEVICEID;
02139 }
02140
02141 M5DLL_API int WINAPI PCube_setDataEMS_DIO( int iDeviceId, int iModuleId, int iChannelId, int iData )
02142 {
02143 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02144 return ERRID_DEV_WRONGDEVICEID;
02145 if( g_apclDevice[iDeviceId] == NULL )
02146 return ERRID_DEV_NOTINITIALIZED;
02147
02148 bool bData = (bool)iData;
02149
02150
02151 return ERRID_DEV_WRONGDEVICEID;
02152 }
02153
02154 M5DLL_API int WINAPI PCube_getDataEMS_AIO( int iDeviceId, int iModuleId, int iChannelId, float* pfData )
02155 {
02156 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02157 return ERRID_DEV_WRONGDEVICEID;
02158 if( g_apclDevice[iDeviceId] == NULL )
02159 return ERRID_DEV_NOTINITIALIZED;
02160
02161
02162
02163 return ERRID_DEV_WRONGDEVICEID;
02164 }
02165
02166 M5DLL_API int WINAPI PCube_setDataEMS_AIO( int iDeviceId, int iModuleId, int iChannelId, float fData )
02167 {
02168 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02169 return ERRID_DEV_WRONGDEVICEID;
02170 if( g_apclDevice[iDeviceId] == NULL )
02171 return ERRID_DEV_NOTINITIALIZED;
02172
02173
02174
02175 return ERRID_DEV_WRONGDEVICEID;
02176 }
02177
02178 M5DLL_API int WINAPI PCube_getDataMP55_IO( int iDeviceId, int iModuleId, float* pfData )
02179 {
02180 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02181 return ERRID_DEV_WRONGDEVICEID;
02182 if( g_apclDevice[iDeviceId] == NULL )
02183 return ERRID_DEV_NOTINITIALIZED;
02184
02185 int iRetVal = g_apclDevice[iDeviceId]->getDataMP55_IO( iModuleId, pfData );
02186
02187 return iRetVal;
02188 }
02189
02190 M5DLL_API int WINAPI PCube_setTaraMP55_IO( int iDeviceId, int iModuleId, float fData )
02191 {
02192 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02193 return ERRID_DEV_WRONGDEVICEID;
02194 if( g_apclDevice[iDeviceId] == NULL )
02195 return ERRID_DEV_NOTINITIALIZED;
02196
02197 int iRetVal = g_apclDevice[iDeviceId]->setTaraMP55_IO( iModuleId, fData );
02198
02199 return iRetVal;
02200 }
02201
02202 M5DLL_API int WINAPI PCube_getDefCurOffset( int iDeviceId, int iModuleId, float* pfValue )
02203 {
02204 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02205 return ERRID_DEV_WRONGDEVICEID;
02206 if( g_apclDevice[iDeviceId] == NULL )
02207 return ERRID_DEV_NOTINITIALIZED;
02208
02209 int iRetVal = g_apclDevice[iDeviceId]->getDefCurOffset( iModuleId, pfValue );
02210
02211 return iRetVal;
02212 }
02213
02214 M5DLL_API int WINAPI PCube_setInitMP55_IO_fast( int iDeviceId, int iModuleId )
02215 {
02216 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02217 return ERRID_DEV_WRONGDEVICEID;
02218 if( g_apclDevice[iDeviceId] == NULL )
02219 return ERRID_DEV_NOTINITIALIZED;
02220
02221 int iRetVal = g_apclDevice[iDeviceId]->setInitMP55_IO_fast( iModuleId );
02222
02223 return iRetVal;
02224 }
02225
02226 M5DLL_API int WINAPI PCube_getDataMP55_IO_fast( int iDeviceId, int iModuleId, float* pfData )
02227 {
02228 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02229 return ERRID_DEV_WRONGDEVICEID;
02230 if( g_apclDevice[iDeviceId] == NULL )
02231 return ERRID_DEV_NOTINITIALIZED;
02232
02233 int iRetVal = g_apclDevice[iDeviceId]->getDataMP55_IO_fast( iModuleId, pfData );
02234
02235 return iRetVal;
02236 }
02237
02238 M5DLL_API int WINAPI PCube_getRawMotorCurrent( int iDeviceId, int iModuleId, short* piValue )
02239 {
02240 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02241 return ERRID_DEV_WRONGDEVICEID;
02242 if( g_apclDevice[iDeviceId] == NULL )
02243 return ERRID_DEV_NOTINITIALIZED;
02244
02245 int iRetVal = g_apclDevice[iDeviceId]->getRawMotorCurrent( iModuleId, piValue );
02246
02247 return iRetVal;
02248 }
02249
02250 M5DLL_API int WINAPI PCube_getRawMotorSupply( int iDeviceId, int iModuleId, short* piValue )
02251 {
02252 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02253 return ERRID_DEV_WRONGDEVICEID;
02254 if( g_apclDevice[iDeviceId] == NULL )
02255 return ERRID_DEV_NOTINITIALIZED;
02256
02257 int iRetVal = g_apclDevice[iDeviceId]->getRawMotorSupply( iModuleId, piValue );
02258
02259 return iRetVal;
02260 }
02261
02262 M5DLL_API int WINAPI PCube_getRawTemperature( int iDeviceId, int iModuleId, short* piValue )
02263 {
02264 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02265 return ERRID_DEV_WRONGDEVICEID;
02266 if( g_apclDevice[iDeviceId] == NULL )
02267 return ERRID_DEV_NOTINITIALIZED;
02268
02269 int iRetVal = g_apclDevice[iDeviceId]->getRawTemperature( iModuleId, piValue );
02270
02271 return iRetVal;
02272 }
02273
02274 M5DLL_API int WINAPI PCube_getRawLogicSupply( int iDeviceId, int iModuleId, short* piValue )
02275 {
02276 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02277 return ERRID_DEV_WRONGDEVICEID;
02278 if( g_apclDevice[iDeviceId] == NULL )
02279 return ERRID_DEV_NOTINITIALIZED;
02280
02281 int iRetVal = g_apclDevice[iDeviceId]->getRawLogicSupply( iModuleId, piValue );
02282
02283 return iRetVal;
02284 }
02285
02286 M5DLL_API int WINAPI PCube_getCanOpenRawAbsEnc( int iDeviceId, int iModuleId, short* piValue )
02287 {
02288 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02289 return ERRID_DEV_WRONGDEVICEID;
02290 if( g_apclDevice[iDeviceId] == NULL )
02291 return ERRID_DEV_NOTINITIALIZED;
02292
02293 int iRetVal = g_apclDevice[iDeviceId]->getCanOpenRawAbsEnc( iModuleId, piValue );
02294
02295 return iRetVal;
02296 }
02297
02298 M5DLL_API int WINAPI PCube_getLoadLimit( int iDeviceId, int iModuleId, long* piValue)
02299 {
02300 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02301 return ERRID_DEV_WRONGDEVICEID;
02302 if( g_apclDevice[iDeviceId] == NULL )
02303 return ERRID_DEV_NOTINITIALIZED;
02304
02305 int iRetVal = g_apclDevice[iDeviceId]->getLoadLimit( iModuleId, piValue );
02306
02307 return iRetVal;
02308 }
02309
02310 M5DLL_API int WINAPI PCube_getMaxLoadGradient( int iDeviceId, int iModuleId, long* piValue)
02311 {
02312 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02313 return ERRID_DEV_WRONGDEVICEID;
02314 if( g_apclDevice[iDeviceId] == NULL )
02315 return ERRID_DEV_NOTINITIALIZED;
02316
02317 int iRetVal = g_apclDevice[iDeviceId]->getMaxLoadGradient( iModuleId, piValue );
02318
02319 return iRetVal;
02320 }
02321
02322 M5DLL_API int WINAPI PCube_getLoadDeltaTime( int iDeviceId, int iModuleId, unsigned short* piValue)
02323 {
02324 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02325 return ERRID_DEV_WRONGDEVICEID;
02326 if( g_apclDevice[iDeviceId] == NULL )
02327 return ERRID_DEV_NOTINITIALIZED;
02328
02329 int iRetVal = g_apclDevice[iDeviceId]->getLoadDeltaTime( iModuleId, piValue );
02330
02331 return iRetVal;
02332 }
02333
02334 M5DLL_API int WINAPI PCube_setLoadLimit( int iDeviceId, int iModuleId, long iValue)
02335 {
02336 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02337 return ERRID_DEV_WRONGDEVICEID;
02338 if( g_apclDevice[iDeviceId] == NULL )
02339 return ERRID_DEV_NOTINITIALIZED;
02340
02341 int iRetVal = g_apclDevice[iDeviceId]->setLoadLimit( iModuleId, iValue );
02342
02343 return iRetVal;
02344 }
02345
02346 M5DLL_API int WINAPI PCube_setMaxLoadGradient( int iDeviceId, int iModuleId, long iValue)
02347 {
02348 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02349 return ERRID_DEV_WRONGDEVICEID;
02350 if( g_apclDevice[iDeviceId] == NULL )
02351 return ERRID_DEV_NOTINITIALIZED;
02352
02353 int iRetVal = g_apclDevice[iDeviceId]->setMaxLoadGradient( iModuleId, iValue );
02354
02355 return iRetVal;
02356 }
02357
02358 M5DLL_API int WINAPI PCube_setLoadDeltaTime( int iDeviceId, int iModuleId, unsigned short iValue)
02359 {
02360 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02361 return ERRID_DEV_WRONGDEVICEID;
02362 if( g_apclDevice[iDeviceId] == NULL )
02363 return ERRID_DEV_NOTINITIALIZED;
02364
02365 int iRetVal = g_apclDevice[iDeviceId]->setLoadDeltaTime( iModuleId, iValue );
02366
02367 return iRetVal;
02368 }
02369
02370 M5DLL_API int WINAPI PCube_saveParameters( int iDeviceId, int iModuleId )
02371 {
02372 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02373 return ERRID_DEV_WRONGDEVICEID;
02374 if( g_apclDevice[iDeviceId] == NULL )
02375 return ERRID_DEV_NOTINITIALIZED;
02376
02377 int iRetVal = g_apclDevice[iDeviceId]->saveParameters( iModuleId );
02378
02379 return iRetVal;
02380 }
02381
02382 M5DLL_API int WINAPI PCube_getDefCANBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue )
02383 {
02384 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02385 return ERRID_DEV_WRONGDEVICEID;
02386 if( g_apclDevice[iDeviceId] == NULL )
02387 return ERRID_DEV_NOTINITIALIZED;
02388
02389 int iRetVal = g_apclDevice[iDeviceId]->getDefCANBaudRate( iModuleId, pucValue );
02390
02391 return iRetVal;
02392 }
02393
02394 M5DLL_API int WINAPI PCube_getDefRSBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue )
02395 {
02396 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02397 return ERRID_DEV_WRONGDEVICEID;
02398 if( g_apclDevice[iDeviceId] == NULL )
02399 return ERRID_DEV_NOTINITIALIZED;
02400
02401 int iRetVal = g_apclDevice[iDeviceId]->getDefRSBaudRate( iModuleId, pucValue );
02402
02403 return iRetVal;
02404 }
02405
02406 M5DLL_API int WINAPI PCube_setDefGearRatio( int iDeviceId, int iModuleId, float fValue )
02407 {
02408 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02409 return ERRID_DEV_WRONGDEVICEID;
02410 if( g_apclDevice[iDeviceId] == NULL )
02411 return ERRID_DEV_NOTINITIALIZED;
02412
02413 int iRetVal = g_apclDevice[iDeviceId]->setDefGearRatio( iModuleId, fValue );
02414
02415 return iRetVal;
02416 }
02417
02418 M5DLL_API int WINAPI PCube_setDefLinRatio( int iDeviceId, int iModuleId, float fValue )
02419 {
02420 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02421 return ERRID_DEV_WRONGDEVICEID;
02422 if( g_apclDevice[iDeviceId] == NULL )
02423 return ERRID_DEV_NOTINITIALIZED;
02424
02425 int iRetVal = g_apclDevice[iDeviceId]->setDefLinRatio( iModuleId, fValue );
02426
02427 return iRetVal;
02428 }
02429
02430 M5DLL_API int WINAPI PCube_setDefCurRatio( int iDeviceId, int iModuleId, float fValue )
02431 {
02432 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02433 return ERRID_DEV_WRONGDEVICEID;
02434 if( g_apclDevice[iDeviceId] == NULL )
02435 return ERRID_DEV_NOTINITIALIZED;
02436
02437 int iRetVal = g_apclDevice[iDeviceId]->setDefCurRatio( iModuleId, fValue );
02438
02439 return iRetVal;
02440 }
02441
02442 M5DLL_API int WINAPI PCube_setDefHomeAcc( int iDeviceId, int iModuleId, float fValue )
02443 {
02444 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02445 return ERRID_DEV_WRONGDEVICEID;
02446 if( g_apclDevice[iDeviceId] == NULL )
02447 return ERRID_DEV_NOTINITIALIZED;
02448
02449 int iRetVal = g_apclDevice[iDeviceId]->setDefHomeAcc( iModuleId, fValue );
02450
02451 return iRetVal;
02452 }
02453
02454 M5DLL_API int WINAPI PCube_setModuleSerialNo( int iDeviceId, int iModuleId, unsigned long uiValue )
02455 {
02456 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02457 return ERRID_DEV_WRONGDEVICEID;
02458 if( g_apclDevice[iDeviceId] == NULL )
02459 return ERRID_DEV_NOTINITIALIZED;
02460
02461 int iRetVal = g_apclDevice[iDeviceId]->setModuleSerialNo( iModuleId, uiValue );
02462
02463 return iRetVal;
02464 }
02465
02466 M5DLL_API int WINAPI PCube_setDefIncPerTurn( int iDeviceId, int iModuleId, unsigned long uiValue )
02467 {
02468 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02469 return ERRID_DEV_WRONGDEVICEID;
02470 if( g_apclDevice[iDeviceId] == NULL )
02471 return ERRID_DEV_NOTINITIALIZED;
02472
02473 int iRetVal = g_apclDevice[iDeviceId]->setDefIncPerTurn( iModuleId, uiValue );
02474
02475 return iRetVal;
02476 }
02477
02478 M5DLL_API int WINAPI PCube_setDefBrakeTimeOut( int iDeviceId, int iModuleId, unsigned short uiValue )
02479 {
02480 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02481 return ERRID_DEV_WRONGDEVICEID;
02482 if( g_apclDevice[iDeviceId] == NULL )
02483 return ERRID_DEV_NOTINITIALIZED;
02484
02485 int iRetVal = g_apclDevice[iDeviceId]->setDefBrakeTimeOut( iModuleId, uiValue );
02486
02487 return iRetVal;
02488 }
02489
02490 M5DLL_API int WINAPI PCube_setDefAddress( int iDeviceId, int iModuleId, unsigned char uiValue )
02491 {
02492 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02493 return ERRID_DEV_WRONGDEVICEID;
02494 if( g_apclDevice[iDeviceId] == NULL )
02495 return ERRID_DEV_NOTINITIALIZED;
02496
02497 int iRetVal = g_apclDevice[iDeviceId]->setDefAddress( iModuleId, uiValue );
02498
02499 return iRetVal;
02500 }
02501
02502 M5DLL_API int WINAPI PCube_setDefCANBaudRate( int iDeviceId, int iModuleId, unsigned char uiValue )
02503 {
02504 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02505 return ERRID_DEV_WRONGDEVICEID;
02506 if( g_apclDevice[iDeviceId] == NULL )
02507 return ERRID_DEV_NOTINITIALIZED;
02508
02509 int iRetVal = g_apclDevice[iDeviceId]->setDefCANBaudRate( iModuleId, uiValue );
02510
02511 return iRetVal;
02512 }
02513
02514 M5DLL_API int WINAPI PCube_setDefRSBaudRate( int iDeviceId, int iModuleId, unsigned char uiValue )
02515 {
02516 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02517 return ERRID_DEV_WRONGDEVICEID;
02518 if( g_apclDevice[iDeviceId] == NULL )
02519 return ERRID_DEV_NOTINITIALIZED;
02520
02521 int iRetVal = g_apclDevice[iDeviceId]->setDefRSBaudRate( iModuleId, uiValue );
02522
02523 return iRetVal;
02524 }
02525
02526 M5DLL_API int WINAPI PCube_setDefSetup( int iDeviceId, int iModuleId, unsigned long uiValue )
02527 {
02528 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02529 return ERRID_DEV_WRONGDEVICEID;
02530 if( g_apclDevice[iDeviceId] == NULL )
02531 return ERRID_DEV_NOTINITIALIZED;
02532
02533 int iRetVal = g_apclDevice[iDeviceId]->setDefSetup( iModuleId, uiValue );
02534
02535 return iRetVal;
02536 }
02537
02538 M5DLL_API int WINAPI PCube_getMotorCurrent( int iDeviceId, int iModuleId, float* pfValue )
02539 {
02540 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02541 return ERRID_DEV_WRONGDEVICEID;
02542 if( g_apclDevice[iDeviceId] == NULL )
02543 return ERRID_DEV_NOTINITIALIZED;
02544
02545 int iRetVal = g_apclDevice[iDeviceId]->getMotorCurrent( iModuleId, pfValue );
02546
02547 return iRetVal;
02548 }
02549
02550 M5DLL_API int WINAPI PCube_getMotorSupply( int iDeviceId, int iModuleId, float* pfValue )
02551 {
02552 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02553 return ERRID_DEV_WRONGDEVICEID;
02554 if( g_apclDevice[iDeviceId] == NULL )
02555 return ERRID_DEV_NOTINITIALIZED;
02556
02557 int iRetVal = g_apclDevice[iDeviceId]->getMotorSupply( iModuleId, pfValue );
02558
02559 return iRetVal;
02560 }
02561
02562 M5DLL_API int WINAPI PCube_getTemperature( int iDeviceId, int iModuleId, float* pfValue )
02563 {
02564 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02565 return ERRID_DEV_WRONGDEVICEID;
02566 if( g_apclDevice[iDeviceId] == NULL )
02567 return ERRID_DEV_NOTINITIALIZED;
02568
02569 int iRetVal = g_apclDevice[iDeviceId]->getTemperature( iModuleId, pfValue );
02570
02571 return iRetVal;
02572 }
02573
02574 M5DLL_API int WINAPI PCube_getLogicSupply( int iDeviceId, int iModuleId, float* pfValue )
02575 {
02576 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02577 return ERRID_DEV_WRONGDEVICEID;
02578 if( g_apclDevice[iDeviceId] == NULL )
02579 return ERRID_DEV_NOTINITIALIZED;
02580
02581 int iRetVal = g_apclDevice[iDeviceId]->getLogicSupply( iModuleId, pfValue );
02582
02583 return iRetVal;
02584 }
02585
02586 M5DLL_API int WINAPI PCube_getMinLogicVoltage( int iDeviceId, int iModuleId, float* pfValue )
02587 {
02588 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02589 return ERRID_DEV_WRONGDEVICEID;
02590 if( g_apclDevice[iDeviceId] == NULL )
02591 return ERRID_DEV_NOTINITIALIZED;
02592
02593 int iRetVal = g_apclDevice[iDeviceId]->getMinLogicVoltage( iModuleId, pfValue );
02594
02595 return iRetVal;
02596 }
02597
02598 M5DLL_API int WINAPI PCube_getMaxLogicVoltage( int iDeviceId, int iModuleId, float* pfValue )
02599 {
02600 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02601 return ERRID_DEV_WRONGDEVICEID;
02602 if( g_apclDevice[iDeviceId] == NULL )
02603 return ERRID_DEV_NOTINITIALIZED;
02604
02605 int iRetVal = g_apclDevice[iDeviceId]->getMaxLogicVoltage( iModuleId, pfValue );
02606
02607 return iRetVal;
02608 }
02609
02610 M5DLL_API int WINAPI PCube_getMinMotorVoltage( int iDeviceId, int iModuleId, float* pfValue )
02611 {
02612 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02613 return ERRID_DEV_WRONGDEVICEID;
02614 if( g_apclDevice[iDeviceId] == NULL )
02615 return ERRID_DEV_NOTINITIALIZED;
02616
02617 int iRetVal = g_apclDevice[iDeviceId]->getMinMotorVoltage( iModuleId, pfValue );
02618
02619 return iRetVal;
02620 }
02621
02622 M5DLL_API int WINAPI PCube_getMaxMotorVoltage( int iDeviceId, int iModuleId, float* pfValue )
02623 {
02624 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02625 return ERRID_DEV_WRONGDEVICEID;
02626 if( g_apclDevice[iDeviceId] == NULL )
02627 return ERRID_DEV_NOTINITIALIZED;
02628
02629 int iRetVal = g_apclDevice[iDeviceId]->getMaxMotorVoltage( iModuleId, pfValue );
02630
02631 return iRetVal;
02632 }
02633
02634 M5DLL_API int WINAPI PCube_getNominalMotorCurrent( int iDeviceId, int iModuleId, float* pfValue )
02635 {
02636 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02637 return ERRID_DEV_WRONGDEVICEID;
02638 if( g_apclDevice[iDeviceId] == NULL )
02639 return ERRID_DEV_NOTINITIALIZED;
02640
02641 int iRetVal = g_apclDevice[iDeviceId]->getNominalMotorCurrent( iModuleId, pfValue );
02642
02643 return iRetVal;
02644 }
02645
02646 M5DLL_API int WINAPI PCube_getMaximumMotorCurrent( int iDeviceId, int iModuleId, float* pfValue )
02647 {
02648 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02649 return ERRID_DEV_WRONGDEVICEID;
02650 if( g_apclDevice[iDeviceId] == NULL )
02651 return ERRID_DEV_NOTINITIALIZED;
02652
02653 int iRetVal = g_apclDevice[iDeviceId]->getMaximumMotorCurrent( iModuleId, pfValue );
02654
02655 return iRetVal;
02656 }
02657
02658 M5DLL_API int WINAPI PCube_getLogicUndershootTime( int iDeviceId, int iModuleId, long* piValue )
02659 {
02660 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02661 return ERRID_DEV_WRONGDEVICEID;
02662 if( g_apclDevice[iDeviceId] == NULL )
02663 return ERRID_DEV_NOTINITIALIZED;
02664
02665 int iRetVal = g_apclDevice[iDeviceId]->getLogicUndershootTime( iModuleId, piValue );
02666
02667 return iRetVal;
02668 }
02669
02670 M5DLL_API int WINAPI PCube_getLogicOvershootTime( int iDeviceId, int iModuleId, long* piValue )
02671 {
02672 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02673 return ERRID_DEV_WRONGDEVICEID;
02674 if( g_apclDevice[iDeviceId] == NULL )
02675 return ERRID_DEV_NOTINITIALIZED;
02676
02677 int iRetVal = g_apclDevice[iDeviceId]->getLogicOvershootTime( iModuleId, piValue );
02678
02679 return iRetVal;
02680 }
02681
02682 M5DLL_API int WINAPI PCube_getMotorUndershootTime( int iDeviceId, int iModuleId, long* piValue )
02683 {
02684 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02685 return ERRID_DEV_WRONGDEVICEID;
02686 if( g_apclDevice[iDeviceId] == NULL )
02687 return ERRID_DEV_NOTINITIALIZED;
02688
02689 int iRetVal = g_apclDevice[iDeviceId]->getMotorUndershootTime( iModuleId, piValue );
02690
02691 return iRetVal;
02692 }
02693
02694 M5DLL_API int WINAPI PCube_getMotorOvershootTime( int iDeviceId, int iModuleId, long* piValue )
02695 {
02696 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02697 return ERRID_DEV_WRONGDEVICEID;
02698 if( g_apclDevice[iDeviceId] == NULL )
02699 return ERRID_DEV_NOTINITIALIZED;
02700
02701 int iRetVal = g_apclDevice[iDeviceId]->getMotorOvershootTime( iModuleId, piValue );
02702
02703 return iRetVal;
02704 }
02705
02706 M5DLL_API int WINAPI PCube_getNomCurOvershootTime( int iDeviceId, int iModuleId, long* piValue )
02707 {
02708 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02709 return ERRID_DEV_WRONGDEVICEID;
02710 if( g_apclDevice[iDeviceId] == NULL )
02711 return ERRID_DEV_NOTINITIALIZED;
02712
02713 int iRetVal = g_apclDevice[iDeviceId]->getNomCurOvershootTime( iModuleId, piValue );
02714
02715 return iRetVal;
02716 }
02717
02718 M5DLL_API int WINAPI PCube_getHMaxCurOvershootTime( int iDeviceId, int iModuleId, long* piValue )
02719 {
02720 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02721 return ERRID_DEV_WRONGDEVICEID;
02722 if( g_apclDevice[iDeviceId] == NULL )
02723 return ERRID_DEV_NOTINITIALIZED;
02724
02725 int iRetVal = g_apclDevice[iDeviceId]->getHMaxCurOvershootTime( iModuleId, piValue );
02726
02727 return iRetVal;
02728 }
02729
02730 M5DLL_API int WINAPI PCube_setMinLogicVoltage( int iDeviceId, int iModuleId, float fValue )
02731 {
02732 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02733 return ERRID_DEV_WRONGDEVICEID;
02734 if( g_apclDevice[iDeviceId] == NULL )
02735 return ERRID_DEV_NOTINITIALIZED;
02736
02737 int iRetVal = g_apclDevice[iDeviceId]->setMinLogicVoltage( iModuleId, fValue );
02738
02739 return iRetVal;
02740 }
02741
02742 M5DLL_API int WINAPI PCube_setMaxLogicVoltage( int iDeviceId, int iModuleId, float fValue )
02743 {
02744 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02745 return ERRID_DEV_WRONGDEVICEID;
02746 if( g_apclDevice[iDeviceId] == NULL )
02747 return ERRID_DEV_NOTINITIALIZED;
02748
02749 int iRetVal = g_apclDevice[iDeviceId]->setMaxLogicVoltage( iModuleId, fValue );
02750
02751 return iRetVal;
02752 }
02753
02754 M5DLL_API int WINAPI PCube_setMinMotorVoltage( int iDeviceId, int iModuleId, float fValue )
02755 {
02756 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02757 return ERRID_DEV_WRONGDEVICEID;
02758 if( g_apclDevice[iDeviceId] == NULL )
02759 return ERRID_DEV_NOTINITIALIZED;
02760
02761 int iRetVal = g_apclDevice[iDeviceId]->setMinMotorVoltage( iModuleId, fValue );
02762
02763 return iRetVal;
02764 }
02765
02766 M5DLL_API int WINAPI PCube_setMaxMotorVoltage( int iDeviceId, int iModuleId, float fValue )
02767 {
02768 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02769 return ERRID_DEV_WRONGDEVICEID;
02770 if( g_apclDevice[iDeviceId] == NULL )
02771 return ERRID_DEV_NOTINITIALIZED;
02772
02773 int iRetVal = g_apclDevice[iDeviceId]->setMaxMotorVoltage( iModuleId, fValue );
02774
02775 return iRetVal;
02776 }
02777
02778 M5DLL_API int WINAPI PCube_setNominalMotorCurrent( int iDeviceId, int iModuleId, float fValue )
02779 {
02780 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02781 return ERRID_DEV_WRONGDEVICEID;
02782 if( g_apclDevice[iDeviceId] == NULL )
02783 return ERRID_DEV_NOTINITIALIZED;
02784
02785 int iRetVal = g_apclDevice[iDeviceId]->setNominalMotorCurrent( iModuleId, fValue );
02786
02787 return iRetVal;
02788 }
02789
02790 M5DLL_API int WINAPI PCube_setMaximumMotorCurrent( int iDeviceId, int iModuleId, float fValue )
02791 {
02792 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02793 return ERRID_DEV_WRONGDEVICEID;
02794 if( g_apclDevice[iDeviceId] == NULL )
02795 return ERRID_DEV_NOTINITIALIZED;
02796
02797 int iRetVal = g_apclDevice[iDeviceId]->setMaximumMotorCurrent( iModuleId, fValue );
02798
02799 return iRetVal;
02800 }
02801
02802 M5DLL_API int WINAPI PCube_setLogicUndershootTime( int iDeviceId, int iModuleId, long iValue )
02803 {
02804 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02805 return ERRID_DEV_WRONGDEVICEID;
02806 if( g_apclDevice[iDeviceId] == NULL )
02807 return ERRID_DEV_NOTINITIALIZED;
02808
02809 int iRetVal = g_apclDevice[iDeviceId]->setLogicUndershootTime( iModuleId, iValue );
02810
02811 return iRetVal;
02812 }
02813
02814 M5DLL_API int WINAPI PCube_setLogicOvershootTime( int iDeviceId, int iModuleId, long iValue )
02815 {
02816 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02817 return ERRID_DEV_WRONGDEVICEID;
02818 if( g_apclDevice[iDeviceId] == NULL )
02819 return ERRID_DEV_NOTINITIALIZED;
02820
02821 int iRetVal = g_apclDevice[iDeviceId]->setLogicOvershootTime( iModuleId, iValue );
02822
02823 return iRetVal;
02824 }
02825
02826 M5DLL_API int WINAPI PCube_setMotorUndershootTime( int iDeviceId, int iModuleId, long iValue )
02827 {
02828 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02829 return ERRID_DEV_WRONGDEVICEID;
02830 if( g_apclDevice[iDeviceId] == NULL )
02831 return ERRID_DEV_NOTINITIALIZED;
02832
02833 int iRetVal = g_apclDevice[iDeviceId]->setMotorUndershootTime( iModuleId, iValue );
02834
02835 return iRetVal;
02836 }
02837
02838 M5DLL_API int WINAPI PCube_setMotorOvershootTime( int iDeviceId, int iModuleId, long iValue )
02839 {
02840 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02841 return ERRID_DEV_WRONGDEVICEID;
02842 if( g_apclDevice[iDeviceId] == NULL )
02843 return ERRID_DEV_NOTINITIALIZED;
02844
02845 int iRetVal = g_apclDevice[iDeviceId]->setMotorOvershootTime( iModuleId, iValue );
02846
02847 return iRetVal;
02848 }
02849
02850 M5DLL_API int WINAPI PCube_setNomCurOvershootTime( int iDeviceId, int iModuleId, long iValue )
02851 {
02852 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02853 return ERRID_DEV_WRONGDEVICEID;
02854 if( g_apclDevice[iDeviceId] == NULL )
02855 return ERRID_DEV_NOTINITIALIZED;
02856
02857 int iRetVal = g_apclDevice[iDeviceId]->setNomCurOvershootTime( iModuleId, iValue );
02858
02859 return iRetVal;
02860 }
02861
02862 M5DLL_API int WINAPI PCube_setHMaxCurOvershootTime( int iDeviceId, int iModuleId, long iValue )
02863 {
02864 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02865 return ERRID_DEV_WRONGDEVICEID;
02866 if( g_apclDevice[iDeviceId] == NULL )
02867 return ERRID_DEV_NOTINITIALIZED;
02868
02869 int iRetVal = g_apclDevice[iDeviceId]->setHMaxCurOvershootTime( iModuleId, iValue );
02870
02871 return iRetVal;
02872 }
02873
02874 M5DLL_API int WINAPI PCube_getKpPWMLimit( int iDeviceId, int iModuleId, long* piValue )
02875 {
02876 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02877 return ERRID_DEV_WRONGDEVICEID;
02878 if( g_apclDevice[iDeviceId] == NULL )
02879 return ERRID_DEV_NOTINITIALIZED;
02880
02881 int iRetVal = g_apclDevice[iDeviceId]->getKpPWMLimit( iModuleId, piValue );
02882
02883 return iRetVal;
02884 }
02885
02886 M5DLL_API int WINAPI PCube_getCurrentLimit( int iDeviceId, int iModuleId, float* pfValue )
02887 {
02888 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02889 return ERRID_DEV_WRONGDEVICEID;
02890 if( g_apclDevice[iDeviceId] == NULL )
02891 return ERRID_DEV_NOTINITIALIZED;
02892
02893 int iRetVal = g_apclDevice[iDeviceId]->getCurrentLimit( iModuleId, pfValue );
02894
02895 return iRetVal;
02896 }
02897
02898 M5DLL_API int WINAPI PCube_getMaxPWMOutput( int iDeviceId, int iModuleId, long* piValue )
02899 {
02900 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02901 return ERRID_DEV_WRONGDEVICEID;
02902 if( g_apclDevice[iDeviceId] == NULL )
02903 return ERRID_DEV_NOTINITIALIZED;
02904
02905 int iRetVal = g_apclDevice[iDeviceId]->getMaxPWMOutput( iModuleId, piValue );
02906
02907 return iRetVal;
02908 }
02909
02910 M5DLL_API int WINAPI PCube_setKpPWMLimit( int iDeviceId, int iModuleId, long iValue )
02911 {
02912 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02913 return ERRID_DEV_WRONGDEVICEID;
02914 if( g_apclDevice[iDeviceId] == NULL )
02915 return ERRID_DEV_NOTINITIALIZED;
02916
02917 int iRetVal = g_apclDevice[iDeviceId]->setKpPWMLimit( iModuleId, iValue );
02918
02919 return iRetVal;
02920 }
02921
02922 M5DLL_API int WINAPI PCube_setCurrentLimit( int iDeviceId, int iModuleId, float fValue )
02923 {
02924 if(0 > iDeviceId || iDeviceId >= g_apclDevice.size())
02925 return ERRID_DEV_WRONGDEVICEID;
02926 if( g_apclDevice[iDeviceId] == NULL )
02927 return ERRID_DEV_NOTINITIALIZED;
02928
02929 int iRetVal = g_apclDevice[iDeviceId]->setCurrentLimit( iModuleId, fValue );
02930
02931 return iRetVal;
02932 }
