commands.h

Go to the documentation of this file.

#ifndef COMMANDS_H
#define COMMANDS_H

// Common interactive client commands 

int cmd_quit   (char *, MsgType, char *); // quit the application
int cmd_ping   (char *, MsgType, char *); // ping (comm handshake request)
int cmd_pong   (char *, MsgType, char *); // pong (comm handshake acknowledge)
int cmd_info   (char *, MsgType, char *); // return client application info
int cmd_version(char *, MsgType, char *); // return version info
int cmd_verbose(char *, MsgType, char *); // toggle verbose mode
int cmd_debug  (char *, MsgType, char *); // toggle debug (superverbose) mode
int cmd_help   (char *, MsgType, char *); // show command help
int cmd_history(char *, MsgType, char *); // cli history utility

// Microstep drive commands

int cmd_status  (char *, MsgType, char *); // report drive status (inputs and drive params)
int cmd_mstatus (char *, MsgType, char *); // query/print detailed microstep drive status
int cmd_ports   (char *, MsgType, char *); // show current mechanism comm ports
int cmd_rdpos   (char *, MsgType, char *); // read position encoders
int cmd_setcur  (char *, MsgType, char *); // set motor drive current (amps)
int cmd_seticur (char *, MsgType, char *); // set motor idle current (amps)
int cmd_setsp   (char *, MsgType, char *); // set move speed (rev/s)
int cmd_setacc  (char *, MsgType, char *); // set move acceleration (rev/s/s)
int cmd_setdec  (char *, MsgType, char *); // set move deceleration (rev/s/s)
int cmd_setdist (char *, MsgType, char *); // set move distance (steps)
int cmd_setto   (char *, MsgType, char *); // set/query timeout interval (sec)
int cmd_setpt   (char *, MsgType, char *); // set/query controller polling interval (msec)
int cmd_settopo (char *, MsgType, char *); // set/query mechanism topology
int cmd_idle    (char *, MsgType, char *); // disable motor (idle to 0 amps)
int cmd_reset   (char *, MsgType, char *); // reset runtime & controller params
int cmd_init    (char *, MsgType, char *); // initialize the microstep drive
int cmd_abort   (char *, MsgType, char *); // abort/stop microstep drive
int cmd_sclcmds (char *, MsgType, char *); // show list of SCL commands
int cmd_ismask  (char *, MsgType, char *); // set/query the input status bitmask
int cmd_ndata   (char *, MsgType, char *); // set/query the number of data bits
int cmd_inpos   (char *, MsgType, char *); // set/query the in-position bit address (0 disables)
int cmd_homeaddr(char *, MsgType, char *); // set/query the home sensor address (0 disables)
int cmd_limits  (char *, MsgType, char *); // set/query the limit switches (OFF|OPEN|CLOSED)
int cmd_moveit  (char *, MsgType, char *); // execute a move with verbose feedback
int cmd_moveabs (char *, MsgType, char *); // move to an absolute step-count position
int cmd_moverel (char *, MsgType, char *); // execute a relative step-count move
int cmd_moveto  (char *, MsgType, char *); // move to an indexed position
int cmd_findpos (char *, MsgType, char *); // seek a valid position

// Application command/action structure

struct Commands {
  char *cmd;        

  int(* action)(char *args, MsgType msgtype, char *reply);  

  char *usage;        
  char *description;  
}
cmdtab[] = {   
  {"quit"    ,cmd_quit    ,"quit","Terminate the client session"},
  {"status"  ,cmd_status  ,"status","Report the device status"},
  {"mstatus" ,cmd_mstatus ,"mstatus","Query and report detailed microstep drive status"},
  {"rdpos"   ,cmd_rdpos   ,"rdpos","Read the microstep drive position status"},
  {"move"    ,cmd_moveit  ,"move <Fx>","Execute a raw SCL Fx move command with verbose output"},
  {"moveto"  ,cmd_moveto  ,"moveto <I>","Move to indexed position I, range: 1..Npos"},
  {"moveabs" ,cmd_moveabs ,"moveabs <X>","Move to absolute step-count position X, range: +/-16000000"},
  {"moverel" ,cmd_moverel ,"moverel <dX>","Move dX steps from current position, range: +/-16000000"},
  {"abort"   ,cmd_abort   ,"abort","Abort all motions and clear the drive command buffer"},
  {"cmds"    ,cmd_sclcmds ,"cmds","Print a list of all low-level SCL commands"},
  {"findpos" ,cmd_findpos ,"findpos","Seek the nearest valid position in an indexed mechanims"},
  {"current" ,cmd_setcur  ,"current <Amps>","Set/query the drive current in Amps, range: 0-Imax"},
  {"accel"   ,cmd_setacc  ,"accel <rev/s/s>","Set/query the drive acceleration in rev/s/s, range: 1-3000"},
  {"speed"   ,cmd_setsp   ,"speed <rev/s>","Set/query the drive speed in rev/s, range: 0.025-50"},
  {"dist"    ,cmd_setdist ,"dist <steps>","Set/query the move distance in steps, range: +/-16000000"},
  {"decel"   ,cmd_setdec  ,"decel <rev/s/s>","Set/query the drive deceleration in rev/s/s, range: 1-3000"},
  {"idlecur" ,cmd_seticur ,"idlecur <Amps>","Set/query the drive idle current in Amps, range: 0-Imax"},
  {"idle"    ,cmd_idle    ,"idle <on|off>","Enable/Dsiable drive idle after moves"},
  {"timeout" ,cmd_setto   ,"timeout <sec>","Set/query the drive communications timeout in seconds"},
  {"polltime",cmd_setpt   ,"polltime <msec>","Set/query the drive polling time in milliseconds"},
  {"topology",cmd_settopo ,"topology <rotary|linear>","Set/query the mechanism topology, rotary or linear"},
  {"ndata"   ,cmd_ndata   ,"ndata <n>","Set/query the number of position data bits (0..8, 0=unused)"},
  {"inposaddr",cmd_inpos  ,"inposaddr <n>","Set/query the in-position sensor address (0..8, 0=unused)"},
  {"homeaddr",cmd_homeaddr,"homeaddr <n>","Set/query the home sensor address (0..8, 0=unused)"},
  {"ismask"  ,cmd_ismask  ,"ismask <10101010>","Set/query the Input Status bit mask (8-bits)"},
  {"limits"  ,cmd_limits  ,"limits <off|open|closed>","Set/query limit switches"},
  {"init"    ,cmd_init    ,"init","(re)Initialize the microstep drive motion profile parameters"},  
  {"reset"   ,cmd_reset   ,"reset","Reload the runtime config file and re-initialize the drive"},
  {"verbose" ,cmd_verbose ,"verbose","Toggle verbose output mode on/off"},
  {"debug"   ,cmd_debug   ,"debug","Toggle super-verbose debugging output mode on/off"},
  {"history" ,cmd_history ,"history","Show the command history"},
  {"info"    ,cmd_info    ,"info","Report application runtime info"},
  {"version" ,cmd_version ,"version","Report the application version and compilation time"},
  {"ports"   ,cmd_ports   ,"ports","List information about the active drive comm ports"},
  {"help"    ,cmd_help    ,"help <cmd>","Help command (alias: ? <cmd>)"},
  {"?"       ,cmd_help    ,"",""},  // "" excludes from help
  {"ping"    ,cmd_ping    ,"",""},
  {"pong"    ,cmd_pong    ,"",""}   
};

// Number of commands defined (so we don't have to count correctly)
  
int NumCommands = sizeof(cmdtab)/sizeof(struct Commands);  

// command function return codes

#define CMD_OK   0   
#define CMD_ERR -1   
#define CMD_NOOP 1   

#endif // COMMANDS_H

---