mlpiTaskLib.h

Go to the documentation of this file.

#ifndef __MLPITASKLIB_H__
#define __MLPITASKLIB_H__

// -----------------------------------------------------------------------
// MLPI - <mlpiTaskLib.h>
// -----------------------------------------------------------------------
// Copyright (c) 2013 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.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------












// -----------------------------------------------------------------------
// GLOBAL INCLUDES
// -----------------------------------------------------------------------
#include "mlpiGlobal.h"

// -----------------------------------------------------------------------
// GLOBAL CONSTANTS
// -----------------------------------------------------------------------
static const ULONG MLPI_PRIORITY_HIGH_MAX       =   1;    
static const ULONG MLPI_PRIORITY_HIGH_MIN       =  20;    
static const ULONG MLPI_PRIORITY_BACKGROUND     = 254;    

// -----------------------------------------------------------------------
// GLOBAL TYPEDEFS
// -----------------------------------------------------------------------

typedef enum MlpiTaskEvent
{
  MLPI_TASKEVENT_SERCOS_CYCLE                   =  0,     
  MLPI_TASKEVENT_MOTION_CYCLE                   =  1,     
  MLPI_TASKEVENT_WATCHDOG                       =  2,     
  MLPI_TASKEVENT_PLC_TASK_AFTER_READ_INPUTS     =  3,     
  MLPI_TASKEVENT_PLC_TASK_BEFORE_WRITE_OUTPUTS  =  4      
}MlpiTaskEvent;

typedef enum MlpiSystemTask
{
  MLPI_TASK_MOTIONKERNEL                        = 0       
}MlpiSystemTask;

typedef enum MlpiTaskTriggerEvent
{
  MLPI_TASK_TRIG_EVT_MOTION                     =  0,     
  MLPI_TASK_TRIG_EVT_SERCOS                     =  1      
}MlpiTaskTriggerEvent;

typedef enum MlpiTaskTriggerOption
{
  MLPI_TASK_TRIG_OPT_NO_CYCLIC_MOTION           =  0,     
  MLPI_TASK_TRIG_OPT_NO_CYCLIC_SERCOS           =  1,     
  MLPI_TASK_TRIG_OPT_IMMEDIATE_EXECUTION        =  2,     
  MLPI_TASK_TRIG_OPT_NO_ERROR_REACTION          =  3,     
  MLPI_TASK_TRIG_OPT_NO_WARNING                 =  4,     
  MLPI_TASK_TRIG_OPT_SYNCHRONOUS                =  5      
}MlpiTaskTriggerOption;

typedef enum MlpiTaskViewerState
{
  MLPI_TASK_VIEWER_STATE_STOPPED           =  0,     
  MLPI_TASK_VIEWER_STATE_RUNNING           =  1      
}MlpiTaskViewerState;

// message packing follows 8-byte natural alignment
#if !defined(TARGET_OS_VXWORKS)
#pragma pack(push,8)
#endif

typedef struct MlpiTaskTriggerSetup
{
  MlpiTaskTriggerOption triggerOption;                    
  BOOL8 active;                                           
}MlpiTaskTriggerSetup;

typedef struct MlpiTaskTrigger
{
  MlpiTaskTriggerEvent triggerEvent;                      
  BOOL8 active;                                           
  USHORT numTriggers;                                     
}MlpiTaskTrigger;


#if !defined(TARGET_OS_VXWORKS)
#pragma pack(pop)
#endif

// -----------------------------------------------------------------------
// GLOBAL EXPORTS
// -----------------------------------------------------------------------
#ifdef MLPI_API
  #undef MLPI_API
#endif

#if defined(TARGET_OS_WINNT)
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __declspec(dllexport)
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API __declspec(dllimport)
  #else
    #define MLPI_API
  #endif
#else
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __attribute__ ((visibility("default")))
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API
  #else
    #define MLPI_API
  #endif
#endif


#ifdef __cplusplus
extern "C" {
#endif

MLPI_API MLPIRESULT mlpiTaskWaitForEvent(const MLPIHANDLE connection, const MlpiTaskEvent taskEvent, const ULONG timeout);


MLPI_API MLPIRESULT mlpiTaskSetSystemPriority(const MLPIHANDLE connection, const MlpiSystemTask task, const ULONG priority);


MLPI_API MLPIRESULT mlpiTaskGetSystemPriority(const MLPIHANDLE connection, const MlpiSystemTask task, ULONG *priority);


MLPI_API MLPIRESULT mlpiTaskSetCurrentPriority(const MLPIHANDLE connection, const ULONG priority);


MLPI_API MLPIRESULT mlpiTaskGetCurrentPriority(const MLPIHANDLE connection, ULONG *priority);


MLPI_API MLPIRESULT mlpiTaskSetTriggerSetup(const MLPIHANDLE connection, const MlpiTaskTriggerSetup* triggerSetup, const ULONG numElements);


MLPI_API MLPIRESULT mlpiTaskGetTriggerSetup(const MLPIHANDLE connection, MlpiTaskTriggerSetup* triggerSetup, const ULONG numElements, ULONG* numElementsRet);


MLPI_API MLPIRESULT mlpiTaskSetTrigger(const MLPIHANDLE connection, const MlpiTaskTrigger* taskTrigger, const ULONG numElements);


MLPI_API MLPIRESULT mlpiTaskGetTrigger(const MLPIHANDLE connection, MlpiTaskTrigger* taskTrigger, const ULONG numElements, BOOL8* cmdActive, ULONG* numElementsRet);


MLPI_API MLPIRESULT mlpiTaskViewerStart(const MLPIHANDLE connection);


MLPI_API MLPIRESULT mlpiTaskViewerStop(const MLPIHANDLE connection);


MLPI_API MLPIRESULT mlpiTaskViewerAddItem(const MLPIHANDLE connection, const UCHAR *data, const ULONG numElements);


MLPI_API MLPIRESULT mlpiTaskViewerTaskStart(const MLPIHANDLE connection);


MLPI_API MLPIRESULT mlpiTaskViewerTaskStop(const MLPIHANDLE connection);

MLPI_API MLPIRESULT mlpiTaskViewerGetState(const MLPIHANDLE connection, MlpiTaskViewerState* state);

MLPI_API MLPIRESULT mlpiTaskExecuteFile(const MLPIHANDLE connection, const WCHAR16* path, const WCHAR16* envArguments, const WCHAR16* arguments, MLPITASKHANDLE* handle);

MLPI_API MLPIRESULT mlpiTaskExecuteGetStatus(const MLPIHANDLE connection, const MLPITASKHANDLE handle, MlpiProcessState* state);

MLPI_API MLPIRESULT mlpiTaskExecuteGetActive(const MLPIHANDLE connection, MLPITASKHANDLE* handles, const ULONG numElements, ULONG* numElementsRet);

MLPI_API MLPIRESULT mlpiTaskExecuteKill(const MLPIHANDLE connection, const MLPITASKHANDLE handle);

MLPI_API MLPIRESULT mlpiTaskExecuteGetName(const MLPIHANDLE connection, const MLPITASKHANDLE handle, WCHAR16* name, const ULONG numElements);

#ifdef __cplusplus
}
#endif



#endif // endof: #ifndef __MLPITASKLIB_H__