sdh_command_codes.h

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/*
 * Copyright (c) 2003 IPR, University of Karlsruhe (TH), all rights reserved
 * Copyright (c) 2008 SCHUNK GmbH & Co. KG
 * Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

//======================================================================
//======================================================================


#ifndef _SDH_COMMAND_CODES
#define _SDH_COMMAND_CODES

//----------------------------------------------------------------------
// System Includes - include with <>
//----------------------------------------------------------------------


//----------------------------------------------------------------------
// Project Includes - include with ""
//----------------------------------------------------------------------

//----------------------------------------------------------------------
// Defines, enums, unions, structs
//----------------------------------------------------------------------

#define USE_CMD_TEST 0


// since this file is included by other compilers which dont understand
// attributes we can only use it if SDH__attribute__ is not yet defined
#ifndef SDH__attribute__
# define SDH__attribute__( ... ) __attribute__(__VA_ARGS__)
#endif

#ifndef SDH_USE_VCC
# define SDH_USE_VCC 0
#endif


#if SDH_USE_VCC
#pragma pack(push,1)  // for VCC (MS Visual Studio) we have to set the necessary 1 byte packing with this pragma
#endif

enum eCommandCodeEnum
{
  // Movement commands:
  CMDC_V = 128,   // assign a value so that non ASCII codes are used

  CMDC_VEL,
  //130:
  CMDC_RVEL,
  CMDC_POS,
  CMDC_STATE,
  CMDC_P,
  CMDC_A,
  CMDC_M,
  CMDC_STOP,
  CMDC_VP,
  CMDC_CON,
  CMDC_TPAP,
  //140:
  CMDC_TVAV,

  // Diagnostic and identification commands:
  CMDC_VLIM,
  CMDC_ALIM,
  CMDC_POS_SAVE,
  CMDC_REF,
  CMDC_TEMP,
  CMDC_ID,
  CMDC_SN,
  CMDC_VER,
  CMDC_VER_DATE,
  //150:
  CMDC_SOC,
  CMDC_SOC_DATE,
  CMDC_NUMAXIS,
  CMDC_P_MIN,
  CMDC_P_MAX,
  CMDC_P_OFFSET,
  CMDC_GET_DURATION,

  // Grip commands:
  CMDC_IGRIP,
  CMDC_IHOLD,
  CMDC_SELGRIP,
  //160:
  CMDC_GRIP,

  // Setup and configuration commands:
  CMDC_PID,
  CMDC_KV,
  CMDC_ILIM,
  CMDC_POWER,

  // Misc. commands:
  CMDC_DEMO,
  CMDC_USER_ERRORS,
  CMDC_TERMINAL,
  CMDC_DEBUG,
  CMDC_USE_FIXED_LENGTH,
  //170:
  CMDC_CHANGE_RS232,
  CMDC_CHANGE_CHANNEL,

#if USE_CMD_TEST

  CMDC_TEST,
#endif
} SDH__attribute__((packed));

typedef enum eCommandCodeEnum eCommandCode;

#if SDH_USE_VCC
#pragma pack(pop)   // for VCC (MS Visual Studio) restore normal packing
#endif

//----------------------------------------------------------------------
// Global variables (declarations)
//----------------------------------------------------------------------

//----------------------------------------------------------------------
// External functions (function declarations)
//----------------------------------------------------------------------

//----------------------------------------------------------------------
// Function prototypes (function declarations)
//----------------------------------------------------------------------


#endif


//======================================================================
/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored):
  (e.g. to explicitely set C++ mode for *.h header files)

  Local Variables:
  mode:C
  mode:ELSE
  End:
*/
//======================================================================