\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{rcclSetOptions}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{rcclSetOptions}},
{\tt \manName{rcclClearOptions}},
{\tt \manName{rcclPutOptions}},
{\tt \manName{rcclGetOptions}}
-- set and clear various RCCL system options.

}
\manSection{USAGE}
\cverbatim
#include <rccl.h>

unsigned long rcclSetOptions (mask)
   unsigned long mask;

unsigned long rcclClearOptions (mask)
   unsigned long mask;

unsigned long rcclPutOptions (mask)
   unsigned long mask;

unsigned long rcclGetOptions (mask)
   unsigned long mask; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt mask} --}
Bitmask specifying a set of options.
\manSection{DESCRIPTION}
These routines allow the programmer to set, clear, and access various 
RCCL program characteristics. 
The options accessed by these functions apply to the
entire RCCL program, and should not be confused with the per-manipulator
modes which are controlled by the similar {\tt rcclSetMode()} functions.

{\tt rcclSetOptions()} sets the options specified by the bitmask
{\tt mask} and returns a mask describing their previous settings.

{\tt rcclClearOptions()} clears the options specified by the bitmask
{\tt mask} and returns a mask describing their previous settings.

{\tt rcclPutOptions()} sets all the RCCL system options to the
values indicated by {\tt mask}, and returns a mask describing
their previous settings.

{\tt rcclGetOptions()} returns a mask obtained by anding together all the RCCL
system options with {\tt mask}.

Options currently defined include:

\manItem{{\tt RCCL_ERROR_EXIT} --}
Causes some RCCL functions to print diagnostic information
and abort the program when they detect an error.
This is useful for prototyping work where one
does not want to check all possible error conditions. 
Whether or not a particular RCCL primitive responds to this option is
documented in the DIAGNOSTICS section of its manual entry.
The default setting for this option is false.

\manItem{}
{\bf NOTE:} Setting this option has the side effect of also
setting the RCI option {\tt EXIT_ON_ERROR}, which similarly causes
some RCI routines to  abort the program if an error is encountered.

\manItem{{\tt RCCL_SIMULATE} --}
If this option is set when the first call is made to {\tt rcclCreate()},
then RCCL is started up in simulator mode. Changing this option after
the first call to {\tt rcclCreate()} will have no effect. The default setting
for this option is false.

\manItem{}
The routine {\tt rcclSetSimulator()} can also be used to put an
RCCL program into simulation mode. This routine also allows the
simulator program to be specified.

\manItem{{\tt RCCL_LEAVE_POWER_ON} --}
If this option is set when
{\tt rcclRelease()} is called, the robot arm power will be left on,
regardless of the value of the {\tt powerOff}
argument to {\tt rcclRelease()}. Power will still
be switched off if the control task aborts.

\manSection{SEE ALSO}
\rightskip=0ptplus1fil
{\tt rcclSetSimulator(3)}.

\manEnd
\end
