/////////////////////////////////////////////////////////////////
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//
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// Filename : MILCOM.H
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// Content : Define for the Mcom module
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// Revision : 10.35.1105
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//
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// Copyright © Matrox Electronic Systems Ltd., 1992-2019.
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// All Rights Reserved
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//
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/////////////////////////////////////////////////////////////////
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#ifndef __MILCOM_H__
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#define __MILCOM_H__
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/* C++ directive if needed */
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/* General milcom defines */
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#define M_COM_SUCCESS 0
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#define M_COM_ERROR 1
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// Allocation control flags
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#define M_NO_RXYZ_SWAP 0x00000001
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#define M_COM_NO_CONNECT 0x00000002
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#define M_COM_NO_CONNECT_NO_RXYZ_SWAP 0x00000004
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#define M_COM_EMULATION 0x00000008
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/**************************************************************************/
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/* McomAlloc TypeofProtocol */
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/**************************************************************************/
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#define M_COM_PROTOCOL_PROFINET 1
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#define M_COM_PROTOCOL_ETHERNETIP 2
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#define M_COM_PROTOCOL_MODBUS 3
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#define M_COM_PROTOCOL_EPSON 4
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#define M_COM_PROTOCOL_ABB 5
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#define M_COM_PROTOCOL_FANUC 6
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#define M_COM_PROTOCOL_KUKA 7
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#define M_COM_PROTOCOL_MOTOMAN 8
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#define M_COM_PROTOCOL_DENSO 9
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#define M_COM_PROTOCOL_STAUBLI 10
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#define M_COM_PROTOCOL_GENERIC 11
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#define M_COM_PROTOCOL_CCLINK 12
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#define M_COM_PROTOCOL_OPCUA 13
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/**************************************************************************/
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/* McomRead/McomWrite description */
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/**************************************************************************/
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#define M_DISCRETE_INPUT MIL_TEXT("M_DISCRETE_INPUT")
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#define M_COILS MIL_TEXT("M_COILS")
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#define M_HOLDING_REGISTER MIL_TEXT("M_HOLDING_REGISTER")
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#define M_INPUT_REGISTER MIL_TEXT("M_INPUT_REGISTER")
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#define M_COM_ETHERNETIP_PRODUCER_ID 110
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#define M_COM_ETHERNETIP_PRODUCER MIL_TEXT("110")
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#define M_COM_ETHERNETIP_CONSUMER_ID 111
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#define M_COM_ETHERNETIP_CONSUMER MIL_TEXT("111")
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#define M_COM_ETHERNETIP_CONFIG_ID 112
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#define M_COM_ETHERNETIP_CONFIG MIL_TEXT("112")
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#define M_COM_MODBUS_PATH(id,table) MIL_TEXT(#id) MIL_TEXT("/") table
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#define M_COM_MODBUS_TCP_PATH(slave,id,table) MIL_TEXT(#id) MIL_TEXT("@") MIL_TEXT(slave) MIL_TEXT("/") table
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#define M_COM_ETHERNETIP_PATH(assembly) MIL_TEXT("/") MIL_TEXT(#assembly)
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#define M_COM_ETHERNETIP_REMOTE_PATH(assembly, remote) MIL_TEXT(slave) MIL_TEXT("/") MIL_TEXT(#assembly)
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#define M_COM_PROFINET_PATH(module) MIL_TEXT("/") MIL_TEXT(#module)
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// CClink Device
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#define M_COM_CCLINK_RAW MIL_TEXT("RAW")
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#define M_COM_CCLINK_INPUT_FLAG MIL_TEXT("RX")
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#define M_COM_CCLINK_OUTPUT_FLAG MIL_TEXT("RY")
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#define M_COM_CCLINK_INPUT_REGISTER MIL_TEXT("RWR")
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#define M_COM_CCLINK_OUTPUT_REGISTER MIL_TEXT("RWW")
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// CClink Raw mode Offset
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#define M_COM_CCLINK_FORCE_READ_INPUT (1UL << 0)
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#define M_COM_CCLINK_FLAGS_MEMORY_BANK (1UL << 1)
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#define M_COM_CCLINK_INPUT_FLAGS_MEMORY_BANK (M_COM_CCLINK_FLAGS_MEMORY_BANK | M_COM_CCLINK_FORCE_READ_INPUT)
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#define M_COM_CCLINK_OUTPUT_FLAGS_MEMORY_BANK (M_COM_CCLINK_FLAGS_MEMORY_BANK)
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#define M_COM_CCLINK_REGISTERS_MEMORY_BANK (1UL << 2)
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#define M_COM_CCLINK_INPUT_REGISTERS_MEMORY_BANK (M_COM_CCLINK_REGISTERS_MEMORY_BANK | M_COM_CCLINK_FORCE_READ_INPUT)
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#define M_COM_CCLINK_OUTPUT_REGISTERS_MEMORY_BANK (M_COM_CCLINK_REGISTERS_MEMORY_BANK)
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/**************************************************************************/
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/* Mcom control/Inquire settings */
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/**************************************************************************/
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//General
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#define M_COM_REMOTE_ADDRESS (2|M_CLIENT_ENCODING)
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#define M_COM_REMOTE_ADDRESS_SIZE (M_STRING_SIZE + M_COM_REMOTE_ADDRESS)
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#define M_COM_REMOTE_PORT 3
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#define M_COM_PROFINET_DEVICEID 7
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#define M_COM_PROFINET_GET_MODULES 8
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#define M_COM_HOOK_ID 9
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#define M_COM_START 10
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#define M_COM_TIMEOUT 11
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#define M_COM_ABORT 12
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#define M_COM_PROFINET_GET_PLC_STATE 13
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#define M_COM_GET_CONNECTION_STATE 14
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#define M_COM_IS_HARDWARE 15
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#define M_COM_PROTOCOL_TYPE 16
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#define M_COM_DEVICE_DESCRIPTION (17|M_CLIENT_ENCODING)
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#define M_COM_DEVICE_DESCRIPTION_SIZE (M_STRING_SIZE + M_COM_DEVICE_DESCRIPTION)
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#define M_COM_INIT_VALUE 19
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#define M_COM_EMULATION_MODE 20
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#define M_COM_EMULATOR_SYNC 21
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#define M_COM_INSTANCE_NAME (22|M_CLIENT_ENCODING)
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#define M_COM_PROTOCOL_VERSION 23
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#define M_COM_INSTANCE_NAME_SIZE (M_STRING_SIZE + M_COM_INSTANCE_NAME)
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//Robot
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#define M_COM_ROBOT_CONNECT 106
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#define M_COM_ROBOT_TIMEOUT 107
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#define M_COM_ROBOT_ISCONNECTED 108
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#define M_COM_ROBOT_COMMAND_ABORT 109
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#define M_COM_ROBOT_COMMAND_TIMEOUT 110
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#define M_COM_ROBOT_DISCONNECT 111
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#define M_COM_ROBOT_CONNECT_RETRY 112
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#define M_COM_ROBOT_CONNECT_RETRY_WAIT 113
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//Cclink
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#define M_COM_CCLINK_START 1000
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#define M_COM_CCLINK_TOTAL_OCCUPIED_STATION M_COM_CCLINK_START + 1
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//Opcua - Open Platform Communications Unified Architecture
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#define M_COM_OPCUA_START 2000
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#define M_COM_OPCUA_NODESET_LIST M_COM_OPCUA_START + 1
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//Ethernet/IP
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#define M_COM_ETHERNETIP_START 20000
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#define M_COM_ETHERNETIP_CONSUMER_SIZE M_COM_ETHERNETIP_START + 1
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#define M_COM_ETHERNETIP_PRODUCER_SIZE M_COM_ETHERNETIP_START + 2
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#define M_COM_ETHERNETIP_CONFIG_SIZE M_COM_ETHERNETIP_START + 3
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#define M_COM_ETHERNETIP_ASSEMBLY_LIST M_COM_ETHERNETIP_START + 4
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//Profinet Array
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#define M_COM_PROFINET_GET_MODULE_ID 10000
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#define M_COM_PROFINET_GET_MODULE_ID_RANGE 500
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//We reserve 500 ID for modules ID
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#define M_COM_PROFINET_GET_SUBMODULE_ID (M_COM_PROFINET_GET_MODULE_ID + M_COM_PROFINET_GET_MODULE_ID_RANGE)
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#define M_COM_PROFINET_GET_SUBMODULE_ID_RANGE 500
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//We reserve 500 ID for modules ID
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#define M_COM_PROFINET_GET_MODULE_INSIZE (M_COM_PROFINET_GET_SUBMODULE_ID + M_COM_PROFINET_GET_SUBMODULE_ID_RANGE)
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#define M_COM_PROFINET_GET_MODULE_INSIZE_RANGE 500
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//We reserve 500 ID for module IN size
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#define M_COM_PROFINET_GET_MODULE_OUTSIZE (M_COM_PROFINET_GET_MODULE_INSIZE + M_COM_PROFINET_GET_MODULE_INSIZE_RANGE)
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#define M_COM_PROFINET_GET_MODULE_OUTSIZE_RANGE 500
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#define M_COM_PROFINET_START (M_COM_PROFINET_GET_MODULE_OUTSIZE + M_COM_PROFINET_GET_MODULE_OUTSIZE_RANGE)
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#define M_COM_PROFINET_INPUT_SIZE M_COM_PROFINET_START + 1
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#define M_COM_PROFINET_OUTPUT_SIZE M_COM_PROFINET_START + 2
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//We reserve 500 ID for module OUT size
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/**************************************************************************/
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/* McomControl Parameter */
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/**************************************************************************/
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/**************************************************************************/
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/* McomInquire Parameter */
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/**************************************************************************/
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//Values for M_COM_PROFINET_GET_PLC_STATE
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#define M_COM_PROFINET_STATUS_STOP 0x0001
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#define M_COM_PROFINET_STATUS_RUN 0x0002
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#define M_COM_PROFINET_STATUS_PRIMARY 0x0010
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#define M_COM_PROFINET_STATUS_BACKUP 0x0020
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#define M_COM_PROFINET_STATUS_STATION_OK 0x0040
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/**************************************************************************/
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/* McomHookFunction HookType */
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/**************************************************************************/
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#define M_COM_ERROR_TRIGGER 4
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#define M_COM_DATA_CHANGE 5
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#define M_COM_GET_HOOK_INFO_SIZE 0x8000000000000000
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/**************************************************************************/
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/* McomGetHookInfo(), Info type */
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/**************************************************************************/
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#define M_COM_ID 99
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#define M_COM_ERROR_NUMBER 56
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#define M_COM_PROFINET_SLOT_CHANGED_COUNT 57
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#define M_COM_PROFINET_SLOT_CHANGED_LIST 58
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#define M_COM_EVENT_ID 59
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#define M_COM_ERR_OFFSET 47000L
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/**************************************************************************/
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/* McomQueryProtocols */
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/**************************************************************************/
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#define M_COM_PROTOCOL_NAME_SIZE 50
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#define M_COM_PROTOCOL_TYPE_ALL 0
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#define M_COM_PROTOCOL_TYPE_PLC 1
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#define M_COM_PROTOCOL_TYPE_ROBOT 2
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/**************************************************************************/
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/* McomSendPositionXXX */
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/**************************************************************************/
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#define M_COM_FIND_POSITION_REQUEST 1
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#define M_COM_ROBOT_FIND_POSITION_RESULT 2
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#define M_COM_USER_OPCODE 1000
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/**************************************************************************/
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/* Function prototypes */
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/**************************************************************************/
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typedef MIL_HOOK_FUNCTION_PTR MIL_COM_HOOK_FUNCTION_PTR;
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#if M_MIL_USE_UNICODE
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MIL_ID MFTYPE McomAllocW(MIL_ID SysId, MIL_INT64 ProtocolType, MIL_CONST_TEXTW_PTR DeviceDescription, MIL_INT64 InitFlag, MIL_INT64 InitValue, MIL_ID* ComIdPtr);
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MIL_ID MFTYPE McomAllocA(MIL_ID SysId, MIL_INT64 ProtocolType, MIL_CONST_TEXTA_PTR DeviceDescription, MIL_INT64 InitFlag, MIL_INT64 InitValue, MIL_ID* ComIdPtr);
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void MFTYPE McomReadW(MIL_ID ComId, MIL_CONST_TEXTW_PTR DataObjectEntryName, MIL_INT Offset, MIL_INT Size, void* UserArrayPtr);
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void MFTYPE McomReadA(MIL_ID ComId, MIL_CONST_TEXTA_PTR DataObjectEntryName, MIL_INT Offset, MIL_INT Size, void* UserArrayPtr);
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void MFTYPE McomWriteW(MIL_ID ComId, MIL_CONST_TEXTW_PTR DataObjectEntryName, MIL_INT Offset, MIL_INT Size, const void* UserArrayPtr);
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void MFTYPE McomWriteA(MIL_ID ComId, MIL_CONST_TEXTA_PTR DataObjectEntryName, MIL_INT Offset, MIL_INT Size, const void* UserArrayPtr);
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MIL_INT MFTYPE McomQueryProtocolsW(MIL_ID SystemId, MIL_INT Type, MIL_INT Version, MIL_INT Index, MIL_TEXTW_PTR Name, MIL_INT64* Id);
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MIL_INT MFTYPE McomQueryProtocolsA(MIL_ID SystemId, MIL_INT Type, MIL_INT Version, MIL_INT Index, MIL_TEXTA_PTR Name, MIL_INT64* Id);
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void MFTYPE McomControlText(MIL_ID ComId, MIL_INT64 ControlType, MIL_CONST_TEXT_PTR ControlValue);
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void MFTYPE McomControlTextW(MIL_ID ComId, MIL_INT64 ControlType, MIL_CONST_TEXTW_PTR ControlValue);
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void MFTYPE McomControlTextA(MIL_ID ComId, MIL_INT64 ControlType, MIL_CONST_TEXTA_PTR ControlValue);
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#else
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MIL_ID MFTYPE McomAlloc(MIL_ID SysId, MIL_INT64 ProtocolType, MIL_CONST_TEXT_PTR DeviceDescription, MIL_INT64 InitFlag, MIL_INT64 InitValue, MIL_ID* ComIdPtr);
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void MFTYPE McomRead(MIL_ID ComId, MIL_CONST_TEXT_PTR DataObjectEntryName, MIL_INT Offset, MIL_INT Size, void* UserArrayPtr);
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void MFTYPE McomWrite(MIL_ID ComId, MIL_CONST_TEXT_PTR DataObjectEntryName, MIL_INT Offset, MIL_INT Size, const void* UserArrayPtr);
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MIL_INT MFTYPE McomQueryProtocols(MIL_ID SystemId, MIL_INT Type, MIL_INT Version, MIL_INT Index, MIL_TEXT_PTR Name, MIL_INT64* Id);
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void MFTYPE McomControlText(MIL_ID ComId, MIL_INT64 ControlType, MIL_CONST_TEXT_PTR ControlValue);
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#endif
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#if M_MIL_USE_64BIT
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// Prototypes for 64 bits OSs
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void MFTYPE McomControlInt64(MIL_ID ComId,
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MIL_INT64 ControlType,
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MIL_INT64 ControlValue);
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void MFTYPE McomControlDouble(MIL_ID ComId,
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MIL_INT64 ControlType,
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MIL_DOUBLE ControlValue);
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#else
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// Prototypes for 32 bits OSs
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#define McomControlInt64 McomControl
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#define McomControlDouble McomControl
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void MFTYPE McomControl(MIL_ID ComId,
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MIL_INT64 ControlType,
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MIL_DOUBLE ControlValue);
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#endif
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MIL_INT MFTYPE McomInquire(MIL_ID ComId,
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MIL_INT64 InquireType,
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void* UserVarPtr);
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MIL_INT MFTYPE McomHookFunction(MIL_ID ComId, MIL_INT HookType, MIL_COM_HOOK_FUNCTION_PTR HookHandlerPtr, void *UserDataPtr);
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MIL_INT MFTYPE McomGetHookInfo(MIL_ID EventId, MIL_INT64 InfoType, void* UserVarPtr);
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void MFTYPE McomSendPosition(MIL_ID ComId, MIL_INT64 OperationCode, MIL_INT64 Status, MIL_INT64 ObjectSpecifier, MIL_DOUBLE PositionX, MIL_DOUBLE PositionY, MIL_DOUBLE PositionZ, MIL_DOUBLE RotationX, MIL_DOUBLE RotationY, MIL_DOUBLE RotationZ, MIL_INT64 ControlFlag, MIL_DOUBLE ControlValue);
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void MFTYPE McomWaitPositionRequest(MIL_ID ComId, MIL_INT64 *OperationCodePtr, MIL_INT64 *StatusPtr, MIL_INT64 *ObjectSpecifierPtr, MIL_DOUBLE *PositionXPtr, MIL_DOUBLE *PositionYPtr, MIL_DOUBLE *PositionZPtr, MIL_DOUBLE *RotationXPtr, MIL_DOUBLE *RotationYPtr, MIL_DOUBLE *RotationZPtr, MIL_INT64 ControlFlag, MIL_DOUBLE ControlValue);
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void MFTYPE McomSendCommand(MIL_ID ComId, MIL_INT64 OperationCode, MIL_INT64 Status, MIL_INT64 DataSize, void* DataPtr, MIL_INT64 ControlFlag, MIL_DOUBLE ControlValue);
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void MFTYPE McomReceiveCommand(MIL_ID ComId, MIL_INT64 *OperationCodePtr, MIL_INT64 *StatusPtr, MIL_INT64 ArraySize, void* ArrayPtr, MIL_INT64 *ReceivedDataSizePtr, MIL_INT64 ControlFlag, MIL_DOUBLE ControlValue);
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void MFTYPE McomFree(MIL_ID ComId);
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#if M_MIL_USE_UNICODE
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#if M_MIL_UNICODE_API
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#define McomRead McomReadW
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#define McomWrite McomWriteW
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#define McomAlloc McomAllocW
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#define McomQueryProtocols McomQueryProtocolsW
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#else
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#define McomRead McomReadA
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#define McomWrite McomWriteA
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#define McomAlloc McomAllocA
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#define McomQueryProtocols McomQueryProtocolsA
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#undef McomControlText
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#define McomControlText McomControlTextA
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#endif
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#endif
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/* C++ directive if needed */
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#ifdef __cplusplus
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}
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#endif
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#if M_MIL_USE_64BIT
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#ifdef __cplusplus
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//////////////////////////////////////////////////////////////
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// McomControl function definition when compiling c++ files
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//////////////////////////////////////////////////////////////
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#if !M_MIL_USE_LINUX
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inline void McomControl(MIL_ID ComId, MIL_INT64 ControlType, int ControlValue)
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{
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McomControlInt64(ComId, ControlType, ControlValue);
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};
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#endif
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inline void McomControl(MIL_ID ComId, MIL_INT64 ControlType, MIL_INT32 ControlValue)
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{
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McomControlInt64(ComId, ControlType, ControlValue);
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};
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inline void McomControl(MIL_ID ComId, MIL_INT64 ControlType, MIL_INT64 ControlValue)
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{
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McomControlInt64(ComId, ControlType, ControlValue);
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};
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inline void McomControl(MIL_ID ComId, MIL_INT64 ControlType, MIL_DOUBLE ControlValue)
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{
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McomControlDouble(ComId, ControlType, ControlValue);
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};
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inline void McomControl(MIL_ID ComId, MIL_INT64 ControlType, MIL_CONST_TEXT_PTR ControlValue)
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{
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McomControlText(ComId, ControlType, ControlValue);
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};
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#else
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//////////////////////////////////////////////////////////////
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// For C file, call the default function, i.e. Int64 one
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//////////////////////////////////////////////////////////////
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#define McomControl McomControlDouble
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#endif // __cplusplus
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#endif // M_MIL_USE_64BIT
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#endif /* __MILCOM_H__ */
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