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. 00018 * 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 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 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 }