5008-get_cgpio_state.cc

/**
 * Software License Agreement (MIT License)
 * 
 * Copyright (c) 2022, UFACTORY, Inc.
 * 
 * All rights reserved.
 * 
 * @author Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
 */

#include "xarm/wrapper/xarm_api.h"


int main(int argc, char **argv) {
  if (argc < 2) {
    printf("Please enter IP address\n");
    return 0;
  }
  std::string port(argv[1]);

  XArmAPI *arm = new XArmAPI(port);
  sleep_milliseconds(500);
  if (arm->error_code != 0) arm->clean_error();
  if (arm->warn_code != 0) arm->clean_warn();
  arm->motion_enable(true);
  arm->set_mode(0);
  arm->set_state(0);
  sleep_milliseconds(500);

  printf("=========================================\n");
  int ret;
  int state[2] = {0};
  int digit_io[4] = {0};
  float analog[4] = {0};
  int input_conf[8] = {0};
  int output_conf[8] = {0};
  int input_conf2[8] = {0};
  int output_conf2[8] = {0};
  ret = arm->get_cgpio_state(state, digit_io, analog, input_conf, output_conf, input_conf2, output_conf2);
  printf("get_cgpio_state, ret=%d\n", ret);
  printf("* state=%d, err_code: %d\n", state[0], state[1]);
  printf("* digital input functional gpio state=%d\n", digit_io[0]);
  printf("* digital input configuring gpio state=%d\n", digit_io[1]);
  printf("* digital output functional gpio state=%d\n", digit_io[2]);
  printf("* digital output configuring gpio state=%d\n", digit_io[3]);
  printf("* analog-0 input val=%f\n", analog[0]);
  printf("* analog-1 input val=%f\n", analog[1]);
  printf("* analog-0 output val=%f\n", analog[2]);
  printf("* analog-1 output val=%f\n", analog[3]);
  printf("* digital input functional info");
  for (int i = 0; i < 8; ++i) {
    printf(", io%d=%d", i, input_conf[i]);
  }
  for (int i = 0; i < 8; ++i) {
    printf(", io%d=%d", i+8, input_conf2[i]);
  }
  printf("\n");
  printf("* digital output functional info");
  for (int i = 0; i < 8; ++i) {
    printf(", io%d=%d", i, output_conf[i]);
  }
  for (int i = 0; i < 8; ++i) {
    printf(", io%d=%d", i+8, output_conf2[i]);
  }
  printf("\n");

  return 0;
}