mpMain.cpp
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00001 /*
00002 * Software License Agreement (BSD License) 
00003 *
00004 * Copyright (c) 2012, Southwest Research Institute
00005 * All rights reserved.
00006 *
00007 * Redistribution and use in source and binary forms, with or without
00008 * modification, are permitted provided that the following conditions are met:
00009 *
00010 *       * Redistributions of source code must retain the above copyright
00011 *       notice, this list of conditions and the following disclaimer.
00012 *       * Redistributions in binary form must reproduce the above copyright
00013 *       notice, this list of conditions and the following disclaimer in the
00014 *       documentation and/or other materials provided with the distribution.
00015 *       * Neither the name of the Yaskawa America, Inc., nor the names 
00016 *       of its contributors may be used to endorse or promote products derived
00017 *       from this software without specific prior written permission.
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00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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00030 */ 
00031 
00032 //mpMain.cpp
00033 //
00034 //This contains mpUsrRoot which is the entry point for your MotoPlus application
00035 #include "mp_default_main.h"
00036 #include "controller.h"
00037 #include "motoPlus.h"
00038 
00039 using namespace motoman::mp_default_main;
00040 using motoman::controller::Controller;
00041 
00042 int motion_server_task_ID; \
00043 int system_server_task_ID; \
00044 int state_server_task_ID; \
00045 int io_server_task_ID; \
00046 extern "C" void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10)
00047 {
00048   const int ROBOT_CONTROL_GROUP = 0;  // assume Robot Control Group #1 (0-based indexing)
00049   Controller::initParameters(ROBOT_CONTROL_GROUP);
00050 
00051   motion_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)motionServer, 
00052                                         arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); 
00053   state_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)stateServer, 
00054                                         arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); 
00055   mpExitUsrRoot; //Ends the initialization task. 
00056 } 


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:34