c_allocators

Jump to bottom

Yannik Friedrich edited this page Nov 22, 2022 · 1 revision

<style> table { width: 100%; } table tr td a { display: block !important; height: 100% !important; width: 100% !important; padding: 7px !important; padding-left: 14px !important; padding-right: 14px !important; margin: -7px !important; margin-left: -14px !important; margin-right: -14px !important; color: inherit !important; } @media (prefers-color-scheme: dark) { .type { color: FireBrick; font-style: italic; } } @media (prefers-color-scheme: light) { .type { color: FireBrick; font-style: italic; } } </style>

C Allocators

The header ftalloc.h defines functions to allocate and free devices and a few utility functions. The devices' main functionality is defined in the ftop.h header.

Content
ftop_alloc_txt
ftop_alloc_switch
ftop_alloc_digital
ftop_alloc_voltmeter
ftop_alloc_ultrasonic
ftop_alloc_resistor
ftop_alloc_ncttermistor
ftop_alloc_colorsensor
ftop_alloc_trail_follower
ftop_alloc_counter
ftop_alloc_lamp
ftop_alloc_servo
ftop_alloc_motor
ftop_alloc_encoder
ftop_alloc_motor_step_counter
ftop_free_txt
ftop_free_device
ftop_alloc_mode
ftop_alloc_code
ftop_check_usage
ftop_get_conn
ftmop_get_typename
ftop_extend_range
ftop_get_txt

Allocators

Note: In case of an error, all allocator functions return NULL! It is advisable to check the returned pointer before continuing.

#include <ft/ft.h>

fttxt2 *txt = ftop_alloc_txt("auto", 65000);

if (txt == NULL) {
    // error during initialization of the TXT
    // handle error
    return 1;
}

fttxt2 ftop_alloc_txt(const char host, int port)

Allocates the resourses for a TXT 4.0 object and initializes it. The object needs to be deleted using ftop_free_txt before the program ends to free resourses! As of now, the parameteres for host and port are unused.

Type	Parameter	Description
in	host	sting describing host, use "auto" (unused)
in	port	port (unused)

Return:
pointer to TXT object

ftdevice ftop_alloc_switch(fttxt2 txt, int num)

Allocates the resources for a switch device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to switch object

ftdevice ftop_alloc_digital(fttxt2 txt, int num)

Allocates the resources for a digital device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to digital object

ftdevice ftop_alloc_resistor(fttxt2 txt, int num)

Allocates the resources for a resistor device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to resistor object

ftdevice ftop_alloc_voltmeter(fttxt2 txt, int num)

Allocates the resources for a voltmeter device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to voltmeter object

ftdevice ftop_alloc_ultrasonic(fttxt2 txt, int num)

Allocates the resources for an ultrasonic device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to ultrasonic object

ftdevice ftop_alloc_ncttermistor(fttxt2 txt, int num)

Allocates the resources for a ncttermistor device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to ncttermistor object

ftdevice ftop_alloc_colorsensor(fttxt2 txt, int num)

Allocates the resources for a colorsensor device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to colorsensor object

ftdevice ftop_alloc_trail_follower(fttxt2 txt, int num)

Allocates the resources for a trail follower device.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_i1 - ftdev_i8]

Return:
pointer to trail follower object

ftdevice ftop_alloc_counter(fttxt2 txt, int num)

Allocates the resources for a counter device.

Note: Use the values from the ftobjects_connection enum (ftdev_c1 - ftdev_c4) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_c1 - ftdev_c4]

Return:
pointer to counter object

ftdevice ftop_alloc_lamp(fttxt2 txt, int num)

Allocates the resources for a lamp device.

Note: Use the values from the ftobjects_connection enum (ftdev_o1 - ftdev_o8) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_o1 - ftdev_o8]

Return:
pointer to lamp object

ftdevice ftop_alloc_servo(fttxt2 txt, int num)

Allocates the resources for a servo device.

Note: Use the values from the ftobjects_connection enum (ftdev_s1 - ftdev_s3) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_s1 - ftdev_s3]

Return:
pointer to servo object

ftdevice ftop_alloc_motor(fttxt2 txt, int num)

Allocates the resources for a motor device.

Note: Use the values from the ftobjects_connection enum (ftdev_m1 - ftdev_m4) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_m1 - ftdev_m4]

Return:
pointer to motor object

ftdevice ftop_alloc_encoder(fttxt2 txt, int num)

Allocates the resources for an encoder device including the corresponding counter.

Note: Use the values from the ftobjects_connection enum (ftdev_m1 - ftdev_m4) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_m1 - ftdev_m4]

Return:
pointer to encoder object

ftdevice ftop_alloc_motor_step_counter(fttxt2 txt, int num)

Allocates the resources for a counter associated with an encoder motor. This function is mainly for internal purposes and usually not called by the user.

Note: Use the values from the ftobjects_connection enum (ftdev_c1 - ftdev_c4) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number [ftdedv_c1 - ftdev_c4]

Return:
pointer to counter object

Deallocators

void ftop_free_txt(fttxt2 *txt)

Deallocates the TXT object and frees all resources. This function MUST be called before the program ends.

Type	Parameter	Description
in	txt	pointer to TXT object

void ftop_free_device(ftdevice *device)

Frees all resources and resets connection used by device.

Type	Parameter	Description
in	devicd	pointer to device

Utility Functions

int ftop_alloc_mode(fttxt2 *txt, int num)

Returns the mode of the device. For universal inputs, this function returns the combination of measurement mode and resolution and for outputs/motors the output configuration (whether it's an output or a motor).

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8, ftdev_o1 - ftdev_o8, ftdev_m1 - ftdev_m4) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number

Return:
allocation mode

int ftop_alloc_code(fttxt2 *txt, int num)

Returns the type of the device. For universal inputs, this function returns the sensor type and for outputs/motors their type as well.

Note: Use the values from the ftobjects_connection enum (ftdev_i1 - ftdev_i8, ftdev_o1 - ftdev_o8, ftdev_m1 - ftdev_m4) to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number

Return:
allocation code (device type)

int ftop_check_usage(fttxt2 *txt, int num)

Returns whether or not a device is allocated for that connector.

Note: Use the values from the ftobjects_connection enum to specify the pin.

Type	Parameter	Description
in	txt	pointer to TXT object
in	num	pin number

Return:
pin usage

int ftop_get_conn(ftdevice *device)

Returns the connector number of given device.

Type	Parameter	Description
in	device	pointer to device

Return:
pin number

const char *ftmop_get_typename(unsigned int t)

Returns the type name as a string. Takes the device type returned by ftop_alloc_code as input.

Type	Parameter	Description
in	t	device type

Return:
device name

void ftop_extend_range(void *device, int mode)

Sets an input to normal or extended range. Pass 0 for normal detection range (0 - 5 V) and 1 for extended range (0 - 9 V).

Type	Parameter	Description
in	device	pointer to device
in	mode	new mode: 0 (normal) - 1 (extended)

void ftop_get_txt(void device)

Returns TXT object the device is connected.

Type	Parameter	Description
in	device	pointer to device

Return:
pointer to TXT object