int deviceIOExpanderGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_IO_EXPANDER_WRITE_SINGLE_BIT) {
if (fillDeviceArgumentList) {
setFunction("Write Single Bit", 5, 0);
setArgumentUnsignedHex2(0, "IO Expander Index");
setArgumentSeparator(1);
setArgumentUnsignedHex2(2, "IO Index");
setArgumentSeparator(3);
setArgumentUnsignedChar1(4, "Value (bool)");
}
return commandLengthValueForMode(mode, 7, 0);
}
if (commandHeader == COMMAND_IO_EXPANDER_WRITE_VALUE) {
if (fillDeviceArgumentList) {
setFunction("Write Value", 3, 0);
setArgumentUnsignedHex2(0, "IO Expander Index");
setArgumentSeparator(1);
setArgumentUnsignedHex2(2, "Value");
}
return commandLengthValueForMode(mode, 5, 0);
}
else if (commandHeader == COMMAND_IO_EXPANDER_READ_SINGLE_BIT) {
if (fillDeviceArgumentList) {
setFunction("Read Single Bit", 3, 1);
setArgumentUnsignedHex2(0, "IO Expander Index");
setArgumentSeparator(1);
setArgumentUnsignedHex2(2, "IO Index");
setResultUnsignedChar1(0, "Value (bool)");
}
return commandLengthValueForMode(mode, 5, 1);
}
else if (commandHeader == COMMAND_IO_EXPANDER_READ_VALUE) {
if (fillDeviceArgumentList) {
setFunction("Read Value", 1, 1);
setArgumentUnsignedHex2(0, "IO Expander Index");
setResultUnsignedHex2(0, "Value");
}
return commandLengthValueForMode(mode, 2, 2);
}
else if (commandHeader == COMMAND_IO_EXPANDER_DEBUG) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug as Table");
}
return commandLengthValueForMode(mode, 0, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceMotionGetInterface(char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_MOTION_LOAD_DEFAULT_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("loadDefaultParameters");
}
return commandLengthValueForMode(mode, 0, 0);
}
// goto
else if (commandHeader == COMMAND_MOTION_GOTO_IN_PULSE) {
if (fillDeviceArgumentList) {
setFunction("gotoPulse", 4, 0);
setArgument(0, DEVICE_ARG_SIGNED_HEX_6, "left");
setArgument(1, DEVICE_ARG_SIGNED_HEX_6, "right");
setArgumentUnsignedHex2(2, "a");
setArgumentUnsignedHex2(3, "s");
}
return commandLengthValueForMode(mode, 16, 0);
}// forward MM
else if (commandHeader == COMMAND_MOTION_FORWARD_IN_MM) {
if (fillDeviceArgumentList) {
setFunction("forwardMM", 1, 0);
setArgumentUnsignedHex4(0, "distMM");
}
return commandLengthValueForMode(mode, 4, 0);
}// backward MM
else if (commandHeader == COMMAND_MOTION_BACKWARD_IN_MM) {
if (fillDeviceArgumentList) {
setFunction("backwardMM", 1, 0);
setArgumentUnsignedHex4(0, "distMM");
}
return commandLengthValueForMode(mode, 4, 0);
}// turn left in degree
else if (commandHeader == COMMAND_MOTION_LEFT_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotLeftDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "leftAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}// turn right in degree
else if (commandHeader == COMMAND_MOTION_RIGHT_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotRightDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "rightAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}// ONLY ONE WHEEL
// turn left (only right in degree
else if (commandHeader == COMMAND_MOTION_LEFT_ONE_WHEEL_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotLeft1WheelDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "leftAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}// turn right (only right wheel) in degree
else if (commandHeader == COMMAND_MOTION_RIGHT_ONE_WHEEL_IN_DECI_DEGREE) {
if (fillDeviceArgumentList) {
setFunction("rotRight1WheelDecDeg", 1, 0);
setArgumentUnsignedHex4(0, "rightAngleDecDeg");
}
return commandLengthValueForMode(mode, 4, 0);
}
// motion : Cancel
else if (commandHeader == COMMAND_MOTION_CANCEL) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("cancelMot");
}
return commandLengthValueForMode(mode, 0, 0);
}// motion : Obstacle
else if (commandHeader == COMMAND_MOTION_OBSTACLE) {
// Same INPUT/OUTPUT
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("motionObstacle");
}
return commandLengthValueForMode(mode, 0, 0);
}// Calibration
else if (commandHeader == COMMAND_SQUARE_CALIBRATION) {
if (fillDeviceArgumentList) {
setFunction("squareCalib", 3, 0);
setArgumentUnsignedHex2(0, "left/right");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "length");
}
return commandLengthValueForMode(mode, 7, 0);
}// Parameters
else if (commandHeader == COMMAND_GET_MOTION_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("getMotionParam", 1, 2);
setArgumentUnsignedHex2(0, "motionType");
setResultUnsignedHex2(0, "a");
setResultUnsignedHex2(1, "s");
}
return commandLengthValueForMode(mode, 2, 4);
} else if (commandHeader == COMMAND_SET_MOTION_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("setMotionParam", 3, 0);
setArgumentUnsignedHex2(0, "motionType");
setArgumentUnsignedHex2(1, "a");
setArgumentUnsignedHex2(2, "s");
}
return commandLengthValueForMode(mode, 6, 0);
}
// MODE REPLACE / ADD
else if (commandHeader == COMMAND_MOTION_MODE_ADD) {
if(fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("motionModeAdd");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_MOTION_MODE_REPLACE) {
if(fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("motionModeReplace");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_MOTION_MODE_GET) {
if (fillDeviceArgumentList) {
setFunction("motionModeGet", 0, 1);
setResultUnsignedChar1(0, "value");
}
return commandLengthValueForMode(mode, 0, 1);
}
// NOTIFICATION
if (DEVICE_MODE_NOTIFY == mode) {
if (commandHeader == NOTIFY_MOTION_STATUS_REACHED) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyReached");
}
return 14;
}
else if (commandHeader == NOTIFY_MOTION_STATUS_FAILED) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyFailed");
}
return 14;
}
else if (commandHeader == NOTIFY_MOTION_STATUS_OBSTACLE) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyObstacle");
}
return 14;
}
else if (commandHeader == NOTIFY_MOTION_STATUS_MOVING) {
if (fillDeviceArgumentList) {
fillNotifyResults("notifyMoving");
}
return 14;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int trajectoryGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TRAJECTORY_GET_ABSOLUTE_POSITION) {
if (fillDeviceArgumentList) {
setFunction(GET_ABS_POS_STRING, 0, 5);
setResultFloatHex4(0, X_MM);
setResultSeparator(1);
setResultFloatHex4(2, Y_MM);
setResultSeparator(3);
setResultUnsignedHex4(4, ANGLE_1_10_DEG);
}
return commandLengthValueForMode(mode, 0, 14);
} else if (commandHeader == COMMAND_TRAJECTORY_DEBUG_GET_ABSOLUTE_POSITION) {
// Same return in case of input / output
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult(GET_DEBUG_ABS_POS_STRING);
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_DEBUG_CODERS) {
// Same return in case of input / output
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Debug Coders History");
}
return commandLengthValueForMode(mode, 0, 0);
} else if (commandHeader == COMMAND_TRAJECTORY_SET_ABSOLUTE_POSITION) {
if (fillDeviceArgumentList) {
setFunction(SET_ABS_POS_STRING, 5, 0);
setArgumentFloatHex6(0, X_MM);
setArgumentSeparator(1);
setArgumentFloatHex6(2, Y_MM);
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, ANGLE_1_10_DEG);
}
return commandLengthValueForMode(mode, 18, 0);
} else if (commandHeader == COMMAND_TRAJECTORY_ADJUST_X) {
if (fillDeviceArgumentList) {
setFunction("Adjust X", 1, 1);
setArgumentFloatHex6(0, X_MM);
setResultUnsignedChar1(0, "Done or not");
}
return commandLengthValueForMode(mode, 6, 1);
} else if (commandHeader == COMMAND_TRAJECTORY_ADJUST_Y) {
if (fillDeviceArgumentList) {
setFunction("Adjust Y", 1, 1);
setArgumentFloatHex6(0, X_MM);
setResultUnsignedChar1(0, "Done or not");
}
return commandLengthValueForMode(mode, 6, 1);
}
// NOTIFY PARAMETERS
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_OFF) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Notify Off");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_ON) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("Notify On");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TRAJECTORY_NOTIFY_SET_PARAMETERS) {
if (fillDeviceArgumentList) {
setFunction("Notify Set Param", 3, 0);
setArgumentFloatHex4(0, "Dist (mm)");
setArgumentSeparator(1);
setArgumentFloatHex4(2, "Angle (deciDegree)");
}
return commandLengthValueForMode(mode, 9, 0);
}
// NOTIFICATION
if (DEVICE_MODE_NOTIFY == mode) {
if (commandHeader == NOTIFY_TRAJECTORY_CHANGED) {
if (fillDeviceArgumentList) {
setNotification("Trajectory Changed", 7);
setArgumentUnsignedHex4(0, "x(mm)");
setArgumentSeparator(1);
setArgumentUnsignedHex4(2, "y(mm)");
setArgumentSeparator(3);
setArgumentUnsignedHex4(4, "ang(1/10)deg");
setArgumentSeparator(5);
setArgumentUnsignedChar1(6, "Trajectory Type");
}
return 16;
}
}
return DEVICE_HEADER_NOT_HANDLED;
}
int deviceTimerGetInterface(unsigned char commandHeader, DeviceInterfaceMode mode, bool fillDeviceArgumentList) {
if (commandHeader == COMMAND_TIMER_LIST) {
if (fillDeviceArgumentList) {
setFunctionNoArgumentAndNoResult("show Timer List");
}
return commandLengthValueForMode(mode, 0, 0);
}
else if (commandHeader == COMMAND_TIMER_COUNT) {
if (fillDeviceArgumentList) {
setFunction("timer Count", 0, 1);
setResultUnsignedHex2(0, "count");
}
return commandLengthValueForMode(mode, 0, 2);
}
else if (commandHeader == COMMAND_TIMER_READ) {
if (fillDeviceArgumentList) {
setFunction("timer Read", 1, 13);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex2(0, "Index");
setResultSeparator(1);
setResultUnsignedHex2(2, "Code");
setResultSeparator(3);
setResultUnsignedHex4(4, "Diviser");
setResultSeparator(5);
setResultUnsignedHex4(6, "InternalCounter");
setResultSeparator(7);
setResultUnsignedHex6(8, "time");
setResultSeparator(9);
setResultUnsignedHex6(10, "markTime");
setResultSeparator(11);
setResultUnsignedChar1(12, "enabled");
}
return commandLengthValueForMode(mode, 2, 31);
}
else if (commandHeader == COMMAND_TIMER_ENABLE_DISABLE) {
if (fillDeviceArgumentList) {
setFunction("timer Enable", 3, 0);
setArgumentUnsignedHex2(0, "timerIndex");
setArgumentSeparator(1);
setArgumentUnsignedChar1(2, "enable/disable");
}
return commandLengthValueForMode(mode, 4, 0);
}
// Mark
else if (commandHeader == COMMAND_TIMER_TIME_SINCE_LAST_MARK) {
if (fillDeviceArgumentList) {
setFunction("time Since Last Mark", 1, 1);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex6(0, "mark");
}
return commandLengthValueForMode(mode, 2, 6);
}
else if (commandHeader == COMMAND_TIMER_MARK) {
if (fillDeviceArgumentList) {
setFunction("mark Timer !", 1, 1);
setArgumentUnsignedHex2(0, "timerIndex");
setResultUnsignedHex6(0, "markTime");
}
return commandLengthValueForMode(mode, 2, 6);
}
else if (commandHeader == COMMAND_TIMER_TIMEOUT) {
if (fillDeviceArgumentList) {
setFunction("timeout check", 3, 3);
setArgumentUnsignedHex2(0, "timerIndex");
setArgumentSeparator(1);
setArgumentUnsignedHex6(2, "time to check");
setResultUnsignedHex2(0, "timerIndex");
setResultSeparator(1);
setResultUnsignedChar1(2, "timeout or not");
}
return commandLengthValueForMode(mode, 9, 4);
}
// Demo
else if (commandHeader == COMMAND_TIMER_DEMO) {
if (fillDeviceArgumentList) {
setFunction("Enable/Disable Timer Demo", 1, 0);
setArgumentUnsignedChar1(0, "enable/disable");
}
return commandLengthValueForMode(mode, 1, 0);
}
// wait
else if (commandHeader == COMMAND_TIMER_DELAY_WAIT) {
if (fillDeviceArgumentList) {
setFunction("Timer Delay Wait", 1, 0);
setArgumentUnsignedHex4(0, "milli Seconds");
}
return commandLengthValueForMode(mode, 4, 0);
}
return DEVICE_HEADER_NOT_HANDLED;
}
