Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance. Project price only 1 $
You can buy this project and download/modify it how often you want.
/*
* This software is public domain software, however it is preferred
* that the following disclaimers be attached.
* Software Copywrite/Warranty Disclaimer
*
* This software was developed at the National Institute of Standards and
* Technology by employees of the Federal Government in the course of their
* official duties. Pursuant to title 17 Section 105 of the United States
* Code this software is not subject to copyright protection and is in the
* public domain.
*
* This software is experimental. NIST assumes no responsibility whatsoever
* for its use by other parties, and makes no guarantees, expressed or
* implied, about its quality, reliability, or any other characteristic.
* We would appreciate acknowledgement if the software is used.
* This software can be redistributed and/or modified freely provided
* that any derivative works bear some notice that they are derived from it,
* and any modified versions bear some notice that they have been modified.
*
* See http://www.copyright.gov/title17/92chap1.html#105
*
*/
package com.github.wshackle.crcl4java.motoman;
import com.github.wshackle.crcl4java.motoman.exfile.MP_GET_JOBLIST_RSP_DATA;
import com.github.wshackle.crcl4java.motoman.exfile.MpExFileRamIdEnum;
import com.github.wshackle.crcl4java.motoman.exfile.MpExtensionType;
import com.github.wshackle.crcl4java.motoman.exfile.RemoteExFileFunctionType;
import com.github.wshackle.crcl4java.motoman.file.MpFileFlagsEnum;
import com.github.wshackle.crcl4java.motoman.file.RemoteFileFunctionType;
import com.github.wshackle.crcl4java.motoman.motctrl.RemoteMotFunctionType;
import com.github.wshackle.crcl4java.motoman.motctrl.CoordTarget;
import com.github.wshackle.crcl4java.motoman.motctrl.JointTarget;
import com.github.wshackle.crcl4java.motoman.motctrl.MP_COORD_TYPE;
import com.github.wshackle.crcl4java.motoman.motctrl.MP_SPEED;
import com.github.wshackle.crcl4java.motoman.motctrl.MotCtrlReturnEnum;
import com.github.wshackle.crcl4java.motoman.sys1.CycleEnum;
import com.github.wshackle.crcl4java.motoman.sys1.MP_ALARM_CODE_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_ALARM_STATUS_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_CART_POS_RSP_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_CYCLE_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_DEG_POS_RSP_DATA_EX;
import com.github.wshackle.crcl4java.motoman.sys1.MP_FB_PULSE_POS_RSP_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_IO_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_IO_INFO;
import com.github.wshackle.crcl4java.motoman.sys1.MP_MODE_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_PULSE_POS_RSP_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_VAR_DATA;
import com.github.wshackle.crcl4java.motoman.sys1.MP_VAR_INFO;
import com.github.wshackle.crcl4java.motoman.sys1.ModeEnum;
import com.github.wshackle.crcl4java.motoman.sys1.RemoteSys1FunctionType;
import com.github.wshackle.crcl4java.motoman.sys1.UnitType;
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.nio.ByteBuffer;
import java.nio.charset.Charset;
import java.util.ArrayList;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
*
* @author Will Shackleford {@literal }
*/
public class MotoPlusConnection implements AutoCloseable {
private Socket socket;
private DataOutputStream dos;
private DataInputStream dis;
public static final int NO_WAIT = 0;
private static final int WAIT_FOREVER = -1; // This is not allowed to avoid hanging server.
private volatile int maxWait = -99;
public synchronized int mpGetMaxWait() throws IOException, MotoPlusConnectionException {
if (maxWait == -99) {
maxWait = 5000 / mpGetRtc();
}
return maxWait;
}
public MotoPlusConnection(Socket socket) throws IOException {
this.socket = socket;
dos = new DataOutputStream(socket.getOutputStream());
dis = new DataInputStream(socket.getInputStream());
}
public boolean isConnected() {
return null != socket && socket.isConnected();
}
private String host;
private int port;
public void connect(String host, int port) throws IOException {
this.host = host;
this.port = port;
if (null != socket) {
socket.close();
}
System.out.println("Connecting to " + host + ", port=" + port + " . . .");
socket = new Socket(host, port);
System.out.println("Connection successful.");
dos = new DataOutputStream(socket.getOutputStream());
dis = new DataInputStream(socket.getInputStream());
}
public void reconnect() throws IOException {
if (!isConnected() && null != host && port > 0) {
connect(host, port);
}
}
@Override
public void close() throws Exception {
if (null != dos) {
try {
dos.close();
} catch (IOException iOException) {
}
dos = null;
}
if (null != dis) {
try {
dis.close();
} catch (IOException iOException) {
}
dis = null;
}
if (null != socket) {
try {
socket.close();
} catch (IOException iOException) {
}
socket = null;
}
}
@Override
protected void finalize() throws Throwable {
super.finalize();
close();
}
public final class Starter {
private Starter() {
// only one needed per MotoPlusConnection instance
}
public void startMpLoadFile(int fd, String name, String name2) throws IOException {
final int inputSize = name.length() + name2.length() + 22;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_LOAD_FILE.getId()); // type of function remote server will call
bb.putInt(12, fd);
int offset = 21 + name.length();
bb.putInt(16, offset);
bb.position(20);
bb.put(name.getBytes());
bb.position(offset);
bb.put(name2.getBytes());
dos.write(bb.array());
}
public void startMpSaveFile(int fd, String name, String name2) throws IOException {
final int inputSize = name.length() + name2.length() + 22;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_SAVE_FILE.getId()); // type of function remote server will call
bb.putInt(12, fd);
int offset = 21 + name.length();
bb.putInt(16, offset);
bb.position(20);
bb.put(name.getBytes());
bb.position(offset);
bb.put(name2.getBytes());
dos.write(bb.array());
}
public void startMpFdReadFile(int fd, String name) throws IOException {
final int inputSize = name.length() + 17;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_FD_READ_FILE.getId()); // type of function remote server will call
bb.putInt(12, fd);
bb.position(16);
bb.put(name.getBytes());
dos.write(bb.array());
}
public void startMpFdWriteFile(int fd, String name) throws IOException {
final int inputSize = name.length() + 17;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_FD_WRITE_FILE.getId()); // type of function remote server will call
bb.putInt(12, fd);
bb.position(16);
bb.put(name.getBytes());
dos.write(bb.array());
}
public void startMpFdGetJobList(int fd, MP_GET_JOBLIST_RSP_DATA jlistData) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_FD_GET_JOB_LIST.getId()); // type of function remote server will call
bb.putInt(12, fd);
dos.write(bb.array());
}
public void startMpOpenFile(String name, int flags, int mode) throws IOException {
final int inputSize = name.length() + 21;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteFileFunctionType.FILE_CTRL_OPEN.getId()); // type of function remote server will call
bb.putInt(12, flags);
bb.putInt(16, mode);
bb.position(20);
bb.put(name.getBytes());
dos.write(bb.array());
}
public void startMpCreateFile(String name, int flags) throws IOException {
final int inputSize = name.length() + 17;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteFileFunctionType.FILE_CTRL_CREATE.getId()); // type of function remote server will call
bb.putInt(12, flags);
bb.position(16);
bb.put(name.getBytes());
dos.write(bb.array());
}
public void startMpCloseFile(int fd) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteFileFunctionType.FILE_CTRL_CLOSE.getId()); // type of function remote server will call
bb.putInt(12, fd);
dos.write(bb.array());
}
public void startMpReadFile(int fd, int maxBytes) throws IOException {
final int inputSize = 20;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteFileFunctionType.FILE_CTRL_READ.getId()); // type of function remote server will call
bb.putInt(12, fd);
bb.putInt(16, maxBytes);
dos.write(bb.array());
}
public void startMpWriteFile(int fd, byte bytesToWrite[], int offset, int maxBytes) throws IOException {
if (maxBytes > bytesToWrite.length - offset) {
maxBytes = bytesToWrite.length - offset;
}
final int inputSize = 20 + bytesToWrite.length;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteFileFunctionType.FILE_CTRL_WRITE.getId()); // type of function remote server will call
bb.putInt(12, fd);
bb.putInt(16, maxBytes);
bb.position(20);
bb.put(bytesToWrite, offset, maxBytes);
dos.write(bb.array());
}
public void startMpGetFileCount(MpExtensionType ext) throws IOException {
final int inputSize = 14;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_GET_FILE_COUNT.getId()); // type of function remote server will call
bb.putShort(12, ext.getId());
dos.write(bb.array());
}
public void startMpGetFileName(MpExtensionType ext, int index) throws IOException {
final int inputSize = 18;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.EX_FILE_CTRL_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteExFileFunctionType.EX_FILE_CTRL_GET_FILE_NAME.getId()); // type of function remote server will call
bb.putShort(12, ext.getId());
bb.putInt(14, index);
dos.write(bb.array());
}
public void startMpMotStart(int options) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_START.getId()); // type of function remote server will call
bb.putInt(12, options);
dos.write(bb.array());
}
public void startMpMotStop(int options) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_STOP.getId()); // type of function remote server will call
bb.putInt(12, options);
dos.write(bb.array());
}
public void startMpMotTargetClear(int grp, int options) throws IOException {
final int inputSize = 20;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_TARGET_CLEAR.getId()); // type of function remote server will call
bb.putInt(12, grp);
bb.putInt(16, options);
dos.write(bb.array());
}
public void startMpMotTargetJointSend(int grp, JointTarget target, int timeout) throws IOException {
final int inputSize = 92;
checkTimeout(timeout);
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_JOINT_TARGET_SEND.getId()); // type of function remote server will call
bb.putInt(12, grp);
bb.putInt(16, target.getId());
bb.putInt(20, target.getIntp().getId());
for (int i = 0; i < 8 /* MP_GRP_AXES_NUM */; i++) {
bb.putInt(24 + (i * 4), target.getDst()[i]);
}
for (int i = 0; i < 8 /* MP_GRP_AXES_NUM */; i++) {
bb.putInt(56 + (i * 4), target.getAux()[i]);
}
bb.putInt(88, timeout);
dos.write(bb.array());
}
public void startMpMotTargetCoordSend(int grp, CoordTarget target, int timeout) throws IOException {
final int inputSize = 92;
checkTimeout(timeout);
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_COORD_TARGET_SEND.getId()); // type of function remote server will call
bb.putInt(12, grp);
bb.putInt(16, target.getId());
bb.putInt(20, target.getIntp().getId());
bb.putInt(24, target.getDst().x);
bb.putInt(28, target.getDst().y);
bb.putInt(32, target.getDst().z);
bb.putInt(36, target.getDst().rx);
bb.putInt(40, target.getDst().ry);
bb.putInt(44, target.getDst().rz);
bb.putInt(48, target.getDst().ex1);
bb.putInt(52, target.getDst().ex2);
bb.putInt(56, target.getAux().x);
bb.putInt(60, target.getAux().y);
bb.putInt(64, target.getAux().z);
bb.putInt(68, target.getAux().rx);
bb.putInt(72, target.getAux().ry);
bb.putInt(76, target.getAux().rz);
bb.putInt(80, target.getAux().ex1);
bb.putInt(84, target.getAux().ex2);
bb.putInt(88, timeout);
dos.write(bb.array());
}
public void startMpMotTargetReceive(int grpNo, int id, int[] recvId, int timeout, int options) throws IOException {
checkTimeout(timeout);
final int inputSize = 28;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_TARGET_RECEIVE.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, id);
bb.putInt(20, timeout);
bb.putInt(24, options);
dos.write(bb.array());
}
public void startMpMotSetCoord(int grpNo, MP_COORD_TYPE type, int aux) throws IOException {
final int inputSize = 24;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_COORD.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, type.getId());
bb.putInt(20, aux);
dos.write(bb.array());
}
public void startMpMotSetTool(int grpNo, int toolNo) throws IOException {
final int inputSize = 20;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_TOOL.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, toolNo);
dos.write(bb.array());
}
public void startMpMotSetSpeed(int grpNo, MP_SPEED spd) throws IOException {
final int inputSize = 36;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_SPEED.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, spd.vj);
bb.putInt(24, spd.v);
bb.putInt(32, spd.vr);
dos.write(bb.array());
}
public void startMpMotSetOrigin(int grpNo, int options) throws IOException {
final int inputSize = 20;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_ORIGIN.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, options);
dos.write(bb.array());
}
public void startMpMotSetTask(int grpNo, int taskNo) throws IOException {
final int inputSize = 20;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_TASK.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, taskNo);
dos.write(bb.array());
}
public void startMpMotSetSync(int grpNo, int aux, int options) throws IOException {
final int inputSize = 24;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_TASK.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
bb.putInt(16, aux);
bb.putInt(20, options);
dos.write(bb.array());
}
public void startMpMotSetSync(int grpNo) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.MOT_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteMotFunctionType.MOT_SET_TASK.getId()); // type of function remote server will call
bb.putInt(12, grpNo);
dos.write(bb.array());
}
public void startMpPutVarData(MP_VAR_DATA[] sData, int num) throws IOException {
final int inputSize = 16 + (8 * num);
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_PUT_VAR_DATA.getId()); // type of function remote server will call
bb.putInt(12, num);
for (int i = 0; i < num; i++) {
bb.putShort(16 + (i * 8), sData[i].usType.getId());
bb.putShort(18 + (i * 8), sData[i].usIndex);
bb.putInt(20 + (i * 8), sData[i].ulValue);
}
dos.write(bb.array());
}
public void startMpWriteIO(MP_IO_DATA[] sData, int num) throws IOException {
final int inputSize = 16 + (8 * num);
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_WRITEIO.getId()); // type of function remote server will call
bb.putInt(12, num);
for (int i = 0; i < num; i++) {
bb.putInt(16 + (i * 8), sData[i].ulAddr);
bb.putInt(20 + (i * 8), sData[i].ulValue);
}
dos.write(bb.array());
}
public void startMpGetVarData(MP_VAR_INFO[] sData, long[] rData, int num) throws IOException {
final int inputSize = (int) (16 + (4 * num));
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_VAR_DATA.getId()); // type of function remote server will call
bb.putInt(12, num);
for (int i = 0; i < num; i++) {
bb.putShort(16 + (4 * i), sData[i].usType.getId());
bb.putShort(18 + (4 * i), sData[i].usIndex);
}
dos.write(bb.array());
}
public void startMpReadIO(MP_IO_INFO[] sData, short[] iorData, int num) throws IOException {
final int inputSize = (int) (16 + (4 * num));
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_READIO.getId()); // type of function remote server will call
bb.putInt(12, num);
for (int i = 0; i < num; i++) {
bb.putInt(16 + (4 * i), sData[i].ulAddr);
}
dos.write(bb.array());
}
public void startMpGetCartPos(int ctrlGroup, MP_CART_POS_RSP_DATA[] data) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_CURRENT_CART_POS.getId()); // type of function remote server will call
bb.putInt(12, ctrlGroup);
dos.write(bb.array());
}
public void startMpGetPulsePos(int ctrlGroup, MP_PULSE_POS_RSP_DATA[] data) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_CURRENT_PULSE_POS.getId()); // type of function remote server will call
bb.putInt(12, ctrlGroup);
dos.write(bb.array());
}
public void startMpGetFBPulsePos(int ctrlGroup, MP_FB_PULSE_POS_RSP_DATA[] data) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_CURRENT_FEEDBACK_PULSE_POS.getId()); // type of function remote server will call
bb.putInt(12, ctrlGroup);
dos.write(bb.array());
}
public void startMpGetDegPosEx(int ctrlGroup, MP_DEG_POS_RSP_DATA_EX[] data) throws IOException {
final int inputSize = 16;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_DEG_POS_EX.getId()); // type of function remote server will call
bb.putInt(12, ctrlGroup);
dos.write(bb.array());
}
public void startMpGetServoPower() throws IOException {
final int inputSize = 12;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_SERVO_POWER.getId()); // type of function remote server will call
dos.write(bb.array());
}
public void startMpSetServoPower(boolean on) throws IOException {
final int inputSize = 14;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_SET_SERVO_POWER.getId()); // type of function remote server will call
bb.putShort(12, (short) (on ? 1 : 0));
dos.write(bb.array());
}
public void startMpGetMode() throws IOException {
final int inputSize = 12;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_MODE.getId()); // type of function remote server will call
dos.write(bb.array());
}
public void startMpGetCycle() throws IOException {
final int inputSize = 12;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_CYCLE.getId()); // type of function remote server will call
dos.write(bb.array());
}
public void startMpGetAlarmStatus() throws IOException {
final int inputSize = 12;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_ALARM_STATUS.getId()); // type of function remote server will call
dos.write(bb.array());
}
public void startMpGetAlarmCode() throws IOException {
final int inputSize = 12;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_ALARM_CODE.getId()); // type of function remote server will call
dos.write(bb.array());
}
public void startMpGetRtc() throws IOException {
final int inputSize = 12;
ByteBuffer bb = ByteBuffer.allocate(inputSize);
bb.putInt(0, inputSize - 4); // bytes to read
bb.putInt(4, RemoteFunctionGroup.SYS1_FUNCTION_GROUP.getId()); // type of function remote server will call
bb.putInt(8, RemoteSys1FunctionType.SYS1_GET_RTC.getId()); // type of function remote server will call
dos.write(bb.array());
}
}
public final class Returner {
private Returner() {
// only one needed per MotoPlusConnection instance
}
public int getMpFdReadFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet;
}
public int getMpFdWriteFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet;
}
public int getMpSaveFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet;
}
public int getMpLoadFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet;
}
public int getMpOpenFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet <= 0) {
throw new MotoPlusConnectionException("mpOpen returned " + intRet);
}
return intRet;
}
public int getMpFdGetJobListReturn(MP_GET_JOBLIST_RSP_DATA jListData) throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpFdGetJobList returned " + intRet);
}
if (size < 10) {
throw new MotoPlusConnectionException("mpFdGetJobList size = " + size);
}
jListData.err_no = bb.getShort(4);
jListData.uIsEndFlag = bb.getShort(6);
jListData.uListDataNum = bb.getShort(8);
return intRet;
}
public int getMpCreateFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet <= 0) {
throw new MotoPlusConnectionException("mpCreate returned " + intRet);
}
return intRet;
}
public int getMpCloseFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpClose returned " + intRet);
}
return intRet;
}
public int getMpReadFileReturn(byte buf[], int offset, int len) throws IOException, MotoPlusConnectionException {
if (null == buf || buf.length < offset + len) {
throw new IllegalArgumentException("Buf must not be null and have length of atleast offset = " + offset + " len = " + len);
}
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet < 0) {
throw new MotoPlusConnectionException("mpRead returned " + intRet);
}
if (size <= 3) {
throw new MotoPlusConnectionException("mpRead size = " + size);
}
bb.position(4);
bb.get(buf, offset, Math.min(intRet, Math.min(len, size - 4)));
return intRet;
}
public int getMpWriteFileReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet;
}
public int getMpFileCountReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpRefreshFileList returned " + intRet);
}
if (size < 8) {
throw new MotoPlusConnectionException("mpGetFileCount size = " + size + ": 8 bytes needed");
}
return bb.getInt(4);
}
public String getMpFileNameReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int size = bb.getInt(0);
inbuf = new byte[size];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpRefreshFileList returned " + intRet);
}
if (size < 10) {
throw new MotoPlusConnectionException("mpGetFileCount size = " + size + ": 10 bytes needed");
}
intRet = bb.getInt(4);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpGetFileName returned " + intRet);
}
return new String(inbuf, 8, size - 9, Charset.forName("US-ASCII"));
}
public MotCtrlReturnEnum getMpMotStandardReturn() throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return MotCtrlReturnEnum.fromId(intRet);
}
public MotCtrlReturnEnum getMpMotTargetReceiveReturn(int[] recvId) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (sz >= 8 && null != recvId && recvId.length > 0) {
recvId[0] = bb.getInt(4);
}
return MotCtrlReturnEnum.fromId(intRet);
}
public boolean getSysOkReturn() throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet == 0;
}
public int getIntReturn() throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
return intRet;
}
public boolean getSysDataReturn(long rData[]) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
for (int i = 0; i < rData.length && i < (sz - 4) / 4; i++) {
rData[i] = bb.getInt(4 + (i * 4));
}
return intRet == 0;
}
public boolean getSysReadIOReturn(short iorData[]) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
for (int i = 0; i < iorData.length && i < (sz - 4) / 2; i++) {
iorData[i] = bb.getShort(4 + (i * 2));
}
return intRet == 0;
}
public boolean getCartPosReturn(MP_CART_POS_RSP_DATA[] data) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
for (int i = 0; i < MP_CART_POS_RSP_DATA.MAX_CART_AXES; i++) {
data[0].lPos[i] = bb.getInt(4 + (i * 4));
}
data[0].sConfig = bb.getShort(52);
return intRet == 0;
}
public boolean getPulsePosReturn(MP_PULSE_POS_RSP_DATA[] data) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
for (int i = 0; i < MP_PULSE_POS_RSP_DATA.MAX_PULSE_AXES; i++) {
data[0].lPos[i] = bb.getInt(4 + (i * 4));
}
return intRet == 0;
}
public boolean getFBPulsePosReturn(MP_FB_PULSE_POS_RSP_DATA[] data) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
for (int i = 0; i < MP_PULSE_POS_RSP_DATA.MAX_PULSE_AXES; i++) {
data[0].lPos[i] = bb.getInt(4 + (i * 4));
}
return intRet == 0;
}
public boolean getDegPosExPosReturn(MP_DEG_POS_RSP_DATA_EX[] data) throws IOException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
for (int i = 0; i < MP_DEG_POS_RSP_DATA_EX.MAX_PULSE_AXES; i++) {
data[0].degPos[i] = bb.getInt(4 + (i * 4));
}
for (int i = 0; i < MP_DEG_POS_RSP_DATA_EX.MAX_PULSE_AXES; i++) {
int unitInt = bb.getInt(68 + (i * 4));
data[0].degUnit[i] = UnitType.fromId(unitInt);
}
return intRet == 0;
}
public boolean getServoPowerReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
short shortRet = bb.getShort(4);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpGetServoPower returned " + intRet);
}
if (shortRet < 0 || shortRet > 1) {
throw new MotoPlusConnectionException("mpGetServoPower had invalid value for sServoPower = " + shortRet);
}
return shortRet == 1;
}
public boolean getSetServoPowerReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
short shortRet = bb.getShort(4);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpSetServoPower returned " + intRet);
}
return shortRet == 1;
}
public MP_MODE_DATA getModeReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpGetMode returned " + intRet);
}
short sMode = bb.getShort(4);
MP_MODE_DATA data = new MP_MODE_DATA();
data.mode = ModeEnum.fromId(sMode);
data.sRemote = bb.getShort(6);
return data;
}
public MP_CYCLE_DATA getCycleReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpGetCycle returned " + intRet);
}
MP_CYCLE_DATA data = new MP_CYCLE_DATA();
data.cycle = CycleEnum.fromId(bb.getShort(4));
return data;
}
public MP_ALARM_STATUS_DATA getAlarmStatusReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpGetAlarmStatus returned " + intRet);
}
MP_ALARM_STATUS_DATA data = new MP_ALARM_STATUS_DATA();
data.sIsAlarm = bb.getShort(4);
return data;
}
public MP_ALARM_CODE_DATA getAlarmCodeReturn() throws IOException, MotoPlusConnectionException {
byte inbuf[] = new byte[4];
dis.readFully(inbuf);
ByteBuffer bb = ByteBuffer.wrap(inbuf);
int sz = bb.getInt(0);
inbuf = new byte[sz];
dis.readFully(inbuf);
bb = ByteBuffer.wrap(inbuf);
int intRet = bb.getInt(0);
if (intRet != 0) {
throw new MotoPlusConnectionException("mpGetAlarmCode returned " + intRet);
}
MP_ALARM_CODE_DATA data = new MP_ALARM_CODE_DATA();
data.usErrorNo = bb.getShort(4);
data.usErrorData = bb.getShort(6);
data.usAlarmNum = bb.getShort(8);
for (int i = 0; i < data.usAlarmNum && i < 4; i++) {
data.AlarmData.usAlarmNo[i] = bb.getShort(10 + i * 4);
data.AlarmData.usAlarmData[i] = bb.getShort(12 + i * 4);
}
return data;
}
};
private final Starter starter = new Starter();
public Starter getStarter() {
return starter;
}
private final Returner returner = new Returner();
public Returner getReturner() {
return returner;
}
public MotCtrlReturnEnum mpMotStart(int options) throws IOException {
starter.startMpMotStart(options);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotStop(int options) throws IOException {
starter.startMpMotStop(options);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotTargetClear(int grp, int options) throws IOException {
starter.startMpMotTargetClear(grp, options);
return returner.getMpMotStandardReturn();
}
private void checkTimeout(int timeout) {
if (timeout != NO_WAIT) {
if (timeout < 0 || timeout > 5000) {
throw new IllegalArgumentException("timeout must be finite and less than 5000 ms: timeout = " + timeout);
}
}
}
public MotCtrlReturnEnum mpMotTargetJointSend(int grp, JointTarget target, int timeout) throws IOException {
checkTimeout(timeout);
starter.startMpMotTargetJointSend(grp, target, timeout);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotTargetCoordSend(int grp, CoordTarget target, int timeout) throws IOException {
checkTimeout(timeout);
starter.startMpMotTargetCoordSend(grp, target, timeout);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotTargetReceive(int grpNo, int id, int[] recvId, int timeout, int options) throws IOException {
checkTimeout(timeout);
starter.startMpMotTargetReceive(grpNo, id, recvId, timeout, options);
return returner.getMpMotTargetReceiveReturn(recvId);
}
public MotCtrlReturnEnum mpMotSetCoord(int grpNo, MP_COORD_TYPE type, int aux) throws IOException {
starter.startMpMotSetCoord(grpNo, type, aux);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotSetTool(int grpNo, int toolNo) throws IOException {
starter.startMpMotSetTool(grpNo, toolNo);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotSetSpeed(int grpNo, MP_SPEED spd) throws IOException {
starter.startMpMotSetSpeed(grpNo, spd);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotSetOrigin(int grpNo, int options) throws IOException {
starter.startMpMotSetOrigin(grpNo, options);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotSetTask(int grpNo, int taskNo) throws IOException {
starter.startMpMotSetTask(grpNo, taskNo);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotSetSync(int grpNo, int aux, int options) throws IOException {
starter.startMpMotSetSync(grpNo, aux, options);
return returner.getMpMotStandardReturn();
}
public MotCtrlReturnEnum mpMotResetSync(int grpNo) throws IOException {
starter.startMpMotSetSync(grpNo);
return returner.getMpMotStandardReturn();
}
public boolean mpPutVarData(MP_VAR_DATA[] sData, int num) throws IOException {
starter.startMpPutVarData(sData, num);
return returner.getSysOkReturn();
}
public boolean mpWriteIO(MP_IO_DATA[] sData, int num) throws IOException {
ioClear = false;
starter.startMpWriteIO(sData, num);
return returner.getSysOkReturn();
}
public boolean mpGetVarData(MP_VAR_INFO[] sData, long[] rData, int num) throws IOException {
starter.startMpGetVarData(sData, rData, num);
return returner.getSysDataReturn(rData);
}
public boolean mpReadIO(MP_IO_INFO[] sData, short[] iorData, int num) throws IOException {
starter.startMpReadIO(sData, iorData, num);
return returner.getSysReadIOReturn(iorData);
}
public MP_CART_POS_RSP_DATA getCartPos(int grp) throws MotoPlusConnectionException, IOException {
MP_CART_POS_RSP_DATA cartData[] = new MP_CART_POS_RSP_DATA[1];
cartData[0] = new MP_CART_POS_RSP_DATA();
MP_CART_POS_RSP_DATA pos = cartData[0];
if (!mpGetCartPos(0, cartData)) {
throw new MotoPlusConnectionException("mpGetCartPos returned false");
}
return cartData[0];
}
public boolean mpGetCartPos(int ctrlGroup, MP_CART_POS_RSP_DATA[] data) throws IOException {
starter.startMpGetCartPos(ctrlGroup, data);
return returner.getCartPosReturn(data);
}
public MP_PULSE_POS_RSP_DATA getPulsePos(int grp) throws MotoPlusConnectionException, IOException {
MP_PULSE_POS_RSP_DATA pulseData[] = new MP_PULSE_POS_RSP_DATA[1];
pulseData[0] = new MP_PULSE_POS_RSP_DATA();
if (!mpGetPulsePos(grp, pulseData)) {
throw new MotoPlusConnectionException("mpGetPulsePos returned false");
}
return pulseData[0];
}
public boolean mpGetPulsePos(int ctrlGroup, MP_PULSE_POS_RSP_DATA[] data) throws IOException {
starter.startMpGetPulsePos(ctrlGroup, data);
return returner.getPulsePosReturn(data);
}
public boolean mpGetFBPulsePos(int ctrlGroup, MP_FB_PULSE_POS_RSP_DATA[] data) throws IOException {
starter.startMpGetFBPulsePos(ctrlGroup, data);
return returner.getFBPulsePosReturn(data);
}
public boolean mpGetDegPosEx(int ctrlGroup, MP_DEG_POS_RSP_DATA_EX[] data) throws IOException {
starter.startMpGetDegPosEx(ctrlGroup, data);
return returner.getDegPosExPosReturn(data);
}
public static final class MotoPlusConnectionException extends Exception {
public MotoPlusConnectionException(String message) {
super(message);
}
}
public boolean mpGetServoPower() throws IOException, MotoPlusConnectionException {
starter.startMpGetServoPower();
return returner.getServoPowerReturn();
}
public boolean mpSetServoPower(boolean on) throws IOException, MotoPlusConnectionException {
starter.startMpSetServoPower(on);
return returner.getSetServoPowerReturn();
}
public MP_MODE_DATA mpGetMode() throws IOException, MotoPlusConnectionException {
starter.startMpGetMode();
return returner.getModeReturn();
}
public MP_CYCLE_DATA mpGetCycle() throws IOException, MotoPlusConnectionException {
starter.startMpGetCycle();
return returner.getCycleReturn();
}
public MP_ALARM_STATUS_DATA mpGetAlarmStatus() throws IOException, MotoPlusConnectionException {
starter.startMpGetAlarmStatus();
return returner.getAlarmStatusReturn();
}
public MP_ALARM_CODE_DATA mpGetAlarmCode() throws IOException, MotoPlusConnectionException {
starter.startMpGetAlarmCode();
return returner.getAlarmCodeReturn();
}
public int mpGetRtc() throws IOException, MotoPlusConnectionException {
starter.startMpGetRtc();
return returner.getIntReturn();
}
public int getMpFileCount(MpExtensionType ext) throws IOException, MotoPlusConnectionException {
starter.startMpGetFileCount(ext);
return returner.getMpFileCountReturn();
}
public String getMpFileName(MpExtensionType ext, int index) throws IOException, MotoPlusConnectionException {
starter.startMpGetFileName(ext, index);
return returner.getMpFileNameReturn();
}
public int mpOpenFile(String filename, MpFileFlagsEnum flags, int mode) throws IOException, MotoPlusConnectionException {
starter.startMpOpenFile(filename, flags.getId(), mode);
return returner.getMpOpenFileReturn();
}
public int mpCreateFile(String filename, MpFileFlagsEnum flags) throws IOException, MotoPlusConnectionException {
starter.startMpCreateFile(filename, flags.getId());
return returner.getMpCreateFileReturn();
}
public int mpCloseFile(int fd) throws IOException, MotoPlusConnectionException {
starter.startMpCloseFile(fd);
return returner.getMpCloseFileReturn();
}
public int mpReadFileEx(int fd, byte buf[], int offset, int len) throws IOException, MotoPlusConnectionException {
if (null == buf || len <= 0 || offset < 0 || buf.length < offset + len) {
throw new IllegalArgumentException("Buf must not be null and have length of atleast offset = " + offset + " + len = " + len);
}
if (len > MAX_READ_LEN) {
throw new IllegalArgumentException("len = " + len + " must not be greater than MAX_READ_LEN = " + MAX_READ_LEN);
}
starter.startMpReadFile(fd, (len - offset));
return returner.getMpReadFileReturn(buf, offset, len);
}
public int mpReadFile(int fd, byte buf[]) throws IOException, MotoPlusConnectionException {
return mpReadFileEx(fd, buf, 0, buf.length);
}
private static class ReadBlock {
public ReadBlock(int r, byte[] buf) {
this.r = r;
this.buf = buf;
}
final int r;
final byte buf[];
@Override
public String toString() {
return "ReadBlock{" + "r=" + r + ", buf=" + new String(buf) + '}';
}
};
public byte[] readFullFile(int fd) throws IOException, MotoPlusConnectionException {
int r = MAX_READ_LEN;
int sum = 0;
ArrayList l = new ArrayList<>();
while (r == MAX_READ_LEN) {
byte buf[] = new byte[MAX_READ_LEN];
r = mpReadFile(fd, buf);
if (r > 0 && r <= buf.length) {
l.add(new ReadBlock(r, buf));
sum += r;
}
}
byte ret[] = new byte[sum];
int s = 0;
for (ReadBlock rb : l) {
System.arraycopy(rb.buf, 0, ret, s, rb.r);
s += rb.r;
}
return ret;
}
public boolean openGripper() throws Exception {
boolean a = clearToolChangerGripperIOAndWait();
boolean b = writeConsecutiveI0(10010, 1,0,1);
// MP_IO_DATA ioData[] = new MP_IO_DATA[3];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10010;
// ioData[0].ulValue = 1;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10011;
// ioData[1].ulValue = 0;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 1;
// boolean b = mpWriteIO(ioData, 3);
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
Logger.getLogger(MotoPlusConnection.class.getName()).log(Level.SEVERE, null, ex);
}
boolean c = clearToolChangerGripperIO();
return a && b && c;
}
public boolean closeGripper() throws Exception {
boolean a = clearToolChangerGripperIOAndWait();
boolean b = writeConsecutiveI0(10010, 0, 1, 1);
// MP_IO_DATA ioData[] = new MP_IO_DATA[3];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10010;
// ioData[0].ulValue = 0;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10011;
// ioData[1].ulValue = 1;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 1;
// boolean b = mpWriteIO(ioData, 3);
// try {
// Thread.sleep(200);
// } catch (InterruptedException ex) {
// Logger.getLogger(MotoPlusConnection.class.getName()).log(Level.SEVERE, null, ex);
// }
// boolean c = clearToolChangerGripperIO();
return a && b;
}
private boolean clearToolChangerGripperIO() throws IOException {
// MP_IO_DATA[] ioData = new MP_IO_DATA[5];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10010;
// ioData[0].ulValue = 0;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10011;
// ioData[1].ulValue = 0;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 0;
// ioData[3] = new MP_IO_DATA();
// ioData[3].ulAddr = 10013;
// ioData[3].ulValue = 0;
// ioData[4] = new MP_IO_DATA();
// ioData[4].ulAddr = 10014;
// ioData[4].ulValue = 0;
// boolean b = mpWriteIO(ioData, 5);
// return b;
ioClear = writeConsecutiveI0(10010, 0, 0, 0, 0, 0);
return ioClear;
}
public boolean openToolChanger() throws Exception {
boolean a = clearToolChangerGripperIOAndWait();
boolean b = writeConsecutiveI0(10012, 1,1,0);
// MP_IO_DATA ioData[] = new MP_IO_DATA[3];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10013;
// ioData[0].ulValue = 1;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10014;
// ioData[1].ulValue = 0;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 1;
// boolean b = mpWriteIO(ioData, 3);
Thread.sleep(200);
// ioData = new MP_IO_DATA[5];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10010;
// ioData[0].ulValue = 0;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10011;
// ioData[1].ulValue = 0;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 0;
// ioData[3] = new MP_IO_DATA();
// ioData[3].ulAddr = 10013;
// ioData[3].ulValue = 1;
// ioData[4] = new MP_IO_DATA();
// ioData[4].ulAddr = 10014;
// ioData[4].ulValue = 0;
// boolean c = mpWriteIO(ioData, 5);
// try {
// Thread.sleep(200);
// } catch (InterruptedException ex) {
// Logger.getLogger(MotoPlusConnection.class.getName()).log(Level.SEVERE, null, ex);
// }
boolean c = clearToolChangerGripperIO();
return a && b && c;
}
private volatile boolean ioClear = false;
private boolean clearToolChangerGripperIOAndWait() throws IOException, InterruptedException {
if(ioClear) {
return true;
}
boolean a = clearToolChangerGripperIO();
Thread.sleep(50);
ioClear = a;
return a;
}
private boolean writeConsecutiveI0(int address, int... values) throws IOException {
MP_IO_DATA ioData[] = new MP_IO_DATA[values.length];
for (int i = 0; i < values.length; i++) {
ioData[i] = new MP_IO_DATA();
ioData[i].ulAddr = address + i;
ioData[i].ulValue = values[i];
}
return mpWriteIO(ioData, values.length);
}
public boolean closeToolChanger() throws Exception {
boolean a = clearToolChangerGripperIOAndWait();
boolean b = writeConsecutiveI0(10012, 1, 0, 1);
// MP_IO_DATA ioData[] = new MP_IO_DATA[3];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10013;
// ioData[0].ulValue = 0;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10014;
// ioData[1].ulValue = 1;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 1;
// boolean b = mpWriteIO(ioData, 3);
Thread.sleep(200);
// ioData = new MP_IO_DATA[5];
// ioData[0] = new MP_IO_DATA();
// ioData[0].ulAddr = 10010;
// ioData[0].ulValue = 0;
// ioData[1] = new MP_IO_DATA();
// ioData[1].ulAddr = 10011;
// ioData[1].ulValue = 0;
// ioData[2] = new MP_IO_DATA();
// ioData[2].ulAddr = 10012;
// ioData[2].ulValue = 0;
// ioData[3] = new MP_IO_DATA();
// ioData[3].ulAddr = 10013;
// ioData[3].ulValue = 0;
// ioData[4] = new MP_IO_DATA();
// ioData[4].ulAddr = 10014;
// ioData[4].ulValue = 1;
// boolean c = mpWriteIO(ioData, 5);
// try {
// Thread.sleep(200);
// } catch (InterruptedException ex) {
// Logger.getLogger(MotoPlusConnection.class.getName()).log(Level.SEVERE, null, ex);
// }
boolean c = clearToolChangerGripperIO();
return a && b && c;
}
public byte[] readFullFileByName(String fname) throws IOException, MotoPlusConnectionException {
int fd = mpOpenFile(fname, MpFileFlagsEnum.O_RDWR, 0666);
if (fd < 0) {
throw new MotoPlusConnectionException("mpOpenFile(" + fname + ") returned " + fd);
}
byte ret[] = readFullFile(fd);
mpCloseFile(fd);
return ret;
}
public String readFullFileByNameToString(String fname) throws IOException, MotoPlusConnectionException {
return new String(readFullFileByName(fname), Charset.forName("US-ASCII"));
}
public void downloadJobData(String jobName, File localFile) throws IOException, MotoPlusConnectionException {
if (jobName.endsWith(".JBR") || jobName.endsWith(".JBI")) {
jobName = jobName.substring(0, jobName.length() - 4);
}
String remoteFileName = "MPRAM1:0/" + jobName + ".JBR";
int fd0 = -1;
int closeRet = -1;
System.out.println("Calling mpc.mpCreateFile(\"" + remoteFileName + "\",MpFileFlagsEnum.O_RDWR); ");
fd0 = mpCreateFile(remoteFileName, MpFileFlagsEnum.O_RDWR);
System.out.println("fd0 = " + fd0);
int fdReadRet = mpFdReadFile(fd0, jobName + ".JBR");
System.out.println("fdReadRet = " + fdReadRet);
closeRet = mpCloseFile(fd0);
System.out.println("closeRet = " + closeRet);
downloadFile(remoteFileName, localFile);
}
public void downloadFile(String remoteFileName, File localFile) throws IOException, MotoPlusConnectionException {
try (FileOutputStream fos = new FileOutputStream(localFile)) {
int fd = mpOpenFile(remoteFileName, MpFileFlagsEnum.O_RDWR, 0666);
if (fd < 0) {
throw new MotoPlusConnectionException("mpOpenFile(" + remoteFileName + ") returned " + fd);
}
int r = MAX_READ_LEN;
int sum = 0;
// ArrayList l = new ArrayList<>();
while (r == MAX_READ_LEN) {
byte buf[] = new byte[MAX_READ_LEN];
r = mpReadFile(fd, buf);
if (r > 0 && r <= buf.length) {
fos.write(buf);
// l.add(new ReadBlock(r, buf));
// sum += r;
}
}
// byte ret[] = new byte[sum];
// int s = 0;
// for (ReadBlock rb : l) {
// System.arraycopy(rb.buf, 0, ret, s, rb.r);
// s += rb.r;
// }
mpCloseFile(fd);
}
}
public static final int MAX_WRITE_LEN = 1024 - 10;
public static final int MAX_READ_LEN = 1024 - 10;
public int mpWriteFileEx(int fd, byte buf[], int offset, int len) throws IOException, MotoPlusConnectionException {
if (null == buf || len <= 0 || offset < 0 || buf.length < offset + len) {
throw new IllegalArgumentException("Buf must not be null and have length of atleast offset = " + offset + " + len = " + len);
}
if (len > MAX_WRITE_LEN) {
throw new IllegalArgumentException("len = " + len + " must not be greater than MAX_WRITE_LEN = " + MAX_WRITE_LEN);
}
starter.startMpWriteFile(fd, buf, offset, len);
return returner.getMpWriteFileReturn();
}
public int mpWriteFile(int fd, byte buf[]) throws IOException, MotoPlusConnectionException {
return mpWriteFileEx(fd, buf, 0, buf.length);
}
public int mpFdGetJobList(int fd, MP_GET_JOBLIST_RSP_DATA jlistData) throws IOException, MotoPlusConnectionException {
starter.startMpFdGetJobList(fd, jlistData);
return returner.getMpFdGetJobListReturn(jlistData);
}
public int mpFdReadFile(int fd, String name) throws IOException, MotoPlusConnectionException {
starter.startMpFdReadFile(fd, name);
return returner.getMpFdReadFileReturn();
}
public int mpFdWriteFile(int fd, String name) throws IOException, MotoPlusConnectionException {
starter.startMpFdWriteFile(fd, name);
return returner.getMpFdWriteFileReturn();
}
public int mpLoadFile(MpExFileRamIdEnum id, String name, String name2) throws IOException, MotoPlusConnectionException {
starter.startMpLoadFile(id.getId(), name, name2);
return returner.getMpLoadFileReturn();
}
public int mpSaveFile(MpExFileRamIdEnum id, String name, String name2) throws IOException, MotoPlusConnectionException {
starter.startMpSaveFile(id.getId(), name, name2);
return returner.getMpSaveFileReturn();
}
}
