record_position.cpp

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#include "examples.h"

#include <iostream> //std::cout
#include <fstream>

#define G_LASTINDEX 999

using namespace std; 

void write_array_to_file(GCon g, ofstream& os, const char* array_name,
             int previous_rd, int rd);

GReturn record_position(GCon g, char* fileA, char* fileB)
{
  ofstream osA, osB;
  osA.open(fileA, ios::out | ios::trunc);
  osB.open(fileB, ios::out | ios::trunc);

  int recording = 1;
  int position;
  
  e(GProgramDownload(g,
  "RC 0;' Disable Recording\n"           
  "DP 0, 0;' Set current position to 0\r"          
  "DM posA[1000], posB[1000];' Define a new array that will hold positional data\r"
  "RA posA[], posB[];' Sets position array to be where recorded data will be stored\r"     
  "RD _TPA, _TPB;' Defines Position to be the type of data that will be recorded\r"      
  "RC 1,-1000;' Begins recording at 512Hz in continuous mode\r"        
  "MO AB;' Turns motors off\r"           
  "AI -1;' Waits for active low on Input 1\r"          
  "RC 0;' Disable Recording after Input 1 goes low\r"          
  "EN;' End program", 0));           
  e(GCmd(g, "XQ")); //Begins execution of program
  
  int rd = 0;
  int previous_rd = 0;

  do
  {
    GSleep(1000); //Sleep while we wait for roughly half the array to be written
    e(GCmdI(g, "MG _RD", &rd)); //Gets address of next value in the position array

    //Get values from posA[] array and write to file
    write_array_to_file(g, osA, "posA[]", previous_rd, rd);

    //Get values from posB[] array and write to file 
    write_array_to_file(g, osB, "posB[]", previous_rd, rd); 

    e(GCmdI(g, "MG _RC", &recording)); // Check status of RC

    previous_rd = rd;
  } while (recording); //While recording is active

  osA.close();
  osB.close();

  return GALIL_EXAMPLE_OK;
}

void write_array_to_file(GCon g, ofstream& os, const char* array_name,
             int previous_rd, int rd)
{
  char buf[G_HUGE_BUFFER]; //traffic buffer
    
  if (previous_rd < rd) // No array wrap around
  {
    e(GArrayUpload(g, array_name, previous_rd, rd - 1, G_COMMA, buf, G_HUGE_BUFFER));
    os << ',' << buf;
  }
  else // Array wrapped around - grab two separate chunks from the array
  {
    e(GArrayUpload(g, array_name, previous_rd, G_LASTINDEX, G_COMMA, buf, G_HUGE_BUFFER));
    os << ',' << buf;

    if (rd != 0)
    {
      e(GArrayUpload(g, array_name, 0, rd - 1, G_COMMA, buf, G_HUGE_BUFFER));
      os << ',' << buf;
    }
  } 
}