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Classes
struct	Controller
Defines
#define	CONTROLLER_STATUS_UPDATE_PERIOD 10
#define	ERROR_MSG_MAX_SIZE 64
#define	INVALID_SOCKET -1
#define	INVALID_TASK -1
#define	IO_FEEDBACK_CONNECTSERVERRUNNING 11123
#define	IO_FEEDBACK_FAILURE 11127
#define	IO_FEEDBACK_INITIALIZATION_DONE 11122
#define	IO_FEEDBACK_IOSERVERCONNECTED 11126
#define	IO_FEEDBACK_MOTIONSERVERCONNECTED 11124
#define	IO_FEEDBACK_MP_INCMOVE_DONE 11121
#define	IO_FEEDBACK_RESERVED_1 11130
#define	IO_FEEDBACK_RESERVED_2 11131
#define	IO_FEEDBACK_RESERVED_3 11132
#define	IO_FEEDBACK_RESERVED_4 11133
#define	IO_FEEDBACK_RESERVED_5 11134
#define	IO_FEEDBACK_RESERVED_6 11135
#define	IO_FEEDBACK_RESERVED_7 11136
#define	IO_FEEDBACK_RESERVED_8 11137
#define	IO_FEEDBACK_STATESERVERCONNECTED 11125
#define	IO_FEEDBACK_WAITING_MP_INCMOVE 11120
#define	MASK_ISALARM_ACTIVEALARM 0x02
#define	MASK_ISALARM_ACTIVEERROR 0x01
#define	MAX_IO_CONNECTIONS 1
#define	MAX_MOTION_CONNECTIONS 1
#define	MAX_STATE_CONNECTIONS 4
#define	START_MAX_PULSE_DEVIATION 10
#define	TCP_PORT_IO 50242
#define	TCP_PORT_MOTION 50240
#define	TCP_PORT_STATE 50241
Enumerations
enum	IoStatusIndex { IO_ROBOTSTATUS_ALARM_MAJOR = 0, IO_ROBOTSTATUS_ALARM_MINOR, IO_ROBOTSTATUS_ALARM_SYSTEM, IO_ROBOTSTATUS_ALARM_USER, IO_ROBOTSTATUS_ERROR, IO_ROBOTSTATUS_PLAY, IO_ROBOTSTATUS_TEACH, IO_ROBOTSTATUS_REMOTE, IO_ROBOTSTATUS_OPERATING, IO_ROBOTSTATUS_HOLD, IO_ROBOTSTATUS_SERVO, IO_ROBOTSTATUS_ESTOP_EX, IO_ROBOTSTATUS_ESTOP_PP, IO_ROBOTSTATUS_ESTOP_CTRL, IO_ROBOTSTATUS_WAITING_ROS, IO_ROBOTSTATUS_INECOMODE, IO_ROBOTSTATUS_MAX }
enum	ROS_ASSERTION_CODE { SUBCODE_INVALID_AXIS_TYPE }
Functions
void	Db_Print (char *msgFormat,...)
void	motoRosAssert (BOOL mustBeTrue, ROS_ASSERTION_CODE subCodeIfFalse, char *msgFmtIfFalse,...)
void	Ros_Controller_ConnectionServer_Start (Controller *controller)
void	Ros_Controller_ErrNo_ToString (int errNo, char errMsg[ERROR_MSG_MAX_SIZE], int errMsgSize)
BOOL	Ros_Controller_GetIOState (ULONG signal)
int	Ros_Controller_GetNotReadySubcode (Controller *controller)
BOOL	Ros_Controller_Init (Controller *controller)
BOOL	Ros_Controller_IsAlarm (Controller *controller)
BOOL	Ros_Controller_IsEcoMode (Controller *controller)
BOOL	Ros_Controller_IsError (Controller *controller)
BOOL	Ros_Controller_IsEStop (Controller *controller)
BOOL	Ros_Controller_IsHold (Controller *controller)
BOOL	Ros_Controller_IsMotionReady (Controller *controller)
BOOL	Ros_Controller_IsOperating (Controller *controller)
BOOL	Ros_Controller_IsPlay (Controller *controller)
BOOL	Ros_Controller_IsRemote (Controller *controller)
BOOL	Ros_Controller_IsServoOn (Controller *controller)
BOOL	Ros_Controller_IsTeach (Controller *controller)
BOOL	Ros_Controller_IsValidGroupNo (Controller *controller, int groupNo)
BOOL	Ros_Controller_IsWaitingRos (Controller *controller)
void	Ros_Controller_SetIOState (ULONG signal, BOOL status)
void	Ros_Controller_StatusInit (Controller *controller)
BOOL	Ros_Controller_StatusRead (Controller *controller, USHORT ioStatus[IO_ROBOTSTATUS_MAX])
int	Ros_Controller_StatusToMsg (Controller controller, SimpleMsg sendMsg)
BOOL	Ros_Controller_StatusUpdate (Controller *controller)
void	Ros_Sleep (float milliseconds)

Define Documentation

#define CONTROLLER_STATUS_UPDATE_PERIOD 10

Definition at line 72 of file Controller.h.

#define ERROR_MSG_MAX_SIZE 64

Definition at line 68 of file Controller.h.

#define INVALID_SOCKET -1

Definition at line 61 of file Controller.h.

#define INVALID_TASK -1

Definition at line 62 of file Controller.h.

#define IO_FEEDBACK_CONNECTSERVERRUNNING 11123

Definition at line 42 of file Controller.h.

#define IO_FEEDBACK_FAILURE 11127

Definition at line 46 of file Controller.h.

#define IO_FEEDBACK_INITIALIZATION_DONE 11122

Definition at line 41 of file Controller.h.

#define IO_FEEDBACK_IOSERVERCONNECTED 11126

Definition at line 45 of file Controller.h.

#define IO_FEEDBACK_MOTIONSERVERCONNECTED 11124

Definition at line 43 of file Controller.h.

#define IO_FEEDBACK_MP_INCMOVE_DONE 11121

Definition at line 40 of file Controller.h.

#define IO_FEEDBACK_RESERVED_1 11130

Definition at line 48 of file Controller.h.

#define IO_FEEDBACK_RESERVED_2 11131

Definition at line 49 of file Controller.h.

#define IO_FEEDBACK_RESERVED_3 11132

Definition at line 50 of file Controller.h.

#define IO_FEEDBACK_RESERVED_4 11133

Definition at line 51 of file Controller.h.

#define IO_FEEDBACK_RESERVED_5 11134

Definition at line 52 of file Controller.h.

#define IO_FEEDBACK_RESERVED_6 11135

Definition at line 53 of file Controller.h.

#define IO_FEEDBACK_RESERVED_7 11136

Definition at line 54 of file Controller.h.

#define IO_FEEDBACK_RESERVED_8 11137

Definition at line 55 of file Controller.h.

#define IO_FEEDBACK_STATESERVERCONNECTED 11125

Definition at line 44 of file Controller.h.

#define IO_FEEDBACK_WAITING_MP_INCMOVE 11120

Definition at line 39 of file Controller.h.

#define MASK_ISALARM_ACTIVEALARM 0x02

Definition at line 74 of file Controller.h.

#define MASK_ISALARM_ACTIVEERROR 0x01

Definition at line 75 of file Controller.h.

#define MAX_IO_CONNECTIONS 1

Definition at line 57 of file Controller.h.

#define MAX_MOTION_CONNECTIONS 1

Definition at line 58 of file Controller.h.

#define MAX_STATE_CONNECTIONS 4

Definition at line 59 of file Controller.h.

#define START_MAX_PULSE_DEVIATION 10

Definition at line 70 of file Controller.h.

#define TCP_PORT_IO 50242

Definition at line 37 of file Controller.h.

#define TCP_PORT_MOTION 50240

Definition at line 35 of file Controller.h.

#define TCP_PORT_STATE 50241

Definition at line 36 of file Controller.h.

Enumeration Type Documentation

enum IoStatusIndex

Enumerator:

IO_ROBOTSTATUS_ALARM_MAJOR
IO_ROBOTSTATUS_ALARM_MINOR
IO_ROBOTSTATUS_ALARM_SYSTEM
IO_ROBOTSTATUS_ALARM_USER
IO_ROBOTSTATUS_ERROR
IO_ROBOTSTATUS_PLAY
IO_ROBOTSTATUS_TEACH
IO_ROBOTSTATUS_REMOTE
IO_ROBOTSTATUS_OPERATING
IO_ROBOTSTATUS_HOLD
IO_ROBOTSTATUS_SERVO
IO_ROBOTSTATUS_ESTOP_EX
IO_ROBOTSTATUS_ESTOP_PP
IO_ROBOTSTATUS_ESTOP_CTRL
IO_ROBOTSTATUS_WAITING_ROS
IO_ROBOTSTATUS_INECOMODE
IO_ROBOTSTATUS_MAX

Definition at line 77 of file Controller.h.

enum ROS_ASSERTION_CODE

Enumerator:

SUBCODE_INVALID_AXIS_TYPE

Definition at line 166 of file Controller.h.

Function Documentation

void Db_Print	(	char *	msgFormat,
			...
	)

Definition at line 960 of file Controller.c.

void motoRosAssert	(	BOOL	mustBeTrue,
		ROS_ASSERTION_CODE	subCodeIfFalse,
		char *	msgFmtIfFalse,
			...
	)

Definition at line 929 of file Controller.c.

void Ros_Controller_ConnectionServer_Start ( Controller * controller )

Definition at line 370 of file Controller.c.

void Ros_Controller_ErrNo_ToString	(	int	errNo,
		char	errMsg[ERROR_MSG_MAX_SIZE],
		int	errMsgSize
	)

Definition at line 806 of file Controller.c.

BOOL Ros_Controller_GetIOState ( ULONG signal )

Definition at line 752 of file Controller.c.

int Ros_Controller_GetNotReadySubcode ( Controller * controller )

Definition at line 583 of file Controller.c.

BOOL Ros_Controller_Init ( Controller * controller )

Definition at line 154 of file Controller.c.

BOOL Ros_Controller_IsAlarm ( Controller * controller )

Definition at line 509 of file Controller.c.

BOOL Ros_Controller_IsEcoMode ( Controller * controller )

Definition at line 552 of file Controller.c.

BOOL Ros_Controller_IsError ( Controller * controller )

Definition at line 517 of file Controller.c.

BOOL Ros_Controller_IsEStop ( Controller * controller )

Definition at line 557 of file Controller.c.

BOOL Ros_Controller_IsHold ( Controller * controller )

Definition at line 542 of file Controller.c.

BOOL Ros_Controller_IsMotionReady ( Controller * controller )

Definition at line 569 of file Controller.c.

BOOL Ros_Controller_IsOperating ( Controller * controller )

Definition at line 537 of file Controller.c.

BOOL Ros_Controller_IsPlay ( Controller * controller )

Definition at line 522 of file Controller.c.

BOOL Ros_Controller_IsRemote ( Controller * controller )

Definition at line 532 of file Controller.c.

BOOL Ros_Controller_IsServoOn ( Controller * controller )

Definition at line 547 of file Controller.c.

BOOL Ros_Controller_IsTeach ( Controller * controller )

Definition at line 527 of file Controller.c.

BOOL Ros_Controller_IsValidGroupNo	(	Controller *	controller,
		int	groupNo
	)

Definition at line 311 of file Controller.c.

BOOL Ros_Controller_IsWaitingRos ( Controller * controller )

Definition at line 564 of file Controller.c.

void Ros_Controller_SetIOState	(	ULONG	signal,
		BOOL	status
	)

Definition at line 771 of file Controller.c.

void Ros_Controller_StatusInit ( Controller * controller )

Definition at line 487 of file Controller.c.

BOOL Ros_Controller_StatusRead	(	Controller *	controller,
		USHORT	ioStatus[IO_ROBOTSTATUS_MAX]
	)

Definition at line 664 of file Controller.c.

int Ros_Controller_StatusToMsg	(	Controller *	controller,
		SimpleMsg *	sendMsg
	)

Definition at line 633 of file Controller.c.

BOOL Ros_Controller_StatusUpdate ( Controller * controller )

Definition at line 672 of file Controller.c.

void Ros_Sleep ( float milliseconds )

Definition at line 977 of file Controller.c.

Classes

Defines

Enumerations

Functions

Define Documentation

Enumeration Type Documentation

Function Documentation