Balluff MATRIX VISION mvBlueFOX-200wC - Page 162

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1.18.6.2.3.2 Example 2: Motor does move (return = true)
Status:
Hex: 380086
Dec: 3670150
Binary: 0011 1000 0000 0000 1000 0110
23-20 19-16 15-12 11-08 07-04 03-00 => bit 2 is 1
(status & motorRunning) = 4 => return true
1.18.6.2.3.3 Example 3: Something a little more complex This shows a more complex piece of code of how
the motor focus can be used.
#ifdef _MSC_VER
# include <windows.h>
#else
# include <time.h>
#endif
#include <apps/Common/exampleHelper.h>
#include <iostream>
#include <iomanip>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <typeinfo>
using namespace std;
// This whole sample shows the low level access to the focus motor. For some
// of the functions presented here, there are also convenience functions in
// ’mvIMPACT::acquire::MotorFocusControl’
//-----------------------------------------------------------------------------
static void millisleep( long millisec )
//-----------------------------------------------------------------------------
{
#ifdef _MSC_VER
Sleep( millisec );
#else
timespec requested;
requested.tv_sec = millisec / 1000;
requested.tv_nsec = ( millisec % 1000 )
*
1000000L;
nanosleep( &requested, NULL );
#endif
}
//-----------------------------------------------------------------------------
class MotorControl
//-----------------------------------------------------------------------------
{
private:
const MotorFocusControl mfc;
const string version;
// private, so as to hide the command strings from the outside world
TDMR_ERROR write( const string& command ) const
{
mfc.motorFocusSendBuffer.writeS( command );
const TDMR_ERROR retval = static_cast<TDMR_ERROR>( mfc.motorFocusSend.call() );
#if _DEBUG
if( retval != DMR_NO_ERROR )
{
cerr « "Call to command ’" « command « "’ failed with error ’" « DMR_ErrorCodeToString( retval )
« "’" « endl;
}
#endif
return retval;
}
void waitForCommandReceipt( const string& expectedReply ) const
{
const size_t length = expectedReply.length();
string reply;
while( ( ( reply = getReply() ).length() < length ) ||
( reply.length() == length && reply != expectedReply ) ||
( reply.length() > length && reply.substr( 0, length ) != expectedReply ) )
{
cout « "Waiting for confirmation of command " « expectedReply.substr( 1, length - 1 ) « " (" «
reply « ")" « endl;
}
}
TDMR_ERROR writeConfirmed( const string& command ) const
{
const TDMR_ERROR retval = write( command );
if( retval == DMR_NO_ERROR )
{
waitForCommandReceipt( command.substr( 0, 3 ) );
}
return retval;
}
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