Building new Full Qt c/c++ HMI (incl. nml and EtherCAT )

/* Read and Write Functions. */
    int write(NMLmsg * nml_msg, int *serial_number = NULL);
/code]

line 1585 of nml.cc, this is interesting:
[code]
cms->set_mode(CMS_WRITE);
cms->write(nml_msg, serial_number);   

typedef RCS_STAT_CHANNEL mystattype;
mystattype *status_channel;
QStringList list;

QVariant Nml_plugin::get_tcp_pos(){
    EMC_STAT *emcStatus;
    for(int i=0; i<1; i++){
      usleep(100);
      if(!status_channel->valid()) continue;
      if(status_channel->peek() != EMC_STAT_TYPE) continue;
      emcStatus = static_cast<EMC_STAT*>(status_channel->get_address());

      list.clear();
      list.push_back(QString::number(emcStatus->motion.traj.position.tran.x,'f',3));
      list.push_back(QString::number(emcStatus->motion.traj.position.tran.y,'f',3));
      list.push_back(QString::number(emcStatus->motion.traj.position.tran.z,'f',3));
    }

    QVariant data(list);
    return data;
}

void Opencascade::load_tool_cone(QVariant data){
    QStringList list=data.toStringList();
    double bottomdiameter = list.at(0).toDouble();
    double topdiameter = list.at(1).toDouble();
    double height = list.at(2).toDouble();
    Ais_ToolCone = draw_primitives().draw_3d_cone({0,0,0},bottomdiameter,topdiameter,height);
    Ais_ToolCone = draw_primitives().colorize(Ais_ToolCone,Quantity_NOC_GREEN,0);
    m_context->Display(Ais_ToolCone,Standard_False);
}

void Opencascade::translate_tool_cone(QVariant data){
    QStringList list=data.toStringList();
    double x = list.at(0).toDouble();
    double y = list.at(1).toDouble();
    double z = list.at(2).toDouble();
    Ais_ToolCone = draw_primitives().rotate_translate_3d_quaternion(Ais_ToolCone,{x,y,z},0,0,0);
    m_context->Redisplay(Ais_ToolCone,Standard_False);
    m_context->Display(Ais_ToolCone,Standard_False);
}

command_channel = new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "xemc", filename.toStdString().c_str());
EMC_MOTION_SET_AOUT out;
out.now=1;
out.index=1;
out.start=12345;
out.end=54321;
command_channel->write(&out);

EMC_MOTION_SET_DOUT dout;
dout.now=1;
dout.index=1;
dout.start=1;
dout.end=0;
command_channel->write(&dout);