rcclSetOptions(3)

NAME
rcclSetOptions, rcclClearOptions, rcclPutOptions, rcclGetOptions -- set and clear various RCCL system options.

USAGE
#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;

ARGUMENTS

mask --
    Bitmask specifying a set of options.

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 rcclSetMode() functions.

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

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

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

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

Options currently defined include:

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.

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

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

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

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

SEE ALSO
rcclSetSimulator(3).