amor.h

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#ifndef AMOR_H
#define AMOR_H

#ifdef __cplusplus
extern "C" {
#endif // __cplusplus

#ifndef AMOR_EXPORT
    #define AMOR_EXPORT
#endif

// TYPE DEFINITIONS

typedef void*   AMOR_HANDLE;
typedef int     AMOR_RESULT;
typedef double  real;

#define         AMOR_SUCCESS                  0

#define         AMOR_FAILED                   -1

#define         AMOR_INVALID_HANDLE           0

#define         AMOR_NO_WARNING               0

#define         AMOR_WARN_TEMPERATURE         1

#define         AMOR_WARN_LOWER_END_SWITCH    2

#define         AMOR_WARN_UPPER_END_SWITCH    3

#define         AMOR_WARN_BUFFER_EMPTY        5

#define         AMOR_NUM_JOINTS               7

#define         AMOR_ERROR_NONE               0

#define         AMOR_ERROR_UNKNOWN            1

#define         AMOR_ERROR_CONNECTION_FAILURE 2

#define         AMOR_ERROR_INVALID_ARGUMENT   3

#define         AMOR_ERROR_COMMUNICATION      4

#define         AMOR_ERROR_CAN_DRIVER         5

typedef struct tagAMOR_JOINT_INFO {
    real maxCurrent;
    real maxVoltage;
    real maxVelocity;
    real maxAcceleration;
    real lowerJointLimit;
    real upperJointLimit;
} AMOR_JOINT_INFO;

typedef struct tagAMOR_JOINT_VERSION {
    unsigned char major;
    unsigned char minor;
    unsigned short revision;
    unsigned char parameters_version;
} AMOR_JOINT_VERSION;

typedef real AMOR_VECTOR7[AMOR_NUM_JOINTS];

typedef struct tagAMOR_MATRIX44 {
    union {
        struct {
            real        _11, _12, _13, _14;
            real        _21, _22, _23, _24;
            real        _31, _32, _33, _34;
            real        _41, _42, _43, _44;
        };
        real m[4][4];
    };
} AMOR_MATRIX44;

enum amor_movement_status{
    AMOR_MOVEMENT_STATUS_MOVING,
    AMOR_MOVEMENT_STATUS_PENDING,
    AMOR_MOVEMENT_STATUS_FINISHED
};

AMOR_EXPORT void amor_get_library_version(int* major, int* minor, int* build);

AMOR_EXPORT AMOR_HANDLE amor_connect(char* libraryName, int can_port);

AMOR_EXPORT AMOR_RESULT amor_set_currents(AMOR_HANDLE handle, AMOR_VECTOR7 currents);

AMOR_EXPORT AMOR_RESULT amor_get_req_currents(AMOR_HANDLE handle, AMOR_VECTOR7 *currents);

AMOR_EXPORT AMOR_RESULT amor_get_actual_currents(AMOR_HANDLE handle, AMOR_VECTOR7 *currents);

AMOR_EXPORT AMOR_RESULT amor_set_voltages(AMOR_HANDLE handle, AMOR_VECTOR7 voltages);

AMOR_EXPORT AMOR_RESULT amor_get_req_voltages(AMOR_HANDLE handle, AMOR_VECTOR7 *voltages);

AMOR_EXPORT AMOR_RESULT amor_get_actual_voltages(AMOR_HANDLE handle, AMOR_VECTOR7* voltages);

AMOR_EXPORT AMOR_RESULT amor_set_positions(AMOR_HANDLE handle, AMOR_VECTOR7 positions);

AMOR_EXPORT AMOR_RESULT amor_get_req_positions(AMOR_HANDLE handle, AMOR_VECTOR7* positions);

AMOR_EXPORT AMOR_RESULT amor_get_actual_positions(AMOR_HANDLE handle, AMOR_VECTOR7* positions);

AMOR_EXPORT AMOR_RESULT amor_set_velocities(AMOR_HANDLE handle, AMOR_VECTOR7 velocities);

AMOR_EXPORT AMOR_RESULT amor_get_req_velocities(AMOR_HANDLE handle, AMOR_VECTOR7* velocities);

AMOR_EXPORT AMOR_RESULT amor_get_actual_velocities(AMOR_HANDLE handle, AMOR_VECTOR7* velocities);

AMOR_EXPORT AMOR_RESULT amor_emergency_stop(AMOR_HANDLE handle);

AMOR_EXPORT AMOR_RESULT amor_controlled_stop(AMOR_HANDLE handle);

AMOR_EXPORT AMOR_RESULT amor_release(AMOR_HANDLE handle);

AMOR_EXPORT AMOR_RESULT amor_get_status(AMOR_HANDLE handle, int joint, int *status);

AMOR_EXPORT AMOR_RESULT amor_get_joint_info(AMOR_HANDLE handle, int joint, AMOR_JOINT_INFO* parameters);

AMOR_EXPORT AMOR_RESULT amor_get_movement_status(AMOR_HANDLE handle, amor_movement_status* status);

AMOR_EXPORT AMOR_RESULT amor_set_cartesian_velocities(AMOR_HANDLE handle, AMOR_VECTOR7 velocities);

AMOR_EXPORT AMOR_RESULT amor_set_cartesian_positions(AMOR_HANDLE handle, AMOR_VECTOR7 positions);

AMOR_EXPORT AMOR_RESULT amor_get_cartesian_position(AMOR_HANDLE handle, AMOR_VECTOR7 &positions);

AMOR_EXPORT unsigned int amor_errno();

AMOR_EXPORT const char* amor_error();

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif // AMOR_H