README.md

• TXT Shared Library Interface (SLI) TxtSliTestTA2 for ROBOPro
  • Note
  • Note SPDlog
  • TxtSliTest2
  • Overview of the extended RoboPro functions
    • init:
    • stop:
    • KeepAwake:
    • getInitSpdLogShort
    • getFlushSpdLogShort
    • getFlushDropSpdLogShort
    • getDropSpdLogShort
    • (set) Test01 (Short) and (set) Test02 (Short):
    • (get) Func01 (Short)
    • (set) Func02 (Short):
    • (get) RetValue02 (Short):
  • RoboPro test programs
    • TxtSliTest2A
• Suggestions for experiments
• document history

TXT Shared Library Interface (SLI) TxtSliTestTA2 for ROBOPro

Note

You need TXT firmware version >=4.6.6

see ROBOPro help section 8.2.9 and 8.2.10 for the RoboPro elements

• Shared Library / C Output
• Shared Library / C Input

Note SPDlog

SpdLog has been added to this SLI.

TxtSliTestTA2

The TxtSliTestTA2 is as far as the functionality the same as . However the functionality has been moved from the main program file into the supporting class.

Overview of the main C/C++ functions

Overview

General

int init (short *t)
int setKeepAwakeShort (short t)
int stop (short *t)

Spdlog related

int getInitSpdLogShort (short *t)
int getDropdLogShort (short *t)
int getFlushSpdLogShort (short *t)
int getFlushDropSpdLogShort (short *t)

TA motor related

int setTest01Short (short n)
int setTest02Short (short n)
int getFunc01Short (short *resultV)
int setFunc02Short (short inputV)
int getRetValue02Short (short *t)

TxtSliTestTA2A

Overview of the extended RoboPro functions.

init:

Result: Set the some general variable.
Error flow: in case of an error

stop:

Result: Reset some general variables.
Error flow: in case of an error

KeepAwake:

Empty dummy function.
With calling this function every n<5 sec, RoboPro will not lost connection with the SLI in the on-line mode

getInitSpdLogShort

Init the spdlog activities.

getFlushSpdLogShort

flush  the spdlog activities.

getFlushDropSpdLogShort

flush  and terminates the spdlog activities.

getDropSpdLogShort

terminates the spdlog activities.  

(set) Test01 (Short) and (set) Test02 (Short):

Data input: integer value
Result: set general variable test01 or test02 to value
Error flow:  in case of an error

(get) Func01 (Short)

Result: calculates test01 + test02
Output: integer test01 + test02
Error flow:  in case of an error

(set) Func02 (Short):

Input: integer value
Result: internal variable resFunc= test01 + value
Error flow:  in case of an error

(get) RetValue02 (Short):

Output: integer resFunc
Error flow:  in case of an error

RoboPro test programs

TxtSliTest2A

Example of the use of spdlog

Can also use in the off-line mode, their is a button on the screen.

Suggestions for experiments

document history

• 2020-05-28 CvL 466.1.1 new
  
• Original from: on-line training SLI-programming part 2
  © 2020-04 ing. C.van Leeuwen Btw. Enschede Netherlands