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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: Linkage.cpp Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000000.html">c</a></div><h1>Linkage.cpp</h1><a href="Linkage_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"> Implementation of the Linkage class.</span><a name="l00014"></a>00014 <span class="comment"> */</span><a name="l00015"></a>00015 <a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00017"></a>00017 <a name="l00018"></a>00018 <span class="comment">// Note, This disables an annoying VC++ warning</span><a name="l00019"></a>00019 <span class="preprocessor">#ifdef _WIN32</span><a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#pragma warning( disable: 4355 )</span><a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#endif</span><a name="l00022"></a>00022 <span class="preprocessor"></span><a name="l00023"></a>00023 <a name="l00024"></a>00024 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00025"></a>00025 <a name="l00026"></a>00026 <span class="comment">// Linkage errors</span><a name="l00027"></a>00027 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, BadAmpCount, <span class="stringliteral">"An illegal number of amplifiers was passed to Linkage::Init"</span> );<a name="l00028"></a>00028 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, NetworkMismatch, <span class="stringliteral">"The amplifiers passed to Linkage::Init don't share a CanOpen network"</span> );<a name="l00029"></a>00029 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, AlreadyInit, <span class="stringliteral">"The linkage is already initialized"</span> );<a name="l00030"></a>00030 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, AmpAlreadyLinked, <span class="stringliteral">"The passed amplifier object is already assigned to a linkage"</span> );<a name="l00031"></a>00031 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, AxisCount, <span class="stringliteral">"The point dimension doesn't match the number of linkage axes"</span> );<a name="l00032"></a>00032 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, AmpTrjOverflow, <span class="stringliteral">"Amplifier trajectory structure overflow."</span> );<a name="l00033"></a>00033 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, AmpTrjInUse, <span class="stringliteral">"Amplifier trajectory already in use"</span> );<a name="l00034"></a>00034 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, AmpTrjNotRunning, <span class="stringliteral">"Amplifier trajectory not presently in use"</span> );<a name="l00035"></a>00035 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, NoActiveTrj, <span class="stringliteral">"No linkage trajectory is active"</span> );<a name="l00036"></a>00036 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, BadMoveLimit, <span class="stringliteral">"A zero or negative move limit was detected"</span> );<a name="l00037"></a>00037 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, UnknownAmpErr, <span class="stringliteral">"An amplifier error occurred"</span> );<a name="l00038"></a>00038 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, StartMoveTO, <span class="stringliteral">"Timeout waiting on amplifier to respond to start move command"</span> );<a name="l00039"></a>00039 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classLinkError.html">LinkError</a>, NotSupported, <span class="stringliteral">"Support for this function was not enabled in the library"</span> );<a name="l00040"></a>00040 <a name="l00041"></a>00041 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00042"></a>00042 <span class="comment">/**</span><a name="l00043"></a>00043 <span class="comment"> Default constructor. Linkage::Init must be called before this linkage </span><a name="l00044"></a>00044 <span class="comment"> object may be used.</span><a name="l00045"></a>00045 <span class="comment"> */</span><a name="l00046"></a>00046 <span class="comment">/***************************************************************************/</span><a name="l00047"></a><a class="code" href="classLinkage.html#a0">00047</a> <a class="code" href="classLinkage.html#a0">Linkage::Linkage</a>( <span class="keywordtype">void</span> ): ctrlPDO( *this )<a name="l00048"></a>00048 {<a name="l00049"></a>00049 trjUseCount = 0;<a name="l00050"></a>00050 ampct = 0;<a name="l00051"></a>00051 maxVel = maxAcc = maxDec = maxJrk = 0;<a name="l00052"></a>00052 <a name="l00053"></a>00053 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<<a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a>; i++ )<a name="l00054"></a>00054 {<a name="l00055"></a>00055 amp[i] = 0;<a name="l00056"></a>00056 <span class="preprocessor">#ifdef CML_LINKAGE_TRJ_BUFFER_SIZE</span><a name="l00057"></a>00057 <span class="preprocessor"></span> ampTrj[i].Init( <span class="keyword">this</span> );<a name="l00058"></a>00058 <span class="preprocessor">#endif</span><a name="l00059"></a>00059 <span class="preprocessor"></span> }<a name="l00060"></a>00060 <a name="l00061"></a>00061 <a class="code" href="classLinkage.html#a17">ClearLatchedError</a>();<a name="l00062"></a>00062 }<a name="l00063"></a>00063 <a name="l00064"></a>00064 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00065"></a>00065 <span class="comment">/**</span><a name="l00066"></a>00066 <span class="comment"> Linkage object destructor.</span><a name="l00067"></a>00067 <span class="comment"> */</span><a name="l00068"></a>00068 <span class="comment">/***************************************************************************/</span><a name="l00069"></a><a class="code" href="classLinkage.html#a1">00069</a> <a class="code" href="classLinkage.html#a1">Linkage::~Linkage</a>()<a name="l00070"></a>00070 {<a name="l00071"></a>00071 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<ampct; i++ )<a name="l00072"></a>00072 {<a name="l00073"></a>00073 <span class="keywordflow">if</span>( amp[i] ) amp[i]-><a class="code" href="classAmp.html#d4">SetLinkage</a>(0);<a name="l00074"></a>00074 }<a name="l00075"></a>00075 }<a name="l00076"></a>00076 <a name="l00077"></a>00077 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00078"></a>00078 <span class="comment">/**</span><a name="l00079"></a>00079 <span class="comment"> Mark the specified Amp as invalid. This is called by an Amp object during</span><a name="l00080"></a>00080 <span class="comment"> destruction if the amp is still attached to a linkage (which is an error).</span><a name="l00081"></a>00081 <span class="comment"> @param a Pointer to the amp</span><a name="l00082"></a>00082 <span class="comment"> */</span><a name="l00083"></a>00083 <span class="comment">/***************************************************************************/</span><a name="l00084"></a>00084 <span class="keywordtype">void</span> Linkage::InvalidateAmp( <a class="code" href="classAmp.html">Amp</a> *a )<a name="l00085"></a>00085 {<a name="l00086"></a>00086 <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i<ampct; i++ )<a name="l00087"></a>00087 {<a name="l00088"></a>00088 <span class="keywordflow">if</span>( amp[i] == a ) amp[i] = 0;<a name="l00089"></a>00089 }<a name="l00090"></a>00090 <span class="keywordflow">return</span>;<a name="l00091"></a>00091 }<a name="l00092"></a>00092 <a name="l00093"></a>00093 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00094"></a>00094 <span class="comment">/**</span><a name="l00095"></a>00095 <span class="comment"> Configure a linkage. The linkage object will be configured to use the </span><a name="l00096"></a>00096 <span class="comment"> various settings passed in the LinkSettings object.</span><a name="l00097"></a>00097 <span class="comment"></span><a name="l00098"></a>00098 <span class="comment"> When a new Linkage object is created, it will be configured using a </span><a name="l00099"></a>00099 <span class="comment"> default set of settings. These settings can be modified through this</span><a name="l00100"></a>00100 <span class="comment"> call. Set the documentation of the LinkSettings object for details of </span><a name="l00101"></a>00101 <span class="comment"> the available settings and their default values.</span><a name="l00102"></a>00102 <span class="comment"></span><a name="l00103"></a>00103 <span class="comment"> @param settings The new settings to be used. A local copy of this object</span><a name="l00104"></a>00104 <span class="comment"> will be made by the linkage.</span><a name="l00105"></a>00105 <span class="comment"> */</span><a name="l00106"></a>00106 <span class="comment">/***************************************************************************/</span><a name="l00107"></a><a class="code" href="classLinkage.html#a4">00107</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a4">Linkage::Configure</a>( <a class="code" href="classLinkSettings.html">LinkSettings</a> &settings )<a name="l00108"></a>00108 {<a name="l00109"></a>00109 cfg = settings;<a name="l00110"></a>00110 <span class="keywordflow">return</span> 0;<a name="l00111"></a>00111 }<a name="l00112"></a>00112 <a name="l00113"></a>00113 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00114"></a>00114 <span class="comment">/**</span><a name="l00115"></a>00115 <span class="comment"> Initialize a new linkage object. If the object has already been initialized,</span><a name="l00116"></a>00116 <span class="comment"> this will fail with an error.</span><a name="l00117"></a>00117 <span class="comment"></span><a name="l00118"></a>00118 <span class="comment"> All amplifiers attached to a linkage must be initialized, and must share the</span><a name="l00119"></a>00119 <span class="comment"> same CanOpen network object. Also, amplifiers may only be attached to one</span><a name="l00120"></a>00120 <span class="comment"> linkage at a time, so this function will fail if any of the passed amplifier</span><a name="l00121"></a>00121 <span class="comment"> objects is already attached to a Linkage.</span><a name="l00122"></a>00122 <span class="comment"></span><a name="l00123"></a>00123 <span class="comment"> The linkage object will maintain pointers to each of the amplifier objects</span>⌨️ 快捷键说明
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