Parameter.java

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// -----------------------------------------------------------------------
// MLPI - <Parameter.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

import java.util.Vector;

import com.boschrexroth.mlpi.Motion.AxisRef;



public class Parameter extends MlpiComponent {

  /*
   * Constants
   */
  public static final long MLPI_ADDRESS_SLAVE_MASK  = 0x000000000000FFFFL;
  public static final long MLPI_ADDRESS_MASTER_MASK = 0x00000000FFFF0000L;
  public static final long MLPI_ADDRESS_MODE_MASK   = 0x000000FF00000000L;

  public static final long MLPI_READ_EVERYTHING_SINGLE_PARAMETER  =     8;
  public static final long MLPI_READ_EVERYTHING_LIST_PARAMETER    = 65536;
  public static final long MLPI_INFINITE                          = -1;


  /*
   * Enums
   */
  public enum AddressMode
  {
    ADDRESS_MODE_LOGICAL          (0),
    ADDRESS_MODE_PHYSICAL         (1),
    ADDRESS_MODE_TOPOLOGICAL      (2),
    ADDRESS_MODE_LOGICAL_NATIVE   (3);

    private int _code;
    int getCode() { return _code; }
    AddressMode(int code) { this._code = code; }
    static AddressMode valueOf(int code) {
      for (AddressMode value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  }

  public enum CommandStatus
  {
    COMMAND_INACTIVE(0),
    COMMAND_SET(1),
    COMMAND_EXECUTED_CORRECTLY(3),
    COMMAND_INTERRUPTED(5),
    COMMAND_IN_PROGRESS(7),
    COMMAND_ERROR(15),
    COMMAND_STATUS_INVALID(256);

    private int _code;
    int getCode() { return _code; }
    CommandStatus(int code) { this._code = code; }
    static CommandStatus valueOf(int code) {
      for (CommandStatus value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  };

  /*
   * Structs
   */
  public static class ReadEverythingAddressing
  {
    public ReadEverythingAddressing(int axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, 0, (long) axisNo);
      this.idn = idn;
    }
    public ReadEverythingAddressing(int controlNo, int axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }
    public ReadEverythingAddressing(AddressMode mode, int axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, 0, (long) axisNo);
      this.idn = idn;
    }
    public ReadEverythingAddressing(AddressMode mode, int controlNo, int axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }

    public ReadEverythingAddressing(short axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, 0, (long) axisNo);
      this.idn = idn;
    }
    public ReadEverythingAddressing(short controlNo, short axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }
    public ReadEverythingAddressing(AddressMode mode, short axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, 0, (long) axisNo);
      this.idn = idn;
    }
    public ReadEverythingAddressing(AddressMode mode, short controlNo, short axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }

    public ReadEverythingAddressing(long axis, String idn) {
      this.address = axis;
      this.idn = idn;
    }

    long address;
    String idn;
  }

  public static class ReadEverythingData
  {
    public long           address;
    public String         idn;

    public boolean        dataStatus;
    public CommandStatus  cmdStatus;
    public String         name;
    public int            attribute;
    public String         unit;
    public String         min;
    public String         max;
    public String         data;

    public int            result;
  }
  
  public static class ParameterAddressing
  {
    public ParameterAddressing(int axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, 0, (long) axisNo);
      this.idn = idn;
    }
    public ParameterAddressing(int controlNo, int axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }
    public ParameterAddressing(AddressMode mode, int axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, 0, (long) axisNo);
      this.idn = idn;
    }
    public ParameterAddressing(AddressMode mode, int controlNo, int axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }

    public ParameterAddressing(short axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, 0, (long) axisNo);
      this.idn = idn;
    }
    public ParameterAddressing(short controlNo, short axisNo, String idn) {
      this.address = MLPI_ADDRESS(AddressMode.ADDRESS_MODE_LOGICAL, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }
    public ParameterAddressing(AddressMode mode, short axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, 0, (long) axisNo);
      this.idn = idn;
    }
    public ParameterAddressing(AddressMode mode, short controlNo, short axisNo, String idn) {
      this.address = MLPI_ADDRESS(mode, (long) controlNo, (long) axisNo);
      this.idn = idn;
    }

    public ParameterAddressing(long axis, String idn) {
      this.address = axis;
      this.idn = idn;
    }

    long address;
    String idn;
  }
  public static class WriteAccessData
  {    
    public long           address;
    public String         idn;
  }
  
  /*
   * Methods
   */
  Parameter(MlpiHandle connection) {
    super(connection);
  }

  public static long MLPI_ADDRESS(AddressMode mode, long master, long slave)
  {
    return
      (  ( ((long) mode.getCode() ) << 32 ) & MLPI_ADDRESS_MODE_MASK    ) |
      (  ( ((long) master         ) << 16 ) & MLPI_ADDRESS_MASTER_MASK  ) |
      (  ( ((long) slave          )       ) & MLPI_ADDRESS_SLAVE_MASK   ) ;
  }

  public native String readDataAsString(String idn, long address);

  public native String readMinimumAsString(String idn, long address);

  public native String readMaximumAsString(String idn, long address);

  public native String readDefaultAsString(String idn, long address);

  public native String readName(String idn, long address);

  public native String readUnit(String idn, long address);

  public native int readAttribute(String idn, long address);

  public native void command(String idn, long address);

  public native void writeDataAsString(String idn, long address, String data);

  public native Parameter.CommandStatus getCommandStatus(String idn, long address);

  public native boolean getDataStatus(String idn, long address);

  public native Parameter.ReadEverythingData[] readEverything(Parameter.ReadEverythingAddressing[] addressing, int dataLoad);

  public Parameter.ReadEverythingData readEverything(Parameter.ReadEverythingAddressing addressing, int dataLoad)
  {
    ReadEverythingAddressing[] request = {new ReadEverythingAddressing(addressing.address, addressing.idn)};
    ReadEverythingData[] response = readEverything(request, dataLoad);
    return response[0];
  }
  
  public native int writeAccessSetup(Parameter.ParameterAddressing[] addressing);
  
  public native Parameter.WriteAccessData[] writeAccessStatus(int process, boolean waitForWriteAccess, int timeout);
  
  public native void writeAccessAbort(int process);
}