// Create a aio device
aio_t *aio_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t *client,
int index, const char *drivername, int subscribe)
{
char label[64];
char section[64];
aio_t *aio;
aio = malloc(sizeof(aio_t));
aio->proxy = playerc_aio_create(client, index);
aio->drivername = strdup(drivername);
aio->datatime = 0;
snprintf(section, sizeof(section), "aio:%d", index);
// Construct the menu
snprintf(label, sizeof(label), "aio:%d (%s)", index, aio->drivername);
aio->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
aio->subscribe_item = rtk_menuitem_create(aio->menu, "Subscribe", 1);
// Set the initial menu state
rtk_menuitem_check(aio->subscribe_item, subscribe);
// Construct figures
aio->fig = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig, 50);
return aio;
}
// Just read from a aio device.
int test_aio(playerc_client_t *client, int index)
{
int t;
void *rdevice;
playerc_aio_t *device;
printf("device [aio] index [%d]\n", index);
device = playerc_aio_create(client, index);
TEST("subscribing (read/write)");
if (playerc_aio_subscribe(device, PLAYER_OPEN_MODE) < 0)
{
FAIL();
return -1;
}
PASS();
for (t = 0; t < 5; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
printf("aio: [%8.3f] AI0,...,AI7: [%5.3f] [%5.3f] [%5.3f] [%5.3f] [%5.3f] [%5.3f] [%5.3f] [%5.3f]\n",
device->info.datatime, device->voltages[0], device->voltages[1],device->voltages[2],device->voltages[3],device->voltages[4],device->voltages[5],device->voltages[6],device->voltages[7]);
}
else
{
//printf("error: %s", playerc_error_str());
FAIL();
break;
}
}
TEST("unsubscribing");
if (playerc_aio_unsubscribe(device) != 0)
{
FAIL();
return -1;
}
PASS();
playerc_aio_destroy(device);
return 0;
}