linkage_8cpp-source.html

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<a name="l00124"></a>00124 <span class="comment">  passed to this function.  The amplifiers may not be destroyed until after </span>
<a name="l00125"></a>00125 <span class="comment">  the linkage object is.  </span>
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment">  @param ct The number of amplifiers to be used with this linkage.</span>
<a name="l00128"></a>00128 <span class="comment">  Note that this must be between 1 and CML_MAX_AMPS_PER_LINK.</span>
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment">  @param a An array of amplifiers to be assigned to this linkage.  There</span>
<a name="l00131"></a>00131 <span class="comment">  must be at least ct amplifiers in this array.</span>
<a name="l00132"></a>00132 <span class="comment">  */</span>
<a name="l00133"></a>00133 <span class="comment">/***************************************************************************/</span>
<a name="l00134"></a><a class="code" href="classLinkage.html#a2">00134</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a2">Linkage::Init</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> ct, <a class="code" href="classAmp.html">Amp</a> a[] )
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136    <span class="keywordflow">if</span>( ct &lt; 1 || ct &gt; <a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a> )
<a name="l00137"></a>00137       <span class="keywordflow">return</span> &amp;<a class="code" href="classLinkError.html#s1">LinkError::BadAmpCount</a>;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139    <a class="code" href="classAmp.html">Amp</a> *aptr[ <a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a> ];
<a name="l00140"></a>00140 
<a name="l00141"></a>00141    <span class="keywordflow">for</span>( <span class="keywordtype">int</span> i=0; i&lt;ct; i++ )
<a name="l00142"></a>00142       aptr[i] = &amp;a[i];
<a name="l00143"></a>00143 
<a name="l00144"></a>00144    <span class="keywordflow">return</span> <a class="code" href="classLinkage.html#a2">Init</a>( ct, aptr );
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 
<a name="l00147"></a>00147 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment">/**</span>
<a name="l00149"></a>00149 <span class="comment">  Initialize a new linkage object.  If the object has already been initialized,</span>
<a name="l00150"></a>00150 <span class="comment">  this will fail with an error.</span>
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment">  All amplifiers attached to a linkage must be initialized, and must share the</span>
<a name="l00153"></a>00153 <span class="comment">  same CanOpen network object.  Also, amplifiers may only be attached to one</span>
<a name="l00154"></a>00154 <span class="comment">  linkage at a time, so this function will fail if any of the passed amplifier</span>
<a name="l00155"></a>00155 <span class="comment">  objects is already attached to a Linkage.</span>
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment">  The linkage object will maintain pointers to each of the amplifier objects</span>
<a name="l00158"></a>00158 <span class="comment">  passed to this function.  The amplifiers may not be destroyed until after </span>
<a name="l00159"></a>00159 <span class="comment">  the linkage object is.  </span>
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment">  @param ct The number of amplifiers to be used with this linkage.</span>
<a name="l00162"></a>00162 <span class="comment">  Note that this must be between 1 and CML_MAX_AMPS_PER_LINK.</span>
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment">  @param a An array of pointer to amplifier objects to be assigned to this </span>
<a name="l00165"></a>00165 <span class="comment">  linkage.  There must be at least ct pointers in this array.</span>
<a name="l00166"></a>00166 <span class="comment">  */</span>
<a name="l00167"></a>00167 <span class="comment">/***************************************************************************/</span>
<a name="l00168"></a><a class="code" href="classLinkage.html#a3">00168</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkage.html#a2">Linkage::Init</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> ct, <a class="code" href="classAmp.html">Amp</a> *a[] )
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170    <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Initializing linkage %d\n"</span>, a[0]-&gt;GetNodeID() );
<a name="l00171"></a>00171 
<a name="l00172"></a>00172    <a class="code" href="CML__Settings_8h.html#a14">CML_ASSERT</a>( ct &gt; 0 );
<a name="l00173"></a>00173    <a class="code" href="CML__Settings_8h.html#a14">CML_ASSERT</a>( ct &lt;= <a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a> );
<a name="l00174"></a>00174    <a class="code" href="CML__Settings_8h.html#a14">CML_ASSERT</a>( <a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a> &lt;= 32 );
<a name="l00175"></a>00175    <a class="code" href="CML__Settings_8h.html#a14">CML_ASSERT</a>( amp[0] == 0 );
<a name="l00176"></a>00176 
<a name="l00177"></a>00177    <span class="keywordflow">if</span>( ct &lt; 1 || ct &gt; <a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a> )
<a name="l00178"></a>00178       <span class="keywordflow">return</span> &amp;<a class="code" href="classLinkError.html#s1">LinkError::BadAmpCount</a>;
<a name="l00179"></a>00179 
<a name="l00180"></a>00180    <span class="keywordflow">if</span>( amp[0] )
<a name="l00181"></a>00181       <span class="keywordflow">return</span> &amp;<a class="code" href="classLinkError.html#s2">LinkError::AlreadyInit</a>;
<a name="l00182"></a>00182 
<a name="l00183"></a>00183    <a class="code" href="classLinkage.html#a17">ClearLatchedError</a>();
<a name="l00184"></a>00184 
<a name="l00185"></a>00185    <span class="comment">// Make sure all amps are initialized, and share</span>
<a name="l00186"></a>00186    <span class="comment">// the same network.</span>
<a name="l00187"></a>00187    <span class="keywordtype">int</span> i;
<a name="l00188"></a>00188    <a class="code" href="classCanOpen.html">CanOpen</a> *co = &amp;a[0]-&gt;<a class="code" href="classReceiver.html#a9">GetCanOpen</a>();
<a name="l00189"></a>00189 
<a name="l00190"></a>00190    <span class="keywordflow">for</span>( i=0; i&lt;ct; i++ )
<a name="l00191"></a>00191    {
<a name="l00192"></a>00192       <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = 0;
<a name="l00193"></a>00193 
<a name="l00194"></a>00194       <span class="keywordflow">if</span>( !a[i]-&gt;<a class="code" href="classReceiver.html#a10">IsInitialized</a>() ) 
<a name="l00195"></a>00195     err = &amp;<a class="code" href="classCanOpenError.html#s8">CanOpenError::NotInitialized</a>;
<a name="l00196"></a>00196 
<a name="l00197"></a>00197       <span class="keywordflow">else</span> <span class="keywordflow">if</span>( &amp;(a[i]-&gt;<a class="code" href="classReceiver.html#a9">GetCanOpen</a>()) != co )
<a name="l00198"></a>00198     err = &amp;<a class="code" href="classLinkError.html#s0">LinkError::NetworkMismatch</a>;
<a name="l00199"></a>00199 
<a name="l00200"></a>00200       <span class="keywordflow">else</span> <span class="keywordflow">if</span>( a[i]-&gt;<a class="code" href="classAmp.html#z16_0">GetLinkage</a>() != 0 )
<a name="l00201"></a>00201     err = &amp;<a class="code" href="classLinkError.html#s3">LinkError::AmpAlreadyLinked</a>;
<a name="l00202"></a>00202 
<a name="l00203"></a>00203       <span class="keywordflow">if</span>( err )
<a name="l00204"></a>00204     <span class="keywordflow">return</span> LatchError( err, i );
<a name="l00205"></a>00205    }
<a name="l00206"></a>00206 
<a name="l00207"></a>00207    <span class="comment">// Assign all the amplifiers to this linkage</span>
<a name="l00208"></a>00208    ampct = ct;
<a name="l00209"></a>00209    <span class="keywordflow">for</span>( i=0; i&lt;ct; i++ )
<a name="l00210"></a>00210    {
<a name="l00211"></a>00211       amp[i] = a[i];
<a name="l00212"></a>00212       amp[i]-&gt;<a class="code" href="classAmp.html#d4">SetLinkage</a>(<span class="keyword">this</span>);
<a name="l00213"></a>00213    }
<a name="l00214"></a>00214 
<a name="l00215"></a>00215    <span class="comment">// Add my state events to each amplifier</span>
<a name="l00216"></a>00216    <span class="keywordflow">for</span>( i=0; i&lt;ct; i++ )
<a name="l00217"></a>00217    {
<a name="l00218"></a>00218       stateEvent[ i ].link = <span class="keyword">this</span>;
<a name="l00219"></a>00219       amp[i]-&gt;<a class="code" href="classAmp.html#p0">eventMap</a>.<a class="code" href="classEventMap.html#a2">Add</a>( &amp;stateEvent[i] );
<a name="l00220"></a>00220    }
<a name="l00221"></a>00221 
<a name="l00222"></a>00222    <span class="comment">// Start my thread</span>
<a name="l00223"></a>00223    <a class="code" href="classThread.html#a3">start</a>();
<a name="l00224"></a>00224 
<a name="l00225"></a>00225    <span class="comment">// Initialize a PDO used to send control words to each amplifier</span>
<a name="l00226"></a>00226    <span class="keywordflow">return</span> ctrlPDO.<a class="code" href="classRPDO__LinkCtrl.html#a1">Init</a>();
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 
<a name="l00229"></a>00229 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment">/**</span>
<a name="l00231"></a>00231 <span class="comment">  Get a reference to the amplifier object at the specified location in the</span>
<a name="l00232"></a>00232 <span class="comment">  linkage.  Note that if CML_DEBUG_ASSERT is defined, then the standard C </span>
<a name="l00233"></a>00233 <span class="comment">  assert function will be used to check for an invalid index.</span>
<a name="l00234"></a>00234 <span class="comment"></span>
<a name="l00235"></a>00235 <span class="comment">  @param i The index of the amplifier to access.</span>
<a name="l00236"></a>00236 <span class="comment">  @return A reference to the amplifier object.</span>
<a name="l00237"></a>00237 <span class="comment">  */</span>
<a name="l00238"></a>00238 <span class="comment">/***************************************************************************/</span>
<a name="l00239"></a><a class="code" href="classLinkage.html#a5">00239</a> <a class="code" href="classAmp.html">Amp</a> &amp;<a class="code" href="classLinkage.html#a5">Linkage::GetAmp</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> i )
<a name="l00240"></a>00240 {
<a name="l00241"></a>00241    <a class="code" href="CML__Settings_8h.html#a14">CML_ASSERT</a>( i &lt; ampct );  
<a name="l00242"></a>00242    <a class="code" href="CML__Settings_8h.html#a14">CML_ASSERT</a>( amp[i] != 0 );
<a name="l00243"></a>00243    <span class="keywordflow">return</span> *amp[i];
<a name="l00244"></a>00244 }
<a name="l00245"></a>00245 
<a name="l00246"></a>00246 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00247"></a>00247 <span class="comment">/**</span>
<a name="l00248"></a>00248 <span class="comment">  Get the current commanded position of the linkage.  Note that this function</span>
<a name="l00249"></a>00249 <span class="comment">  queries the position of each amplifier sequentially and therefore the returned</span>
<a name="l00250"></a>00250 <span class="comment">  position information will only be accurate if the linkage is at rest when the</span>
<a name="l00251"></a>00251 <span class="comment">  function is called.</span>
<a name="l00252"></a>00252 <span class="comment"></span>
<a name="l00253"></a>00253 <span class="comment">  @param p A point that will be filled in with the current Linkage commanded </span>
<a name="l00254"></a>00254 <span class="comment">  position.</span>
<a name="l00255"></a>00255 <span class="comment">  @return An error object pointer, or NULL on success.</span>