int main()
{
int ret = 0;
int dev = 0;
int modId = 12;
int numOfModules = 0;
float pos = 0.04;
float vel = 1.0;
float acc = 1.0;
char pInitString[] = "RS232:1,9600";
unsigned long state = 0;
PCube_setDllDebug(1, 0, 0);
std::cout << "Attempting to open device: " << pInitString << std::endl;
ret = PCube_openDevice( &dev, pInitString );
if( ret != 0 )
{
std::cout << "Unable to open device: " << pInitString << ". Error " << ret << std::endl;
return -1;
}
//std::cout << "Scanning for Devices." << std::endl;
numOfModules = PCube_getModuleCount( dev );
std::cout << "Found " << numOfModules << " PowerCubes\n" << std::endl;
std::cout << "Homing module: " << modId << std::endl;
ret = PCube_homeModule( dev, modId );
ret = PCube_waitForHomeEnd(dev, modId, 1e6);
if( ret != 0 )
{
std::cout << "Unable to home module: " << modId << ". Error " << ret << std::endl;
//return -1;
}
do
{
ret = PCube_getModuleState( dev, modId, &state );
if( ret != 0 )
{
std::cout << "Unable to get device state: " << modId << ". Error " << ret << std::endl;
return -1;
}
} while( !(state & STATEID_MOD_HOME) );
ret = PCube_moveRamp( dev, modId, pos, vel, acc );
if( ret != 0 )
{
std::cout << "Unable to move module: " << modId << ". Error " << ret << std::endl;
return -1;
}
ret = PCube_closeDevice( dev );
if( ret != 0 )
{
std::cout << "Unable to close device: " << pInitString << ". Error " << ret << std::endl;
return -1;
}
return 0;
}
/*
* \brief Destructor
*/
PowerCubeCtrl::~PowerCubeCtrl()
{
if (m_CANDeviceOpened)
{
pthread_mutex_lock(&m_mutex);
PCube_closeDevice(m_DeviceHandle);
pthread_mutex_unlock(&m_mutex);
}
}
HermesInterface::~HermesInterface()
{
if(dev==0)
{
PCube_closeDevice(dev);
}
}
/** The Destructor
*/
PowerCubeCtrl::~PowerCubeCtrl()
{
if (m_CANDeviceOpened)
{
pthread_mutex_lock(&m_mutex);
//std::cout << "------------------------------> PCube_closeDevice()" << std::endl;
PCube_closeDevice(m_DeviceHandle);
pthread_mutex_unlock(&m_mutex);
}
}
bool PowerCubeCtrl::Close()
{
if (m_CANDeviceOpened)
{
m_Initialized = false;
m_CANDeviceOpened = false;
pthread_mutex_lock(&m_mutex);
PCube_closeDevice( m_DeviceHandle);
pthread_mutex_unlock(&m_mutex);
return true;
}
else
{
return false;
}
}
