motion_complete_example.cpp

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#include "examples.h"

#include <iostream> //std::cout
using namespace std;


int main(int argc, char * argv[])
{
  GReturn rc = GALIL_EXAMPLE_OK;
  char buf[G_SMALL_BUFFER];

  //var used to refer to a unique connection. A valid connection is nonzero.
  GCon g = 0; 
  try
  {
    if (argc != 2) //Invalid number of arguments
    {
      cerr << "Incorrect number of arguments provided\n";
      cerr << "Usage: motion_complete_example.exe <ADDRESS>\n";
      return GALIL_EXAMPLE_ERROR;
    }

    char* address = argv[1];  //Retrieve address from command line
    sprintf(buf, "%s --subscribe EI", address);  //Subscribe to event interrupts
    e(GOpen(buf, &g)); //Opens a connection at the provided address

    //Uses interrupts to track when the motion of controller is completed
    rc = motion_complete(g);
  }
  catch (GReturn gr)
  {
    GError(gr, buf, G_SMALL_BUFFER); //Get Error Information
    cout << buf << '\n';
    if (g)
    {
      GSize size = sizeof(buf);
      GUtility(g, G_UTIL_ERROR_CONTEXT, buf, &size);
      cout << buf << '\n'; //further context
    }
    return GALIL_EXAMPLE_ERROR;
  }

  return rc;
}