MotionServer.c File Reference

#include "MotoROS.h"

Include dependency graph for MotionServer.c:

Go to the source code of this file.

Functions
BOOL	Ros_MotionServer_AddPulseIncPointToQ (Controller *controller, int groupNo, Incremental_data *dataToEnQ)
void	Ros_MotionServer_AddToIncQueueProcess (Controller *controller, int groupNo)
int	Ros_MotionServer_AddTrajPointFull (CtrlGroup *ctrlGroup, SmBodyJointTrajPtFull *jointTrajData)
int	Ros_MotionServer_AddTrajPointFullEx (CtrlGroup *ctrlGroup, SmBodyJointTrajPtExData *jointTrajDataEx, int sequence)
BOOL	Ros_MotionServer_ClearQ (Controller *controller, int groupNo)
BOOL	Ros_MotionServer_ClearQ_All (Controller *controller)
void	Ros_MotionServer_ConvertToJointMotionData (SmBodyJointTrajPtFull *jointTrajData, JointMotionData *jointMotionData)
STATUS	Ros_MotionServer_DisableEcoMode (Controller *controller)
int	Ros_MotionServer_GetExpectedByteSizeForMessageType (SimpleMsg *receiveMsg, int recvByteSize)
int	Ros_MotionServer_GetQueueCnt (Controller *controller, int groupNo)
BOOL	Ros_MotionServer_HasDataInQueue (Controller *controller)
void	Ros_MotionServer_IncMoveLoopStart (Controller *controller)
int	Ros_MotionServer_InitTrajPointFull (CtrlGroup *ctrlGroup, SmBodyJointTrajPtFull *jointTrajData)
int	Ros_MotionServer_InitTrajPointFullEx (CtrlGroup *ctrlGroup, SmBodyJointTrajPtExData *jointTrajDataEx, int sequence)
int	Ros_MotionServer_JointTrajDataProcess (Controller *controller, SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
void	Ros_MotionServer_JointTrajDataToIncQueue (Controller *controller, int groupNo)
int	Ros_MotionServer_JointTrajPtFullExProcess (Controller *controller, SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
int	Ros_MotionServer_MotionCtrlProcess (Controller *controller, SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
void	Ros_MotionServer_PrintError (USHORT err_no, char *msgPrefix)
int	Ros_MotionServer_ReadIOBit (SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
int	Ros_MotionServer_ReadIOGroup (SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
BOOL	Ros_MotionServer_ResetAlarm (Controller *controller)
BOOL	Ros_MotionServer_ServoPower (Controller *controller, int servoOnOff)
BOOL	Ros_MotionServer_SimpleMsgProcess (Controller *controller, SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
void	Ros_MotionServer_StartNewConnection (Controller *controller, int sd)
BOOL	Ros_MotionServer_StartTrajMode (Controller *controller)
void	Ros_MotionServer_StopConnection (Controller *controller, int connectionIndex)
BOOL	Ros_MotionServer_StopMotion (Controller *controller)
BOOL	Ros_MotionServer_StopTrajMode (Controller *controller)
void	Ros_MotionServer_WaitForSimpleMsg (Controller *controller, int connectionIndex)
int	Ros_MotionServer_WriteIOBit (SimpleMsg *receiveMsg, SimpleMsg *replyMsg)
int	Ros_MotionServer_WriteIOGroup (SimpleMsg *receiveMsg, SimpleMsg *replyMsg)

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Function Documentation

BOOL Ros_MotionServer_AddPulseIncPointToQ	(	Controller *	controller,
		int	groupNo,
		Incremental_data *	dataToEnQ
	)

Definition at line 1439 of file MotionServer.c.

void Ros_MotionServer_AddToIncQueueProcess	(	Controller *	controller,
		int	groupNo
	)

Definition at line 1268 of file MotionServer.c.

int Ros_MotionServer_AddTrajPointFull	(	CtrlGroup *	ctrlGroup,
		SmBodyJointTrajPtFull *	jointTrajData
	)

Definition at line 1219 of file MotionServer.c.

int Ros_MotionServer_AddTrajPointFullEx	(	CtrlGroup *	ctrlGroup,
		SmBodyJointTrajPtExData *	jointTrajDataEx,
		int	sequence
	)

Definition at line 1199 of file MotionServer.c.

BOOL Ros_MotionServer_ClearQ	(	Controller *	controller,
		int	groupNo
	)

Definition at line 1484 of file MotionServer.c.

BOOL Ros_MotionServer_ClearQ_All

(

Controller *

controller

)

Definition at line 1514 of file MotionServer.c.

void Ros_MotionServer_ConvertToJointMotionData	(	SmBodyJointTrajPtFull *	jointTrajData,
		JointMotionData *	jointMotionData
	)

Definition at line 1744 of file MotionServer.c.

STATUS Ros_MotionServer_DisableEcoMode

(

Controller *

controller

)

Definition at line 1771 of file MotionServer.c.

int Ros_MotionServer_GetExpectedByteSizeForMessageType	(	SimpleMsg *	receiveMsg,
		int	recvByteSize
	)

Definition at line 234 of file MotionServer.c.

int Ros_MotionServer_GetQueueCnt	(	Controller *	controller,
		int	groupNo
	)

Definition at line 1531 of file MotionServer.c.

BOOL Ros_MotionServer_HasDataInQueue

(

Controller *

controller

)

Definition at line 1563 of file MotionServer.c.

void Ros_MotionServer_IncMoveLoopStart

(

Controller *

controller

)

Definition at line 1581 of file MotionServer.c.

int Ros_MotionServer_InitTrajPointFull	(	CtrlGroup *	ctrlGroup,
		SmBodyJointTrajPtFull *	jointTrajData
	)

Definition at line 1128 of file MotionServer.c.

int Ros_MotionServer_InitTrajPointFullEx	(	CtrlGroup *	ctrlGroup,
		SmBodyJointTrajPtExData *	jointTrajDataEx,
		int	sequence
	)

Definition at line 1109 of file MotionServer.c.

int Ros_MotionServer_JointTrajDataProcess	(	Controller *	controller,
		SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

Definition at line 1033 of file MotionServer.c.

void Ros_MotionServer_JointTrajDataToIncQueue	(	Controller *	controller,
		int	groupNo
	)

Definition at line 1300 of file MotionServer.c.

int Ros_MotionServer_JointTrajPtFullExProcess	(	Controller *	controller,
		SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

Definition at line 475 of file MotionServer.c.

int Ros_MotionServer_MotionCtrlProcess	(	Controller *	controller,
		SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

Definition at line 582 of file MotionServer.c.

void Ros_MotionServer_PrintError	(	USHORT	err_no,
		char *	msgPrefix
	)

Definition at line 1763 of file MotionServer.c.

int Ros_MotionServer_ReadIOBit	(	SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

int Ros_MotionServer_ReadIOGroup	(	SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

BOOL Ros_MotionServer_ResetAlarm

(

Controller *

controller

)

Definition at line 783 of file MotionServer.c.

BOOL Ros_MotionServer_ServoPower	(	Controller *	controller,
		int	servoOnOff
	)

Definition at line 728 of file MotionServer.c.

int Ros_MotionServer_SimpleMsgProcess	(	Controller *	controller,
		SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

Definition at line 410 of file MotionServer.c.

void Ros_MotionServer_StartNewConnection	(	Controller *	controller,
		int	sd
	)

Definition at line 87 of file MotionServer.c.

BOOL Ros_MotionServer_StartTrajMode

(

Controller *

controller

)

Definition at line 851 of file MotionServer.c.

void Ros_MotionServer_StopConnection	(	Controller *	controller,
		int	connectionIndex
	)

Definition at line 181 of file MotionServer.c.

BOOL Ros_MotionServer_StopMotion

(

Controller *

controller

)

Definition at line 692 of file MotionServer.c.

BOOL Ros_MotionServer_StopTrajMode

(

Controller *

controller

)

Definition at line 1006 of file MotionServer.c.

void Ros_MotionServer_WaitForSimpleMsg	(	Controller *	controller,
		int	connectionIndex
	)

Definition at line 290 of file MotionServer.c.

int Ros_MotionServer_WriteIOBit	(	SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)

int Ros_MotionServer_WriteIOGroup	(	SimpleMsg *	receiveMsg,
		SimpleMsg *	replyMsg
	)