/** @file b-Cap.h * * @brief b-CAP client library header * * @version 1.2 * @date 2012/12/10 * @author DENSO WAVE (y) * */ /* [NOTES] This is a sample source code. Copy and modify this code in accordance with a device and a device version. Especially please note timeout and timeout-retry settings. */ #pragma pack(push,1) // BCAP_VARIANT members need to be aligned correctly #ifdef __cplusplus extern "C" { #endif #ifndef B_CAP_H #define B_CAP_H /*#define BCAP_CONNECTION_TCP // TCP/IP (DEFAULT if BCAP_CONNECTION_XXX is not defined.) */ /*#define BCAP_CONNECTION_UDP // UDP/IP */ /*#define BCAP_CONNECTION_COM // COM(Serial device) */ #ifdef _MSC_VER #define SERIAL_BAUDRATE 115200 #else #define SERIAL_BAUDRATE 0x0000f /*B38400*/ #endif /** * @enum BCAP_HRESULT * @brief BCAP_HRESULT values */ typedef enum BCAP_HRESULT { BCAP_S_OK = 0, /* OK */ BCAP_E_TIMEOUT = 0x80000900, /* Timeout */ BCAP_E_NOTIMPL = 0x80004001, /* Not implemented function is called */ BCAP_E_ABORT = 0x80004004, /* Function aborted */ BCAP_E_FAIL = 0x80004005, /* Function failed */ BCAP_E_UNEXPECTED = 0x8000FFFF, /* Fatal Error occurred */ BCAP_E_INVALIDRCVPACKET = 0x80010001, /* Invalid packet is received. */ /* When this error is occurred, robot controller disconnect from client immediately.*/ /* Please make sure the packet that you sent. */ BCAP_E_INVALIDSNDPACKET = 0x80010002, /* Invalid packet is sent */ BCAP_E_INVALIDARGTYPE = 0x80010003, /* Invalid argument type */ BCAP_E_ROBOTISBUSY = 0x80010004, /* Robot is busy (Wait for a while) */ BCAP_E_INVALIDCOMMAND = 0x80010005, /* Invalid command string is received */ BCAP_E_SOCKETWRITEFAIL = 0x80010006, /* socket write failed */ BCAP_E_PACKETSIZEOVER = 0x80010011, /* Received packet size over ( > 16Mbytes) */ BCAP_E_ARGSIZEOVER = 0x80010012, /* An argument siez over of the received packet. ( > 16Mbytes) */ BCAP_E_UNAVAILABLE = 0x800401e3, /* when response is unavailable (probably timed out?) */ BCAP_E_ACCESSDENIED = 0x80070005, /* Access denied */ BCAP_E_HANDLE = 0x80070006, /* Invalid handle */ BCAP_E_OUTOFMEMORY = 0x8007000E, /* Out of memory */ BCAP_E_INVALIDARG = 0x80070057 /* Invalid argument */ } BCAP_HRESULT; /* b-CAP Type id */ #define VT_EMPTY 0 /* (0Byte) */ #define VT_NULL 1 /* (0Byte) */ #define VT_ERROR 10 /* (2Byte) */ #define VT_UI1 17 /* (1Byte) */ #define VT_I2 2 /* (2Byte) */ #define VT_UI2 18 /* (2Byte) */ #define VT_I4 3 /* (4Byte) */ #define VT_UI4 19 /* (4Byte) */ #define VT_R4 4 /* (4Byte) */ #define VT_R8 5 /* (8Byte) */ #define VT_CY 6 /* (8Byte) */ #define VT_DATE 7 /* (8Byte) */ #define VT_BOOL 11 /* (2Byte) */ #define VT_BSTR 8 /* (ascii string length *2 + 4 Byte) */ /* Double bytes per character */ #define VT_VARIANT 12 /* Variant */ #define VT_ARRAY 0x2000 /* Array */ #include /* b-CAP Utility macros */ #ifndef SUCCEEDED #define SUCCEEDED(Status) ((int32_t)(Status) >= 0) #endif #ifndef FAILED #define FAILED(Status) ((int32_t)(Status) < 0) #endif /* b-CAP standard types */ #ifndef u_char typedef uint8_t u_char; #endif #ifndef u_short typedef uint16_t u_short; #endif /* b-CAP Variant Parameter */ typedef struct { u_short Type; /* b-CAP Type id */ uint32_t Arrays; /* Array count, must be >= 1 */ union { u_char CharValue; u_short ShortValue; uint32_t LongValue; uint64_t LongLongValue; float FloatValue; double DoubleValue; u_char String[40 + 1]; float FloatArray[16]; double DoubleArray[16]; uint32_t LongArray[16]; void *Data; /* When the Type is VT_Array, Value is stored in *Data */ //BCAP_VARIANT VariantArray[0]; /// array of variants /* The client program must allocate memorys and set the pointer to *Data. */ } Value; } BCAP_VARIANT; /* b-CAP Functions */ BCAP_HRESULT bCap_Open(const char *pIPStr, int iPort, int *piSockFd); BCAP_HRESULT bCap_Close(int iSockFd); BCAP_HRESULT bCap_ServiceStart(int iSockFd); BCAP_HRESULT bCap_ServiceStop(int iSockFd); /* b-CAP Controller Functions */ BCAP_HRESULT bCap_ControllerConnect(int iSockFd, const char *pStrCtrlname, const char *pStrProvName, const char *pStrPcName, const char *pStrOption, uint32_t *plhController); BCAP_HRESULT bCap_ControllerDisconnect(int iSockFd, uint32_t lhController); BCAP_HRESULT bCap_ControllerGetRobot(int iSockFd, uint32_t lhController, const char *pStrRobotName, const char *pStrOption, uint32_t *lhRobot); BCAP_HRESULT bCap_ControllerGetVariable(int iSockFd, uint32_t lhController, const char *pVarName, const char *pstrOption, uint32_t *plhVar); BCAP_HRESULT bCap_ControllerGetExtension(int iSockFd, uint32_t lhController, const char *pExtensionName, const char *pstrOption, uint32_t *plhVar); BCAP_HRESULT bCap_ControllerGetTask(int iSockFd, uint32_t lhController, const char *pTskName, const char *pstrOption, uint32_t *plhVar); BCAP_HRESULT bCap_ControllerExecute(int iSockFd, uint32_t lhController, const char *pStrCommand, const char *pStrOption, void *plResult); BCAP_HRESULT bCap_ControllerExecute2(int iSockFd, uint32_t lhController, const char *pStrCommand, const BCAP_VARIANT *pVntOption, BCAP_VARIANT *pvntResult); /* b-CAP Robot Functions */ BCAP_HRESULT bCap_RobotRelease(int iSockFd, uint32_t lhRobot); BCAP_HRESULT bCap_RobotGetVariable(int iSockFd, uint32_t lhRobot, const char *pVarName, const char *pStrOption, uint32_t *lhVarCurJnt); BCAP_HRESULT bCap_RobotExecute(int iSockFd, uint32_t lhRobot, const char *pStrCommand, const char *pStrOption, void *plResult); BCAP_HRESULT bCap_RobotExecute2(int iSockFd, uint32_t lhRobot, const char *pStrCommand, const BCAP_VARIANT *pVntOption, BCAP_VARIANT *pvntResult); BCAP_HRESULT bCap_RobotChange(int iSockFd, uint32_t lhRobot, char *pStrCommand); BCAP_HRESULT bCap_RobotMove(int iSockFd, uint32_t lhRobot, long lComp, const char *pStrPose, const char *pStrOption); BCAP_HRESULT bCap_RobotExecuteSlaveMove(int iSockFd, uint32_t lhRobot, char *pStrCommand, float *pfOption, void *pResult); BCAP_HRESULT bCap_RobotExecute2(int iSockFd, uint32_t lhRobot, const char *pStrCommand, const BCAP_VARIANT *pVntOption, BCAP_VARIANT *pvntResult); /* b-CAP Extension Functions */ BCAP_HRESULT bCap_ExtensionRelease(int iSockFd, uint32_t lhExtension); BCAP_HRESULT bCap_ExtensionExecute(int iSockFd, uint32_t lhExtension, const char *pStrCommand, const char *pStrOption, void *plResult); BCAP_HRESULT bCap_ExtensionExecute2(int iSockFd, uint32_t lhExtension, const char *pStrCommand, const BCAP_VARIANT *pVntOption, BCAP_VARIANT *pvntResult); /* b-CAP Task Functions */ BCAP_HRESULT bCap_TaskRelease(int iSockFd, uint32_t lhTask); BCAP_HRESULT bCap_TaskGetVariable(int iSockFd, uint32_t lhTask, const char *pVarName, const char *pstrOption, uint32_t *plhVar); BCAP_HRESULT bCap_TaskStart(int iSockFd, uint32_t lhTask, long lMode, char *pStrOption); BCAP_HRESULT bCap_TaskStop(int iSockFd, uint32_t lhTask, long lMode, char *pStrOption); /* b-CAP Variable Functions */ BCAP_HRESULT bCap_VariableRelease(int iSockFd, uint32_t lhVar); BCAP_HRESULT bCap_VariableGetValue(int iSockFd, uint32_t lhVar, void *pVntValue); BCAP_HRESULT bCap_VariablePutValue(int iSockFd, uint32_t lhVar, u_short iType, uint32_t lArrays, void *pVntValue); #endif #ifdef __cplusplus } #endif #pragma pack(pop)