position_tracking_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 || argc > 3) //Invalid number of arguments
    {
      cerr << "Incorrect number of arguments provided\n";
      cerr << "Usage: position_tracking_example.exe <ADDRESS> <SPEED=5000>\n";
      return GALIL_EXAMPLE_ERROR;
    }

    char* address = argv[1];  //Retrieve address from command line
    e(GOpen(address, &g)); //Opens a connection at the provided address

    if (argc == 3) //Position tracking with custom speed
    {
      //Retrieve speed from command line and convert to int
      char* end;
      int speed = strtol(argv[2], &end, 10); 
      //If this character is not a null character,
      //the user did not enter a valid integer for speed 
      if (*end != '\0') 
      {
        cerr << "An invalid speed was entered.  "
        "Please enter a valid integer for speed.\n"
        "Usage: position_tracking_example.exe <ADDRESS> <SPEED=5000>\n";
        return GALIL_EXAMPLE_ERROR;
      }

      //Puts controller into Position Tracking Mode and accepts user-entered positions
      rc = position_tracking(g, speed);
    }
    else if (argc == 2) //Position tracking with default speed
    {
      //Puts controller into Position Tracking Mode and accepts user - entered positions
      rc = position_tracking(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;
}