kmot_ipserver.c File Reference

Demo program to create a tcp/ip server that controls the KoreMotor. The server provides network commands for all the KoreMotor functions to allow a remote client to control the board. More...

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Defines

#define RCVBUFSIZE   32

#define DEFAULTPORT   344

#define NMOTOR   4

#define SENDBUFFERSIZE   64

#define ERRORSTRING   "kmot_error"

Functions

int kmot_ipFirmware (int argc, char *argv[], void *data)

int kmot_ipStatus (int argc, char *argv[], void *data)

int kmot_ipConfigPID (int argc, char *argv[], void *data)

int kmot_ipSetPointSource (int argc, char *argv[], void *data)

int kmot_ipMeasure (int argc, char *argv[], void *data)

int kmot_ipResetError (int argc, char *argv[], void *data)

int kmot_ipSetSpeed (int argc, char *argv[], void *data)

int kmot_ipSetPos (int argc, char *argv[], void *data)

int kmot_ipInitMotor (int argc, char *argv[], void *data)

int main (int argc, char *argv[])

Variables

knet_dev_t * motorList [NMOTOR]

char sendBuffer [SENDBUFFERSIZE]

Detailed Description

Demo program to create a tcp/ip server that controls the KoreMotor. The server provides network commands for all the KoreMotor functions to allow a remote client to control the board.

koremotor tcp/ip server

Author:: Pierre Bureau (K-Team SA)

Note:: Copyright (C) 2004 K-TEAM SA

Definition in file kmot_ipserver.c.

Define Documentation

#define DEFAULTPORT 344

Definition at line 28 of file kmot_ipserver.c.

Referenced by main().

#define ERRORSTRING "kmot_error"

Definition at line 31 of file kmot_ipserver.c.

Referenced by kmot_ipConfigPID(), kmot_ipFirmware(), kmot_ipInitMotor(), kmot_ipMeasure(), kmot_ipResetError(), kmot_ipSetPointSource(), kmot_ipSetPos(), kmot_ipSetSpeed(), and kmot_ipStatus().

#define NMOTOR 4

Definition at line 29 of file kmot_ipserver.c.

Referenced by kmot_ipConfigPID(), kmot_ipFirmware(), kmot_ipInitMotor(), kmot_ipMeasure(), kmot_ipResetError(), kmot_ipSetPointSource(), kmot_ipSetPos(), kmot_ipSetSpeed(), and kmot_ipStatus().

#define RCVBUFSIZE 32

Definition at line 27 of file kmot_ipserver.c.

Referenced by main().

#define SENDBUFFERSIZE 64

Definition at line 30 of file kmot_ipserver.c.

Function Documentation

int kmot_ipConfigPID	(	int	argc,
		char *	argv[],
		void *	data
	)

Configure the motor controller PID

Syntax: "ipConfigPID requestId motor regtype Kp Kd Ki\\n"

Return: "ipConfigPID requestId\\n"

Definition at line 106 of file kmot_ipserver.c.

References ERRORSTRING, kmot_ConfigurePID(), ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipFirmware	(	int	argc,
		char *	argv[],
		void *	data
	)

Get the motor controler firmare version.

Syntax: "ipFirmware requestId motor\\n"

Return: "ipFirmware requestId version\\n"

Definition at line 43 of file kmot_ipserver.c.

References ERRORSTRING, kmot_GetFWVersion(), KMOT_REVISION, KMOT_VERSION, ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipInitMotor	(	int	argc,
		char *	argv[],
		void *	data
	)

Set default initialization for the given controller

Syntax: "ipInit requestId motor\\n"

Return: "ipInit requestId\\n"

Definition at line 296 of file kmot_ipserver.c.

References ERRORSTRING, kmot_ConfigurePID(), kmot_ResetError(), kmot_SetBlockedTime(), kmot_SetLimits(), kmot_SetMargin(), kmot_SetMode(), kmot_SetOptions(), kmot_SetSampleTime(), kmot_SetSpeedProfile(), kMotModeIdle, kMotRegCurrent, kMotRegPos, kMotRegSpeed, kMotSWOptStopMotorBlk, kMotSWOptWindup, ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipMeasure	(	int	argc,
		char *	argv[],
		void *	data
	)

Get a measure from a motor controller

Syntax: "ipMeasure requestId motor regtype\\n"

Return: "ipMeasure requestId measure\\n"

Definition at line 169 of file kmot_ipserver.c.

References ERRORSTRING, kmot_GetMeasure(), ksock_send_answer(), measure(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipResetError	(	int	argc,
		char *	argv[],
		void *	data
	)

Reset errors from a motor controller

Syntax: "ipResetError requestId motor\\n"

Return: "ipResetError requestId\\n"

Definition at line 201 of file kmot_ipserver.c.

References ERRORSTRING, kmot_ResetError(), ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipSetPointSource	(	int	argc,
		char *	argv[],
		void *	data
	)

Select the target point source for the controller

Syntax: "ipSetPointSource requestId motor regtype wavetype period amplitude offset\\n"

Return: "ipSetPointSource requestId\\n"

Definition at line 137 of file kmot_ipserver.c.

References ERRORSTRING, kmot_SetPointSource(), ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipSetPos	(	int	argc,
		char *	argv[],
		void *	data
	)

Set target position for the given motor

Syntax: "ipSetPos requestId motor position\\n"

Return: "ipSetPos requestId\\n"

Definition at line 263 of file kmot_ipserver.c.

References ERRORSTRING, kmot_SetPoint(), kMotRegPos, ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipSetSpeed	(	int	argc,
		char *	argv[],
		void *	data
	)

Set target speed for the given motor

Syntax: "ipSetSpeed requestId motor speed\\n"

Return: "ipSetSpeed requestId\\n"

Definition at line 232 of file kmot_ipserver.c.

References ERRORSTRING, kmot_SetPoint(), kMotRegSpeed, ksock_send_answer(), motor, NMOTOR, and sendBuffer.

Referenced by main().

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int kmot_ipStatus	(	int	argc,
		char *	argv[],
		void *	data
	)

Get the motor controler status.

Syntax: "ipStatus requestId motor\\n"

Return: "ipStatus requestId status error\\n"

Definition at line 74 of file kmot_ipserver.c.

References ERRORSTRING, kmot_GetStatus(), ksock_send_answer(), motor, NMOTOR, sendBuffer, and status().

Referenced by main().

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int main	(	int	argc,
		char *	argv[]
	)

Definition at line 338 of file kmot_ipserver.c.

References buf, DEFAULTPORT, DieWithError(), kb_init(), kb_set_debug_level(), kmot_GetFWVersion(), kmot_ipConfigPID(), kmot_ipFirmware(), kmot_ipInitMotor(), kmot_ipMeasure(), kmot_ipResetError(), kmot_ipSetPointSource(), kmot_ipSetPos(), kmot_ipSetSpeed(), kmot_ipStatus(), KMOT_REVISION, KMOT_VERSION, KNET_BUS_ANY, knet_open(), ksock_add_command(), ksock_exec_command_pending(), ksock_get_command(), ksock_init(), ksock_next_connection(), ksock_server_open(), list_command(), and RCVBUFSIZE.

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Variable Documentation

knet_dev_t* motorList[NMOTOR]

Definition at line 33 of file kmot_ipserver.c.

char sendBuffer[SENDBUFFERSIZE]

Definition at line 34 of file kmot_ipserver.c.

Referenced by kmot_ipConfigPID(), kmot_ipFirmware(), kmot_ipInitMotor(), kmot_ipMeasure(), kmot_ipResetError(), kmot_ipSetPointSource(), kmot_ipSetPos(), kmot_ipSetSpeed(), and kmot_ipStatus().


Defines
#define	RCVBUFSIZE 32
#define	DEFAULTPORT 344
#define	NMOTOR 4
#define	SENDBUFFERSIZE 64
#define	ERRORSTRING "kmot_error"
Functions
int	kmot_ipFirmware (int argc, char argv[], void data)
int	kmot_ipStatus (int argc, char argv[], void data)
int	kmot_ipConfigPID (int argc, char argv[], void data)
int	kmot_ipSetPointSource (int argc, char argv[], void data)
int	kmot_ipMeasure (int argc, char argv[], void data)
int	kmot_ipResetError (int argc, char argv[], void data)
int	kmot_ipSetSpeed (int argc, char argv[], void data)
int	kmot_ipSetPos (int argc, char argv[], void data)
int	kmot_ipInitMotor (int argc, char argv[], void data)
int	main (int argc, char *argv[])
Variables
knet_dev_t *	motorList [NMOTOR]
char	sendBuffer [SENDBUFFERSIZE]