diff --git a/epos_library/CMakeLists.txt b/epos_library/CMakeLists.txt index 77939fb..cbe6e84 100644 --- a/epos_library/CMakeLists.txt +++ b/epos_library/CMakeLists.txt @@ -22,8 +22,8 @@ catkin_package( include_directories(include) -set(ftd2xx_LIBRARY ${PROJECT_SOURCE_DIR}/lib/${ARCH}/libftd2xx.so.1.1.12) -set(EposCmd_LIBRARY ${PROJECT_SOURCE_DIR}/lib/${ARCH}/libEposCmd.so.6.1.1.0) +set(ftd2xx_LIBRARY ${PROJECT_SOURCE_DIR}/lib/${ARCH}/libftd2xx.so.1.4.6) +set(EposCmd_LIBRARY ${PROJECT_SOURCE_DIR}/lib/${ARCH}/libEposCmd.so.6.3.1.0) add_library(ftd2xx SHARED ${ftd2xx_LIBRARY}) add_custom_command(TARGET ftd2xx POST_BUILD COMMAND cp ${ftd2xx_LIBRARY} ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/libftd2xx.so) diff --git a/epos_library/include/epos_library/Definitions.h b/epos_library/include/epos_library/Definitions.h old mode 100644 new mode 100755 index edca461..82d9355 --- a/epos_library/include/epos_library/Definitions.h +++ b/epos_library/include/epos_library/Definitions.h @@ -56,7 +56,7 @@ //Info HelpFunctions_DllExport int VCS_GetDriverInfo(char* p_pszLibraryName, unsigned short p_usMaxLibraryNameStrSize,char* p_pszLibraryVersion, unsigned short p_usMaxLibraryVersionStrSize, unsigned int* p_pErrorCode); - HelpFunctions_DllExport int VCS_GetVersion(void* KeyHandle, unsigned short NodeId, unsigned short* pHardwareVersion, unsigned short* pSoftwareVersion, unsigned short* pApplicationNumber, unsigned short* pApplicationVersion, unsigned int* pErrorCode); + HelpFunctions_DllExport int VCS_GetVersion(void* KeyHandle, unsigned short NodeId, unsigned short* pHardwareVersion, unsigned short* pSoftwareVersion, unsigned short* pApplicationNumber, unsigned short* pApplicationVersion, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetErrorInfo(unsigned int ErrorCodeValue, char* pErrorInfo, unsigned short MaxStrSize); //Advanced Functions @@ -64,7 +64,7 @@ HelpFunctions_DllExport int VCS_GetProtocolStackNameSelection(char* DeviceName, int StartOfSelection, char* pProtocolStackNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetInterfaceNameSelection(char* DeviceName, char* ProtocolStackName, int StartOfSelection, char* pInterfaceNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, int StartOfSelection, char* pPortSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); - HelpFunctions_DllExport int VCS_ResetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, unsigned int* pErrorCode); + HelpFunctions_DllExport int VCS_ResetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetBaudrateSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, int StartOfSelection, unsigned int* pBaudrateSel, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetKeyHandle(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, void** pKeyHandle, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetDeviceName(void* KeyHandle, char* pDeviceName, unsigned short MaxStrSize, unsigned int* pErrorCode); @@ -96,7 +96,7 @@ Configuration_DllExport int VCS_SetIncEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned int EncoderResolution, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetHallSensorParameter(void* KeyHandle, unsigned short NodeId, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetSsiAbsEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, int InvertedPolarity, unsigned int* pErrorCode); - Configuration_DllExport int VCS_SetSsiAbsEncoderParameterEx(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, unsigned short NbOfSpecialDataBits, int InvertedPolarity, unsigned short Timeout, unsigned short PowerupTime, unsigned int* pErrorCode); + Configuration_DllExport int VCS_SetSsiAbsEncoderParameterEx(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, unsigned short NbOfSpecialDataBits, int InvertedPolarity, unsigned short Timeout, unsigned short PowerupTime, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSensorType(void* KeyHandle, unsigned short NodeId, unsigned short* pSensorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetIncEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pEncoderResolution, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetHallSensorParameter(void* KeyHandle, unsigned short NodeId, int* pInvertedPolarity, unsigned int* pErrorCode); @@ -196,8 +196,8 @@ //Homing Mode HomingMode_DllExport int VCS_ActivateHomingMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); - HomingMode_DllExport int VCS_SetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int HomingAcceleration, unsigned int SpeedSwitch, unsigned int SpeedIndex, int HomeOffset, unsigned short CurrentTreshold, int HomePosition, unsigned int* pErrorCode); - HomingMode_DllExport int VCS_GetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pHomingAcceleration, unsigned int* pSpeedSwitch, unsigned int* pSpeedIndex, int* pHomeOffset, unsigned short* pCurrentTreshold, int* pHomePosition, unsigned int* pErrorCode); + HomingMode_DllExport int VCS_SetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int HomingAcceleration, unsigned int SpeedSwitch, unsigned int SpeedIndex, int HomeOffset, unsigned short CurrentThreshold, int HomePosition, unsigned int* pErrorCode); + HomingMode_DllExport int VCS_GetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pHomingAcceleration, unsigned int* pSpeedSwitch, unsigned int* pSpeedIndex, int* pHomeOffset, unsigned short* pCurrentThreshold, int* pHomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_FindHome(void* KeyHandle, unsigned short NodeId, signed char HomingMethod, unsigned int* pErrorCode); HomingMode_DllExport int VCS_StopHoming(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); HomingMode_DllExport int VCS_DefinePosition(void* KeyHandle, unsigned short NodeId, int HomePosition, unsigned int* pErrorCode); @@ -298,11 +298,11 @@ * TYPE DEFINITIONS *************************************************************************************************************************************/ //Communication - //Dialog Mode - const int DM_PROGRESS_DLG = 0; - const int DM_PROGRESS_AND_CONFIRM_DLG = 1; - const int DM_CONFIRM_DLG = 2; - const int DM_NO_DLG = 3; + //Dialog Mode + const int DM_PROGRESS_DLG = 0; + const int DM_PROGRESS_AND_CONFIRM_DLG = 1; + const int DM_CONFIRM_DLG = 2; + const int DM_NO_DLG = 3; //Configuration //MotorType @@ -356,7 +356,7 @@ //Units //VelocityDimension - const unsigned char VD_RPM = 0xA4; + const unsigned char VD_RPM = 0xA4; //VelocityNotation const signed char VN_STANDARD = 0; @@ -440,5 +440,3 @@ const unsigned short NCS_RESET_COMMUNICATION = 130; #endif //_H_LINUX_EPOSCMD_ - - diff --git a/epos_library/lib/x86/libEposCmd.so.6.1.1.0 b/epos_library/lib/x86/libEposCmd.so.6.1.1.0 deleted file mode 100755 index bda4cbf..0000000 Binary files a/epos_library/lib/x86/libEposCmd.so.6.1.1.0 and /dev/null differ diff --git a/epos_library/lib/x86/libEposCmd.so.6.3.1.0 b/epos_library/lib/x86/libEposCmd.so.6.3.1.0 new file mode 100755 index 0000000..a918334 Binary files /dev/null and b/epos_library/lib/x86/libEposCmd.so.6.3.1.0 differ diff --git a/epos_library/lib/x86/libftd2xx.so.1.1.12 b/epos_library/lib/x86/libftd2xx.so.1.1.12 deleted file mode 100644 index 0c10cfe..0000000 Binary files a/epos_library/lib/x86/libftd2xx.so.1.1.12 and /dev/null differ diff --git a/epos_library/lib/x86/libftd2xx.so.1.4.6 b/epos_library/lib/x86/libftd2xx.so.1.4.6 new file mode 100755 index 0000000..a7508a4 Binary files /dev/null and b/epos_library/lib/x86/libftd2xx.so.1.4.6 differ diff --git a/epos_library/lib/x86_64/libEposCmd.so.6.1.1.0 b/epos_library/lib/x86_64/libEposCmd.so.6.1.1.0 deleted file mode 100755 index 1985880..0000000 Binary files a/epos_library/lib/x86_64/libEposCmd.so.6.1.1.0 and /dev/null differ diff --git a/epos_library/lib/x86_64/libEposCmd.so.6.3.1.0 b/epos_library/lib/x86_64/libEposCmd.so.6.3.1.0 new file mode 100755 index 0000000..ae1aaf4 Binary files /dev/null and b/epos_library/lib/x86_64/libEposCmd.so.6.3.1.0 differ diff --git a/epos_library/lib/x86_64/libftd2xx.so.1.1.12 b/epos_library/lib/x86_64/libftd2xx.so.1.1.12 deleted file mode 100644 index ac7c5f0..0000000 Binary files a/epos_library/lib/x86_64/libftd2xx.so.1.1.12 and /dev/null differ diff --git a/epos_library/lib/x86_64/libftd2xx.so.1.4.6 b/epos_library/lib/x86_64/libftd2xx.so.1.4.6 new file mode 100755 index 0000000..eaaf77e Binary files /dev/null and b/epos_library/lib/x86_64/libftd2xx.so.1.4.6 differ