Feature Update - improved settings loading for devices

BenchtopBrushless200.cpp

@@ -164,6 +164,18 @@ BenchtopBrushless200::Kinesis_SetRotationModes(int mode, int direction) {
         static_cast<MOT_MovementDirections>(direction));
 }
 
+short
+BenchtopBrushless200::Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity)
+{
+    STATIC_DLL_FUNC(kinesisDll, BMC_SetHomingParamsBlock, func);
+    MOT_HomingParameters params;
+    params.direction = (MOT_TravelDirection)direction;
+    params.limitSwitch = (MOT_HomeLimitSwitchDirection)limitSwitchMode;
+    params.offsetDistance = offsetDistance;
+    params.velocity = velocity;
+
+    return func(CSerialNo(), Channel(), &params);
+}
 
 short
 BenchtopBrushless200::Kinesis_RequestPosition() {

BenchtopBrushless200.h

@@ -77,6 +77,12 @@ class BenchtopBrushless200 final : public NonStepperMotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) override;
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) {
+        return 0;
+    }
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

BenchtopBrushless300.cpp

@@ -164,6 +164,18 @@ BenchtopBrushless300::Kinesis_SetRotationModes(int mode, int direction) {
         static_cast<MOT_MovementDirections>(direction));
 }
 
+short
+BenchtopBrushless300::Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity)
+{
+    STATIC_DLL_FUNC(kinesisDll, BMC_SetHomingParamsBlock, func);
+    MOT_HomingParameters params;
+    params.direction = (MOT_TravelDirection)direction;
+    params.limitSwitch = (MOT_HomeLimitSwitchDirection)limitSwitchMode;
+    params.offsetDistance = offsetDistance;
+    params.velocity = velocity;
+
+    return func(CSerialNo(), Channel(), &params);
+}
 
 short
 BenchtopBrushless300::Kinesis_RequestPosition() {
@@ -206,6 +218,23 @@ BenchtopBrushless300::Kinesis_Home() {
     return func(CSerialNo(), Channel());
 }
 
+short
+BenchtopBrushless300::Kinesis_LoadSettings()
+{
+    STATIC_DLL_FUNC(kinesisDll, BMC_LoadSettings, func);
+    return func(CSerialNo(), Channel());
+}
+
+short
+BenchtopBrushless300::Kinesis_GetConnectedActuatorName(std::string* actuator_name)
+{
+    MOT_StageAxisParameters paramsBlock;
+    STATIC_DLL_FUNC(kinesisDll, BMC_GetStageAxisParamsBlock, func);
+    auto ret = func(CSerialNo(), Channel(), &paramsBlock);
+
+    actuator_name->append(paramsBlock.partNumber);
+    return ret;
+}
 
 short
 BenchtopBrushless300::Kinesis_GetRealValueFromDeviceUnit(int deviceUnits,

BenchtopBrushless300.h

@@ -78,6 +78,12 @@ class BenchtopBrushless300 final : public NonStepperMotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) override;
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) {
+        return 0;
+    }
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;
@@ -86,6 +92,9 @@ class BenchtopBrushless300 final : public NonStepperMotorDrive {
     bool Kinesis_CanHome() override;
     short Kinesis_Home() override;
 
+    short Kinesis_LoadSettings() override;
+    short Kinesis_GetConnectedActuatorName(std::string* actuator_name) override;
+
     short Kinesis_GetRealValueFromDeviceUnit(int deviceUnits,
         double* realValue, int unitType) override;
     short Kinesis_GetDeviceUnitFromRealValue(double realValue,

BenchtopDCServo.h

@@ -77,6 +77,12 @@ class BenchtopDCServo final : public NonStepperMotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) { return 0; };
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) {
+        return 0;
+    };
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

BenchtopStepper.cpp

@@ -157,6 +157,26 @@ BenchtopStepper::Kinesis_SetRotationModes(int mode, int direction) {
         static_cast<MOT_MovementDirections>(direction));
 }
 
+short
+BenchtopStepper::Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity)
+{
+    STATIC_DLL_FUNC(kinesisDll, SBC_SetHomingParamsBlock, func);
+    MOT_HomingParameters params;
+    params.direction = (MOT_TravelDirection)direction;
+    params.limitSwitch = (MOT_HomeLimitSwitchDirection)limitSwitchMode;
+    params.offsetDistance = offsetDistance;
+    params.velocity = velocity;
+
+    return func(CSerialNo(), Channel(), &params);
+}
+
+short
+BenchtopStepper::Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+    int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode)
+{
+    STATIC_DLL_FUNC(kinesisDll, SBC_SetLimitSwitchParams, func);
+    return func(CSerialNo(), Channel(), (MOT_LimitSwitchModes)cwHardwareLimitMode, (MOT_LimitSwitchModes)ccwHardwareLimitMode, cwSoftwareLimitPosition, ccwSoftwareLimitPosition, (MOT_LimitSwitchSWModes)softwareLimitMode);
+}
 
 short
 BenchtopStepper::Kinesis_RequestPosition() {

BenchtopStepper.h

@@ -77,6 +77,10 @@ class BenchtopStepper final : public MotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) override;
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) override;
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

IntegratedStepper.h

@@ -76,6 +76,10 @@ class IntegratedStepper final : public MotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) { return 0; };
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) { return 0; };
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

KCubeBrushless.h

@@ -76,6 +76,12 @@ class KCubeBrushless final : public NonStepperMotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) { return 0; };
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) {
+        return 0;
+    };
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

KCubeDCServo.cpp

@@ -150,14 +150,33 @@ KCubeDCServo::Kinesis_SetRotationModes(int mode, int direction) {
         static_cast<MOT_MovementDirections>(direction));
 }
 
+short
+KCubeDCServo::Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity)
+{
+    STATIC_DLL_FUNC(kinesisDll, CC_SetHomingParamsBlock, func);
+    MOT_HomingParameters params;
+    params.direction = (MOT_TravelDirection)direction;
+    params.limitSwitch = (MOT_HomeLimitSwitchDirection)limitSwitchMode;
+    params.offsetDistance = offsetDistance;
+    params.velocity = velocity;
+
+    return func(CSerialNo(), &params);
+}
+
+short
+KCubeDCServo::Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+    int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode)
+{
+    STATIC_DLL_FUNC(kinesisDll, CC_SetLimitSwitchParams, func);
+    return func(CSerialNo(), (MOT_LimitSwitchModes)cwHardwareLimitMode, (MOT_LimitSwitchModes)ccwHardwareLimitMode, cwSoftwareLimitPosition, ccwSoftwareLimitPosition, (MOT_LimitSwitchSWModes)softwareLimitMode);
+}
 
 short
 KCubeDCServo::Kinesis_RequestPosition() {
     STATIC_DLL_FUNC(kinesisDll, CC_RequestPosition, func);
     return func(CSerialNo());
 }
 
-
 int
 KCubeDCServo::Kinesis_GetPosition() {
     STATIC_DLL_FUNC(kinesisDll, CC_GetPosition, func);

KCubeDCServo.h

@@ -76,6 +76,10 @@ class KCubeDCServo final : public NonStepperMotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) override;
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) override;
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

KCubeStepper.cpp

@@ -150,6 +150,27 @@ KCubeStepper::Kinesis_SetRotationModes(int mode, int direction) {
         static_cast<MOT_MovementDirections>(direction));
 }
 
+short
+KCubeStepper::Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity)
+{
+    STATIC_DLL_FUNC(kinesisDll, SCC_SetHomingParamsBlock, func);
+    MOT_HomingParameters params;
+    params.direction = (MOT_TravelDirection)direction;
+    params.limitSwitch = (MOT_HomeLimitSwitchDirection)limitSwitchMode;
+    params.offsetDistance = offsetDistance;
+    params.velocity = velocity;
+
+    return func(CSerialNo(), &params);
+}
+
+short
+KCubeStepper::Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+    int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode)
+{
+    STATIC_DLL_FUNC(kinesisDll, SCC_SetLimitSwitchParams, func);
+    return func(CSerialNo(), (MOT_LimitSwitchModes)cwHardwareLimitMode, (MOT_LimitSwitchModes)ccwHardwareLimitMode, cwSoftwareLimitPosition, ccwSoftwareLimitPosition, (MOT_LimitSwitchSWModes)softwareLimitMode);
+}
+
 
 short
 KCubeStepper::Kinesis_RequestPosition() {

KCubeStepper.h

@@ -76,6 +76,10 @@ class KCubeStepper final : public MotorDrive {
     short Kinesis_ResetRotationModes() override;
     short Kinesis_SetRotationModes(int mode, int direction) override;
 
+    short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) override;
+    short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) override;
+
     short Kinesis_RequestPosition() override;
     int Kinesis_GetPosition() override;
     long Kinesis_GetPositionCounter() override;

KinesisDevice.h

@@ -162,7 +162,7 @@ class KinesisDevice : public SerialNumbered {
 
     std::string GetModelNo();
 
-    DWORD GetStatusBits() { return Kinesis_GetStatusBits(); }
+    int GetStatusBits() { return Kinesis_GetStatusBits(); }
 
 protected: // 1:1 wrappers for Kinesis API functions
     virtual short Kinesis_RequestSettings() = 0;
@@ -263,6 +263,18 @@ class MotorDrive : public KinesisDevice {
         return Kinesis_SetRotationModes(mode, direction);
     }
 
+    short SetHomingParameters(int direction, int limitSwitchMode, int offsetDistance, int velocity)
+    {
+        return Kinesis_SetHomingParams(direction, limitSwitchMode, offsetDistance, velocity);
+    }
+
+    short SetLimitSwitchParameters(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition,
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode)
+    {
+        return Kinesis_SetLimitSwitchParams(ccwHardwareLimitMode, ccwSoftwareLimitPosition,
+            cwHardwareLimitMode, cwSoftwareLimitPosition, softwareLimitMode);
+    }
+
     short RequestPosition() { return Kinesis_RequestPosition(); }
     int GetPosition() { return Kinesis_GetPosition(); }
     long GetPositionCounter() { return Kinesis_GetPositionCounter(); }
@@ -271,6 +283,9 @@ class MotorDrive : public KinesisDevice {
     bool CanHome() { return Kinesis_CanHome(); }
     short Home() { return Kinesis_Home(); }
 
+    short LoadSettings() { return Kinesis_LoadSettings(); }
+    short GetConnectedActuatorName(std::string* actuatorName) { return Kinesis_GetConnectedActuatorName(actuatorName); }
+
     // These conversion functions seem to always return an error (tested with
     // cage rotator K10CR1; Kinesis 1.14.18)
     short DeviceToPhysicalPosition(int deviceUnits, double& physicalUnits) {
@@ -289,6 +304,13 @@ class MotorDrive : public KinesisDevice {
     virtual short Kinesis_ResetRotationModes() = 0;
     virtual short Kinesis_SetRotationModes(int mode, int direction) = 0;
 
+    virtual short Kinesis_SetHomingParams(int direction, int limitSwitchMode, int offsetDistance, int velocity) = 0;
+    //virtual short Kinesis_GetHomingParams(int* direction, int* limitSwitchMode, int* offsetDistance, int* velocity) = 0;
+
+    virtual short Kinesis_SetLimitSwitchParams(int ccwHardwareLimitMode, int ccwSoftwareLimitPosition, 
+        int cwHardwareLimitMode, int cwSoftwareLimitPosition, int softwareLimitMode) = 0;
+    //virtual short Kinesis_SetLimitSwitchParams(int* ccwHardwareLimitMode, int* ccwSoftwareLimitPosition, int* cwHardwareLimitMode, int* cwSoftwareLimitPosition, int* softwareLimitMode) = 0;
+
     virtual short Kinesis_RequestPosition() = 0;
     virtual int Kinesis_GetPosition() = 0;
     virtual long Kinesis_GetPositionCounter() = 0;
@@ -297,6 +319,9 @@ class MotorDrive : public KinesisDevice {
     virtual bool Kinesis_CanHome() = 0;
     virtual short Kinesis_Home() = 0;
 
+    virtual short Kinesis_LoadSettings() { return 1; };
+    virtual short Kinesis_GetConnectedActuatorName(std::string* actuator_name) { actuator_name->append("ERROR"); return 1; };
+
     virtual short Kinesis_GetRealValueFromDeviceUnit(int deviceUnits,
         double* realValue, int unitType) = 0;
     virtual short Kinesis_GetDeviceUnitFromRealValue(double realValue,