MotionServer.h
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00001 // MotionServer.h
00002 //
00003 /*
00004 * Software License Agreement (BSD License) 
00005 *
00006 * Copyright (c) 2013, Yaskawa America, Inc.
00007 * All rights reserved.
00008 *
00009 * Redistribution and use in binary form, with or without modification,
00010 * is permitted provided that the following conditions are met:
00011 *
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 #ifndef MOTIONSERVER_H
00033 #define MOTIONSERVER_H
00034 
00035 #define MOTION_STOP_TIMEOUT 20
00036 #define MOTION_START_TIMEOUT 5000  // in milliseconds
00037 #define MOTION_START_CHECK_PERIOD 50  // in millisecond
00038 #define MOTION_INIT_ROS_JOB "INIT_ROS"
00039 
00040 extern void Ros_MotionServer_StartNewConnection(Controller* controller, int sd);
00041 extern BOOL Ros_MotionServer_HasDataInQueue(Controller* controller);
00042 extern BOOL Ros_MotionServer_ClearQ_All(Controller* controller);
00043 
00044 #endif


motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Sat Jun 8 2019 19:06:57