Collaboration diagram for Library Session Functions:

Functions
SMOCO_CTX	smoco_init (xlog_session_t logger)
	Initialize library and obtain resource handle. More...

SMOCO_STATUS	smoco_terminate (SMOCO_CTX ctx)
	Terminate session with libsmoco. More...

SMOCO_STATUS	smoco_set_iolog (SMOCO_CTX ctx, xlog_session_t iolog)
	Specify a low-level I/O logger. More...

SMOCO_STATUS	smoco_set_txlog (SMOCO_CTX ctx, xlog_session_t txlog)
	Specify a transaction logger. More...

SMOCO_STATUS	smoco_set_estop_flag (SMOCO_CTX ctx, int *p_estop)
	Set client flag for triggering emergency stop. More...

SMOCO_STATUS	smoco_set_async_cb_timer (SMOCO_CTX ctx, unsigned ms)
	Set time interval for SMOCO_TXEVT_TIMER_TICK events during async operations. More...

Detailed Description

Function Documentation

SMOCO_CTX smoco_init ( xlog_session_t logger )

Initialize library and obtain resource handle.

Allocates and initializes data structure for segment data. Call this function first to initiate a usage session, before any other use of libsmoco routines.

Parameters

logger Logging session handle from xLog, or NULL if logging is not needed.

Returns: On success, returns an allocated context handle ("SMOCO context"), which must be freed by calling smoco_terminate(). A return of 0 (NULL) indicates an error.

SMOCO_STATUS smoco_set_async_cb_timer	(	SMOCO_CTX	ctx,
		unsigned	ms
	)

Set time interval for SMOCO_TXEVT_TIMER_TICK events during async operations.

Parameters

ctx	Context handle for this session
ms	Desired interval in milliseconds

Returns: SMOCO_ST_SUCCESS if successful, any other value indicates an error.

SMOCO_STATUS smoco_set_estop_flag	(	SMOCO_CTX	ctx,
		int *	p_estop
	)

Set client flag for triggering emergency stop.

A client application can provide libsmoco with an int pointer, which will be watched for a nonzero value. When a nonzero value is found, a global emergency stop command will be issued to all connected SMOCO nodes.

Parameters

ctx	Context handle for this session
p_estop	Pointer to an integer value, to be monitored for nonzero value

Returns: SMOCO_ST_SUCCESS if successful, any other value indicates an error.

SMOCO_STATUS smoco_set_iolog	(	SMOCO_CTX	ctx,
		xlog_session_t	iolog
	)

Specify a low-level I/O logger.

A client application can specify an xLog session to which low-level SMOCO I/O will be logged, one message per line. The format of this data is tab-separated, so it's not recommended to reuse an xLog session that's being used for other outputs. Note in particular that this logging session should be distinct from that specified to smoco_init(). If this function is not called, low-level I/O logging will not be performed.

Parameters

ctx	Context handle for this session
iolog	xLog session handle

Returns: SMOCO_ST_SUCCESS if successful, any other value indicates an error.

SMOCO_STATUS smoco_set_txlog	(	SMOCO_CTX	ctx,
		xlog_session_t	txlog
	)

Specify a transaction logger.

A client application can specify an Xlog session to which "transaction" (long-running actuator movement) tracking logs will be written. The format of this data is tab-separated, so it's not recommended to reuse an Xlog session that's being used for other outputs. Note in particular that this logging session should be distinct from that specified to smoco_init(). If this function is not called, transaction logging will not be performed.

Parameters

ctx	Context handle for this session
txlog	Xlog session handle

Returns: SMOCO_ST_SUCCESS if successful, any other value indicates an error.

SMOCO_STATUS smoco_terminate ( SMOCO_CTX ctx )

Terminate session with libsmoco.

End any ongoing mechanical activity, disconnect network socket, terminate threads, clear memory buffer and deallocate.

Parameters

ctx	Context handle for this session.

Returns: SMOCO_ST_SUCCESS if successful, any other value indicates an error.