EPOS Interface For Identification and Opening Devices

.github/workflows/build-cmake.yml

@@ -0,0 +1,57 @@
+name: CMake
+
+on:
+  pull_request:
+    branches: ["main"]
+    paths:
+      - ".github/workflows/build-cmake.yml"
+      - "ipc/**/*.c"
+      - "ipc/**/*.h"
+      - "**/CMakeLists.txt"
+      - "cmake/*.cmake"
+  push:
+    branches: ["main"]
+    paths:
+      - ".github/workflows/build-cmake.yml"
+      - "ipc/**/*.c"
+      - "ipc/**/*.h"
+      - "**/CMakeLists.txt"
+      - "cmake/*.cmake"
+
+jobs:
+  linux-build-cmake:
+    name: Linux
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: true
+      matrix:
+        compiler: ["gcc", "clang"]
+    steps:
+      - uses: actions/checkout@v5
+      - name: Setup CMake
+        run: |
+          CC=${{ matrix.compiler }} cmake -S . -B build
+      - name: Build
+        run: |
+          CC=${{ matrix.compiler }} cmake --build build
+
+  windows-build-cmake:
+    name: Windows
+    runs-on: windows-latest
+    strategy:
+      fail-fast: true
+      matrix:
+        compiler: ["cl.exe", "gcc.exe"]
+    steps:
+      - uses: actions/checkout@v5
+      - uses: ilammy/msvc-dev-cmd@v1.13.0
+      - name: Setup CMake
+        run: |
+          cmake -S . -B build
+        env:
+          CC: ${{ matrix.compiler }}
+      - name: Build
+        run: |
+          cmake --build build
+        env:
+          CC: ${{ matrix.compiler }}

.github/workflows/build.yml → .github/workflows/build-meson.yml

@@ -1,17 +1,17 @@
-name: Build and Test
+name: Meson
 
 on:
   pull_request:
     branches: ["main"]
     paths:
-      - ".github/workflows/build.yml"
+      - ".github/workflows/build-meson.yml"
       - "ipc/**/*.c"
       - "ipc/**/*.h"
       - "**/meson.build"
   push:
     branches: ["main"]
     paths:
-      - ".github/workflows/build.yml"
+      - ".github/workflows/build-meson.yml"
       - "ipc/**/*.c"
       - "ipc/**/*.h"
       - "**/meson.build"
@@ -41,6 +41,7 @@ jobs:
       - name: Verbosely Test
         run: |
           meson test -v -C build
+
   windows-build-meson:
     name: Windows
     runs-on: windows-latest

.gitignore

@@ -2,3 +2,8 @@ build
 compile_commands.json
 .cache
 .meson-subproject-wrap-hash.txt
+
+*.a*
+*.so*
+*.lib
+*.dll

CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.30..4.0)
+project(libtestrig
+	LANGUAGES C)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+set(LIB_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib")
+set(IPC_DIR "${LIB_DIR}/ipc")
+set(EPOS_DIR "${LIB_DIR}/epos2")
+
+set(IPC_SOURCES
+	"${IPC_DIR}/ipc.c"
+	"${IPC_DIR}/constants.c"
+	"${IPC_DIR}/message.c"
+	"${IPC_DIR}/os.c")
+
+set(EPOS_SOURCES
+	"${EPOS_DIR}/epos2.c"
+	"${EPOS_DIR}/connect.c"
+	"${EPOS_DIR}/definitions.c"
+	"${EPOS_DIR}/manage.c"
+	"${EPOS_DIR}/identify.c")
+
+set(LIBTESTRIG_SOURCES ${IPC_SOURCES})
+
+find_package(EPOSCmd)
+if (EPOSCmd_FOUND)
+	list(APPEND LIBTESTRIG_SOURCES ${EPOS_SOURCES})
+else()
+	message("Controller capabilities not being built.")
+endif()
+
+add_library(Libtestrig SHARED ${LIBTESTRIG_SOURCES})
+target_compile_definitions(Libtestrig PRIVATE COMPILING_TESTRIG_DLL)
+target_include_directories(Libtestrig PUBLIC ${LIB_DIR})
+
+if (WIN32)
+	target_link_libraries(Libtestrig PRIVATE Ws2_32)
+endif()
+
+if (EPOSCmd_FOUND)
+	target_link_libraries(Libtestrig PUBLIC EPOSCmd)
+endif()

lib/epos2/LICENSE

@@ -0,0 +1,3 @@
+The EPOS brand of controllers and associated command library is copyright © maxon. All rights reserved.
+
+No infringement or intent thereof is made by the developers of this software.

lib/epos2/connect.c

@@ -0,0 +1,111 @@
+#include <stdio.h>
+
+#include "epos2.h"
+#include "connect.h"
+#include "definitions.h"
+#include "identify.h"
+
+static void FailedOpenDevice(uint32_t error_code) {
+	PrintError(error_code);
+	printf("Failed to open device with with following characteristics:\n");
+}
+
+uint32_t InitializeDevice(struct Controller* controller_out, void* node, uint8_t node_id) {
+	uint32_t error_code = 0;
+
+	node = VCS_OpenDevice(controller_out->Name,
+			controller_out->Protocol,
+			controller_out->Interface,
+			controller_out->Port,
+			&error_code);
+
+	controller_out->NodeId = node_id;
+
+	if (node == 0 || error_code != 0) {
+		FailedOpenDevice(error_code);
+		PrintControllerCharacteristics(controller_out);
+	}
+
+	CleanEnableDevice(controller_out, node);
+
+	return error_code;
+}
+
+uint32_t InitializeDevices(struct Controller controllers_out[], void* node_1, void* node_2, void* node_3) {
+	uint32_t error_code = 0;
+
+	node_1 = VCS_OpenDevice(controllers_out[0].Name,
+			controllers_out[0].Protocol,
+			controllers_out[0].Interface,
+			controllers_out[0].Port,
+			&error_code);
+
+	controllers_out[0].NodeId = 1;
+
+	if (node_1 == 0 || error_code != 0) {
+		FailedOpenDevice(error_code);
+		PrintControllerCharacteristics(&controllers_out[0]);
+		return error_code;
+	};
+
+	CleanEnableDevice(&controllers_out[0], node_1);
+
+	node_2 = VCS_OpenSubDevice(node_1,
+			controllers_out[1].Name,
+			controllers_out[1].Protocol,
+			&error_code);
+
+	controllers_out[1].NodeId = 2;
+
+	if (node_2 == 0 || error_code != 0) {
+		FailedOpenDevice(error_code);
+		PrintControllerCharacteristics(&controllers_out[1]);
+		return error_code;
+	};
+
+	CleanEnableDevice(&controllers_out[1], node_2);
+
+	node_3 = VCS_OpenSubDevice(node_2,
+			controllers_out[2].Name,
+			controllers_out[2].Protocol,
+			&error_code);
+
+	if (node_3 == 0 || error_code != 0) {
+		FailedOpenDevice(error_code);
+		PrintControllerCharacteristics(&controllers_out[2]);
+		return error_code;
+	};
+
+	controllers_out[2].NodeId = 3;
+
+	CleanEnableDevice(&controllers_out[2], node_2);
+
+	return 0;
+} // uint32_t InitializeThreeDevices
+
+uint32_t CleanEnableDevice(struct Controller* controller, void* device_handle) {
+	if (device_handle == 0) { return 0x2000000B; }
+	uint32_t error_code = 0;
+	int ret;
+
+	ret = VCS_ClearFault(device_handle, controller->NodeId, &error_code);
+	if (ret == 0) { return error_code; }
+
+	ret = VCS_SetEnableState(device_handle, controller->NodeId, &error_code);
+	controller->State = CTRL_STATE_OPENED;
+	return error_code;
+}
+
+uint32_t CloseDevice(struct Controller* controller, void* device_handle) {
+	if (device_handle == 0) { return 0x2000000B; }
+	uint32_t error_code = 0;
+	int ret;
+
+	ret = VCS_CloseDevice(device_handle, &error_code);
+	if (ret == 0) { return error_code; }
+
+	ret = VCS_SetDisableState(device_handle, controller->NodeId, &error_code);
+	controller->State = CTRL_STATE_CLOSED;
+	return error_code;
+}
+

lib/epos2/connect.h

@@ -0,0 +1,48 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#include "libtestrig_api.h"
+#include "controller.h"
+
+#ifdef __cplusplus
+} // extern "C" (headers)
+namespace VSCL::Rig {
+extern "C" {
+#endif // __cplusplus
+
+uint32_t TESTRIG_API CleanEnableDevice(struct Controller* controller, void* device_handle);
+
+/*
+ *	@brief Opens communication to the device and sets its state for a clean init.
+ *
+ *	Refer to Page 162 of the manual under INITIALIZATION,
+ *	which describes several of the methods wrapped here.
+ */
+uint32_t TESTRIG_API InitializeDevice(struct Controller* controller_out, void* node, uint8_t node_id);
+
+/*
+ *	@brief Opens communication to the device and sets its state for a clean init.
+ *	This makes a lot of assumptions
+ *
+ *	Refer to Page 162 of the manual under INITIALIZATION,
+ *	which describes several of the methods wrapped here.
+ */
+uint32_t TESTRIG_API InitializeDevices(struct Controller controllers_out[], void* node_1, void* node_2, void* node_3);
+
+/*
+ *	Closes all connections to the controller
+ *
+ *	Refer to Page 162 of the manual under CLOSING PROCEDURE,
+ *	which describes several of the methods wrapped here.
+ */
+uint32_t TESTRIG_API CloseDevice(struct Controller* controller, void* device_handle);
+
+#ifdef __cplusplus
+} // extern "C"
+} // namespace VSCL::Rig
+#endif // __cplusplus

lib/epos2/controller.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+} // extern "C" (headers)
+namespace VSCL::Rig {
+extern "C" {
+#endif // __cplusplus
+
+enum ControllerState {
+	CTRL_STATE_CLOSED = 1,
+	CTRL_STATE_OPENED = 2,
+};
+
+/*
+ *	@brief A struct representing a controller.
+ *
+ *	Refer to the parameters passed to VCS_OpenDevice, Page 13 of the Manual.
+ */
+struct Controller {
+	// The name of the controller.
+	char Name[8];
+	// The name of the communication protocol.
+	char Protocol[16];
+	// The name of the connection interface.
+	char Interface[64];
+	// The name of the port used in connection.
+	char Port[8];
+	// The node of the controller.
+	uint8_t NodeId;
+	// State of the controller.
+	enum ControllerState State;
+};
+
+#ifdef __cplusplus
+} // extern "C"
+} // namespace VSCL::Rig
+#endif // __cplusplus