TAO Cheng
290 lines
11 KiB
C
290 lines
11 KiB
C
// ************************************************************************************************
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// * File : SMIDefs.h
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// * Project : IntegMotorInterface
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// * Version : 2.201
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// * Last Update : 12/16/2009
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// * Copyright ?2000-2009 Animatics Corp.
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// * Author :
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// ************************************************************************************************
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#ifndef __SMIDEFS_H_
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#define __SMIDEFS_H_
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#define MAX_STRLEN 256
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#define MAX_HOST_AXIS 6
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#define PI ((double)3.14159265358979323846)
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#define EPSILON 0.0000000001
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#define MAX_PRG_LENGTH 0x00007FFF
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#define MAX_PRG_LENGTH9 0x0000FFFE
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#define MAX_PRG_LENGTH6 0x0000FA96
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// ************************************************************************************************
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// *** CommError and Motor Detection Return Values:
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// ************************************************************************************************
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#define CER_SUCCESS 0x00000001 // Motors Found (=CER_MOTORSFOUND)
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#define CER_MOTORSFOUND 0x00000001 // Motors Found (=CER_SUCCESS)
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#define CER_SOMEADDRESSED 0x00000002 // Some Motors are addressed
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#define CER_BIGADDRESS 0x00000004 // The address of some motors is bigger than the specified MaxAddress
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#define CER_DUPLICATEADDR 0x00000008 // Duplicate address
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#define CER_NOTADDRESSED 0x00000010 // No motor is addressed
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#define CER_COMMERROR 0x00000020 // Other communication problem
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#define CER_NOMOTOR 0x00000040 // Failed to find motors
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#define CER_NETERROR 0x00000080 // Network error
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#define CER_USBERROR 0x00000100 // USB error
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#define CER_CANOPENERROR 0x00000200 // CANOpen error
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#define CER_TRYHIGHBAUD 0x00000400 // no motors found at lower baud rates try higher rates
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#define CER_PORTNOTOPEN 0x00010000 // Port Not Open
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#define CER_CANCELED 0x00040000 // Canceled
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// CommError and Motor Detection Actions
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#define CMA_THROWX 0x00100000 // Throw exception if an error occurs
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#define CMA_READDRESS232 0x00400000 // Re-address RS232 chain if they are not addressed
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#define CMA_USECURRENTBAUD 0x00800000 // only try at current baud rate
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#define CMA_NOENDPRG 0x04000000 // Do not Stop the user program before addressing/detecting motors
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#define CMA_NOESTABLISH 0x08000000 // Do try to establish the communication (it is already established)
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//#define CER_CHANGED 0x00010000 // The pointers have been changed.
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//#define CER_CONTINUE 0x00020000 // The caller can continue
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//#define CER_CANCELED 0x00040000 // Canceled
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// ************************************************************************************************
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// *** Planes
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// ************************************************************************************************
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#define PLN_XY 0
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#define PLN_XZ 1
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#define PLN_YZ 2
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// ************************************************************************************************
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// *** LogFlags
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// ************************************************************************************************
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#define LOG_COMM 0x00000001
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#define LOG_CMOTION 0x00000002
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#define LOG_PATH 0x00000004
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#define LOG_SCAN 0x00000008
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#define LOG_MOTOR 0x00000010
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#define LOG_ALL 0x0000001F
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#define LOG_APPEND 0x00010000
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#define LOG_NEW 0x00020000 // Do not set this flag. It is used internally
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// ************************************************************************************************
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// *** Notification Codes:
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// ************************************************************************************************
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#define SMNOT_STARTDOWNLOAD 0x00000001
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#define SMNOT_PROGRESS 0x00000002
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#define SMNOT_END 0x00000003
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#define SMNOT_STARTUPLOAD 0x00000004
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#define SMNOT_STARTADDRESS 0x00000005
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#define SMNOT_STARTDETECT 0x00000006
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#define SMNOT_STARTCOLISION 0x00000007
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#define SMNOT_STARTGETINFO 0x00000008
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// ************************************************************************************************
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// *** Motor Download Flags:
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// ************************************************************************************************
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#define MDF_TURNOFF 0x00000001 // Turn it off if it is on
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#define MDF_BLIND 0x00000010 // Blind Download
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#define MDF_CAL 0x00000080 // Download Calibration Program
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#define MDF_FORCEDOWNLOAD 0x00000100 // Download even if motor has no EEPROM
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#define MDF_SKIPPRGINFO 0x00000200
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// ************************************************************************************************
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// *** Error Codes for IntegMotorInterface exceptions match resourec numbers for SMI and IntegMotorInterface
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// ************************************************************************************************
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#define EID_NOERROR 4000
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#define EID_CX 4001
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#define EID_OPEN 4002
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#define EID_SETTIMEOUT 4003
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#define EID_CONNECTION 4004
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#define EID_TIMEOUT 4005
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#define EID_ECHOTIMEOUT 4006
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#define EID_BADECHO 4007
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#define EID_PORTNOTOPEN 4008
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#define EID_OVERRUN 4009
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#define EID_RXOVER 4010
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#define EID_RXPARITY 4011
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#define EID_FRAME 4012
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#define EID_BREAK 4013
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#define EID_IOE 4014
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#define EID_TXFULL 4015
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#define EID_COMMUNKNOWN 4016
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#define EID_READ 4017
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#define EID_WRITE 4018
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#define EID_INVALIDDATA 4019
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#define EID_INVALIDTIME 4020
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#define EID_INVALIDTIMEDELTA 4021
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#define EID_INVALIDPOSDELTA 4022
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#define EID_INTDATASPACE 4023
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#define EID_BUFFOVERFLOW 4024
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#define EID_BUFFUNDERFLOW 4025
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#define EID_HMFAILED 4026
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#define EID_GETSTATUS 4027
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#define EID_SAMPLERATES 4028
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#define EID_NOTSUPPORTED 4029
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#define EID_NOTINIT 4030
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#define EID_NOMEM 4031
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#define EID_GETALL 4032
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#define EID_NOMORE 4033
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#define EID_OPENFILE 4034
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#define EID_OPENFILEWRITE 4035
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#define EID_NOEEPROM 4036
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#define EID_INVALIDMODE 4037
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#define EID_RS485 4038
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#define EID_FILETOOLONG 4039
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#define EID_CORRUPTEEPROM 4040
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#define EID_DOWNLOADON 4041
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#define EID_VERSIONMISMATCH 4042
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#define EID_SOCKET 4043
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#define EID_DOWNLOADRCKS 4044
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#define EID_NETERROR 4045
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#define EID_USBERROR 4046
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#define EID_BIGADDRESS 4047
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#define EID_CALWARNING 4048
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#define EID_CANCELED 4049
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#define EID_SOMEADDRESSED 4050
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#define EID_COMMUNICATION 4051
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#define EID_DUPLICATEADDR 4052
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#define EID_COMMRESET 4053
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#define EID_STOP 4054
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#define EID_NOTFOUND 4055
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#define EID_LANGFILE 4056
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#define EID_INVALID_PROJ 4057
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#define EID_READFILE 4058
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#define EID_CHANGEBAUD 4059
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#define EID_CANERROR 4060
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#define EID_NOCANDWLD 4061
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#define EID_NOLEGOACK 4062
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#define EID_NOMODBUSDWLD 4063
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#define EID_INCORRECTMICRO 4064
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#define EID_FILEFORMAT 4065
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#define EID_DLD_BUFFEREXCEED 4066
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#define EID_DLD_HEXCHKSUM 4067
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#define EID_DLD_HEXADDRESS 4068
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#define EID_HEXTYPE 4069
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#define EID_DATAINSERT 4070
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#define EID_CMDNOSUPPORT 4071
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#define EID_NOTIMEDELTA 4072
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#define EID_CANINVTIMEDELTA 4073
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#define EID_CANVOLTAGEFAULT 4074
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#define EID_CANEXCESSTEMP 4075
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#define EID_CANEXCESSPOS 4076
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#define EID_CANVELOCITYLIMIT 4077
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#define EID_CANDEDTLIMIT 4078
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#define EID_CANHWPOSHWLIMIT 4079
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#define EID_CANHWNEGHWLIMIT 4080
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#define EID_CANSWPOSLIMIT 4081
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#define EID_CANSWNEGLIMIT 4082
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#define EID_FIRMVERMISSMATCH 4083
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#define EID_BADMODEL 4084
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// scanner errors match the resource numbers in SMI and IntegMotorInterface
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#define ER_CANNOT_OPEN 8672
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#define ER_ERROR_CLINE 8673
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#define ER_LINE_TOKENS 8674
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#define ER_NOLANGFILE 8675
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#define ER_UNKNOWNERROR 8676
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#define ER_2DEFAULTS 8700
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#define ER_2ELSE 8701
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#define ER_2MANYINCLUDES 8702
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#define ER_ABSEXPECTED 8703
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#define ER_ASSIGNECXPTD 8704
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#define ER_BADBREAK 8705
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#define ER_CASEAFTERDEFAULT 8706
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#define ER_CASEWOSWITCH 8707
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#define ER_CASEXPTD 8708
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#define ER_CBRACKETXPTD 8709
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#define ER_CLOSEPXPTD 8710
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#define ER_CMPWOIFX 8711
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#define ER_COMMAXPTD 8712
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#define ER_DEFAULTWOSWITCH 8713
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#define ER_DESTINATION 8714
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#define ER_DIRECTIVECLOSE 8715
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#define ER_DOTEXPTD 8716
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#define ER_DUPLICATELABELS 8717
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#define ER_ELSEIFAFTERELSE 8718
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#define ER_ELSEIFWOIF 8719
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#define ER_ELSEWOIF 8720
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#define ER_ENDIFWOIF 8721
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#define ER_ENDSWOSWITCH 8722
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#define ER_ENDXPTD 8723
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#define ER_IFFWOCMP 8724
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#define ER_IFTWOCMP 8725
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#define ER_IFWOENDIF 8726
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#define ER_IFXWOCMP 8727
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#define ER_INVALIDEOP 8728
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#define ER_INVALIDEXPTERM 8729
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#define ER_INVALIDNOPARAM 8730
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#define ER_INVALIDPARAM 8731
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#define ER_LANGFILE 8732
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#define ER_LOOPWOWHILE 8733
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#define ER_LVALUE 8734
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#define ER_NEWLINESTRING 8735
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#define ER_NOTINPROGRAM 8736
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#define ER_NUMSIGNXPTD 8737
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#define ER_NUMXPTD 8738
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#define ER_OBRACKETXPTD 8739
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#define ER_OPENINCLUDE 8740
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#define ER_OPENPXPTD 8741
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#define ER_QUOTXPTD 8742
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#define ER_REDEF 8743
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#define ER_RESERVED 8744
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#define ER_SPACEXPTD 8745
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#define ER_STRXPTD 8746
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#define ER_SWITCHWOENDS 8747
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#define ER_SYNTAX 8748
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#define ER_UNDEFINED 8749
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#define ER_UPARAMXPTD 8750
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#define ER_WHILEWOLOOP 8751
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#define ER_DIVIDEBYZERO 8752
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#define ER_FLT_NOTALLOW 8753
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#define ER_NOFLOATVARMATH 8754
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#define ER_PEERTOPEERTYPE 8755
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#define ER_MISSINGSEMI 8756
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#define ER_MISSINGCOLON 8757
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#define ER_INVALIDADDRESS 8758
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#define ER_INVALIDAXIS 8759
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#define ER_REPORTNOTALLOWED 8760
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#define WR_BAUDRATE 8800
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#define WR_DATARANGE 8801
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#define WR_DEFAULTLANGUAGE 8802
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#define WR_MISSINGPOUND 8803
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#define WR_NUMRANGE 8804
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#define WR_NUMRANGEMM 8805
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#define WR_NUMRANGEN 8806
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#define WR_NUMRANGENN 8807
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#define WR_NUMRANGENP 8808
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#define WR_NUMRANGEP 8809
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#define WR_FLTDECIMALS 8810
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#define WR_FLTRANGE 8811
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#define WR_FLTOVERFLOW 8812
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#define WR_LONGOVERFLOW 8813
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#define WR_FLTDECIMALSPT 8814
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#define FATAL_ER_2MANYERRORS 8900
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#define FATAL_ER_2MANYWARNINGS 8901
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#define FATAL_ER_NESTING 8902
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// warning range
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#define IS_WARNING_ID(x) (((x) >= WR_BAUDRATE) && ((x) <= (WR_BAUDRATE + 99)))
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// fatal error range (stop scanning)
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#define IS_FATAL_ID(x) (((x) >= FATAL_ER_2MANYERRORS) && ((x) <= (FATAL_ER_2MANYERRORS + 99)))
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// ************************************************************************************************
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// used when warnings replaces errors for keywords (no strings associated) only used for ER_UNDEFINED
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#define ERRTOWARN_START (FATAL_ER_2MANYERRORS + 100) // set start area of converted errors 9000
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#define ERRTOWARN_END (ERRTOWARN_START + 99) // set start area of converted errors 9099
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#define IS_ERRTOWWARNING(x) (((x) >= ERRTOWARN_START) && ((x) <= ERRTOWARN_END))
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#define MAKEWE(x) ((Errors2Warnings)?(ERRTOWARN_START + (x) % 100):(x)) // convert error to warning if Errors2Warnings
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#define WE2E(x) (IS_ERRTOWWARNING(x)?(ER_2DEFAULTS + (x % 100)):(x)) // convert error to warning back to orignal error
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#endif //__SMIDEFS_H_
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