Cache query operations

Functions for interacting with cached state information about SMOCO nodes and actuators. More...

Collaboration diagram for Cache query operations:

Functions
SMOCO_STATUS	smoco_cache_verify_node (SMOCO_CTX ctx, SMOCO_NodeID node_id)
	Verify existence of cache information for a SMOCO node. More...
SMOCO_STATUS	smoco_cache_get_act_position (SMOCO_CTX ctx, unsigned *p_position, SMOCO_NodeID node_id, SMOCO_ActuatorID act_id)
	Find cached position of an actuator. More...
SMOCO_STATUS	smoco_cache_get_act_velocity (SMOCO_CTX ctx, unsigned *p_velocity, SMOCO_NodeID node_id, SMOCO_ActuatorID act_id)
	Get current velocity of actuator from cache. More...
SMOCO_STATUS	smoco_cache_get_act_vmax (SMOCO_CTX ctx, unsigned *p_vmax, SMOCO_NodeID node_id, SMOCO_ActuatorID act_id)
	Find maximum velocity setting for an actuator. More...
SMOCO_STATUS	smoco_cache_get_act_limitstatus (SMOCO_CTX ctx, uint8_t *p_lstat, SMOCO_NodeID node_id, SMOCO_ActuatorID act_id)
	Find cached limit switch status of an actuator, in the form of a bit field. More...
SMOCO_STATUS	smoco_cache_get_act_mvstatus (SMOCO_CTX ctx, uint8_t *p_mvstat, SMOCO_NodeID node_id, SMOCO_ActuatorID act_id)
	Find cached movement status of an actuator, in the form of a bit field. More...

Detailed Description

Functions for interacting with cached state information about SMOCO nodes and actuators.

Responses from SMOCO that contain state information are intercepted and cached automatically. smoco_cache functions provide an interface for accessing that cached state information. Note that the cached values may vary from the current real values; for best possible accuracy these functions should be invoked immediately after commands that refresh the cache information (eg. GETACTSTAT).

Function Documentation

SMOCO_STATUS smoco_cache_get_act_limitstatus	(	SMOCO_CTX	ctx,
		uint8_t *	p_lstat,
		SMOCO_NodeID	node_id,
		SMOCO_ActuatorID	act_id
	)

Find cached limit switch status of an actuator, in the form of a bit field.

Parameters

ctx	Context handle for this session
p_lstat	Pointer to receive limit status value. This value will consist of bits set corresponding to both upper and lower limit switches, at bit positions defined by the Actuator_Limit_Flags enumeration in smoco_types.h
node_id	Identifier of node to query. Must be a single valid node; a value of ALL_SMOCO_NODES will result in an error.
act_id	Identifier of an actuator to query. Must be a single valid actuator; a value of ACT_ALL or ACT_NONE will result in an error.

Returns

SMOCO_ST_SUCCESS if cached limit switch value was found; all other values indicate an error.

SMOCO_STATUS smoco_cache_get_act_mvstatus	(	SMOCO_CTX	ctx,
		uint8_t *	p_mvstat,
		SMOCO_NodeID	node_id,
		SMOCO_ActuatorID	act_id
	)

Find cached movement status of an actuator, in the form of a bit field.

Parameters

ctx	Context handle for this session
p_mvstat	Pointer to receive movement status value. Bits in this value are defined in the SMOCO_Status_Flags enumeration in smoco_types.h
node_id	Identifier of node to query. Must be a single valid node; a value of ALL_SMOCO_NODES will result in an error.
act_id	Identifier of an actuator to query. Must be a single valid actuator; a value of ACT_ALL or ACT_NONE will result in an error.

Returns

SMOCO_ST_SUCCESS if cached limit switch value was found; all other values indicate an error.

SMOCO_STATUS smoco_cache_get_act_position	(	SMOCO_CTX	ctx,
		unsigned *	p_position,
		SMOCO_NodeID	node_id,
		SMOCO_ActuatorID	act_id
	)

Find cached position of an actuator.

Parameters

ctx	Context handle for this session
p_position	Pointer to receive position value.
node_id	Identifier of node to query. Must be a single valid node; a value of ALL_SMOCO_NODES will result in an error.
act_id	Identifier of an actuator to query. Must be a single valid actuator; a value of ACT_ALL or ACT_NONE will result in an error.

Returns

SMOCO_ST_SUCCESS if cached position was found; all other values indicate an error.

SMOCO_STATUS smoco_cache_get_act_velocity	(	SMOCO_CTX	ctx,
		unsigned *	p_velocity,
		SMOCO_NodeID	node_id,
		SMOCO_ActuatorID	act_id
	)

Get current velocity of actuator from cache.

Be aware that the value fetched by this function is likely to be stale unless immediately preceded by a status response from the SMOCO controller.

Parameters

ctx	Context handle for this session
p_velocity	Pointer to receive velocity value, in steps per second.
node_id	Identifier of node to query. Must be a single valid node; a value of ALL_SMOCO_NODES will result in an error.
act_id	Identifier of an actuator to query. Must be a single valid actuator; a value of ACT_ALL or ACT_NONE will result in an error.

Returns

SMOCO_ST_SUCCESS if cached position was found; all other values indicate an error.

SMOCO_STATUS smoco_cache_get_act_vmax	(	SMOCO_CTX	ctx,
		unsigned *	p_vmax,
		SMOCO_NodeID	node_id,
		SMOCO_ActuatorID	act_id
	)

Find maximum velocity setting for an actuator.

Parameters

ctx	Context handle for this session
p_vmax	Pointer to receive maximum velocity value.
node_id	Identifier of node to query. Must be a single valid node; a value of ALL_SMOCO_NODES will result in an error.
act_id	Identifier of an actuator to query. Must be a single valid actuator; a value of ACT_ALL or ACT_NONE will result in an error.

Returns

SMOCO_ST_SUCCESS if cached maximum velocity was found; all other values indicate an error.

SMOCO_STATUS smoco_cache_verify_node	(	SMOCO_CTX	ctx,
		SMOCO_NodeID	node_id
	)

Verify existence of cache information for a SMOCO node.

Parameters

ctx	Context handle for this session
node_id	Identifier of node to query

Returns

SMOCO_ST_SUCCESS if node cache found, SMOCO_ST_BADNODE if not found