This graph shows which files directly or indirectly include this file:

Classes
struct	_SimpleMsg
struct	_SmBodyJointFeedback
struct	_SmBodyJointFeedbackEx
struct	_SmBodyJointTrajPtExData
struct	_SmBodyJointTrajPtFull
struct	_SmBodyJointTrajPtFullEx
struct	_SmBodyMotoIoCtrlReply
struct	_SmBodyMotoMotionCtrl
struct	_SmBodyMotoMotionReply
struct	_SmBodyMotoReadIOBit
struct	_SmBodyMotoReadIOBitReply
struct	_SmBodyMotoReadIOGroup
struct	_SmBodyMotoReadIOGroupReply
struct	_SmBodyMotoWriteIOBit
struct	_SmBodyMotoWriteIOBitReply
struct	_SmBodyMotoWriteIOGroup
struct	_SmBodyMotoWriteIOGroupReply
struct	_SmBodyRobotStatus
struct	_SmHeader
union	SmBody
struct	SmPrefix
Defines
#define	MOT_MAX_GR 4
#define	ROS_MAX_JOINT 10
Typedefs
typedef struct _SimpleMsg	SimpleMsg
typedef struct _SmBodyJointFeedback	SmBodyJointFeedback
typedef struct _SmBodyJointFeedbackEx	SmBodyJointFeedbackEx
typedef struct _SmBodyJointTrajPtExData	SmBodyJointTrajPtExData
typedef struct _SmBodyJointTrajPtFull	SmBodyJointTrajPtFull
typedef struct _SmBodyJointTrajPtFullEx	SmBodyJointTrajPtFullEx
typedef struct _SmBodyMotoIoCtrlReply	SmBodyMotoIoCtrlReply
typedef struct _SmBodyMotoMotionCtrl	SmBodyMotoMotionCtrl
typedef struct _SmBodyMotoMotionReply	SmBodyMotoMotionReply
typedef struct _SmBodyMotoReadIOBit	SmBodyMotoReadIOBit
typedef struct _SmBodyMotoReadIOBitReply	SmBodyMotoReadIOBitReply
typedef struct _SmBodyMotoReadIOGroup	SmBodyMotoReadIOGroup
typedef struct _SmBodyMotoReadIOGroupReply	SmBodyMotoReadIOGroupReply
typedef struct _SmBodyMotoWriteIOBit	SmBodyMotoWriteIOBit
typedef struct _SmBodyMotoWriteIOBitReply	SmBodyMotoWriteIOBitReply
typedef struct _SmBodyMotoWriteIOGroup	SmBodyMotoWriteIOGroup
typedef struct _SmBodyMotoWriteIOGroupReply	SmBodyMotoWriteIOGroupReply
typedef struct _SmBodyRobotStatus	SmBodyRobotStatus
typedef struct _SmHeader	SmHeader
Enumerations
enum	FlagsValidFields { Valid_Time = 1, Valid_Position = 2, Valid_Velocity = 4, Valid_Acceleration = 8 }
enum	SmCommandType { ROS_CMD_CHECK_MOTION_READY = 200101, ROS_CMD_CHECK_QUEUE_CNT = 200102, ROS_CMD_STOP_MOTION = 200111, ROS_CMD_START_SERVOS = 200112, ROS_CMD_STOP_SERVOS = 200113, ROS_CMD_RESET_ALARM = 200114, ROS_CMD_START_TRAJ_MODE = 200121, ROS_CMD_STOP_TRAJ_MODE = 200122, ROS_CMD_DISCONNECT = 200130 }
enum	SmCommType { ROS_COMM_INVALID = 0, ROS_COMM_TOPIC = 1, ROS_COMM_SERVICE_REQUEST = 2, ROS_COMM_SERVICE_REPLY = 3 }
enum	SmInvalidSubCode { ROS_RESULT_INVALID_UNSPECIFIED = 3000, ROS_RESULT_INVALID_MSGSIZE, ROS_RESULT_INVALID_MSGHEADER, ROS_RESULT_INVALID_MSGTYPE, ROS_RESULT_INVALID_GROUPNO, ROS_RESULT_INVALID_SEQUENCE, ROS_RESULT_INVALID_COMMAND, ROS_RESULT_INVALID_DATA = 3010, ROS_RESULT_INVALID_DATA_START_POS, ROS_RESULT_INVALID_DATA_POSITION, ROS_RESULT_INVALID_DATA_SPEED, ROS_RESULT_INVALID_DATA_ACCEL, ROS_RESULT_INVALID_DATA_INSUFFICIENT }
enum	SmMsgType { ROS_MSG_GET_VERSION = 2, ROS_MSG_ROBOT_STATUS = 13, ROS_MSG_JOINT_TRAJ_PT_FULL = 14, ROS_MSG_JOINT_FEEDBACK = 15, ROS_MSG_MOTO_MOTION_CTRL = 2001, ROS_MSG_MOTO_MOTION_REPLY = 2002, ROS_MSG_MOTO_READ_IO_BIT = 2003, ROS_MSG_MOTO_READ_IO_BIT_REPLY = 2004, ROS_MSG_MOTO_WRITE_IO_BIT = 2005, ROS_MSG_MOTO_WRITE_IO_BIT_REPLY = 2006, ROS_MSG_MOTO_READ_IO_GROUP = 2007, ROS_MSG_MOTO_READ_IO_GROUP_REPLY = 2008, ROS_MSG_MOTO_WRITE_IO_GROUP = 2009, ROS_MSG_MOTO_WRITE_IO_GROUP_REPLY = 2010, ROS_MSG_MOTO_IOCTRL_REPLY = 2011, ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX = 2016, ROS_MSG_MOTO_JOINT_FEEDBACK_EX = 2017 }
enum	SmNotReadySubcode { ROS_RESULT_NOT_READY_UNSPECIFIED = 5000, ROS_RESULT_NOT_READY_ALARM, ROS_RESULT_NOT_READY_ERROR, ROS_RESULT_NOT_READY_ESTOP, ROS_RESULT_NOT_READY_NOT_PLAY, ROS_RESULT_NOT_READY_NOT_REMOTE, ROS_RESULT_NOT_READY_SERVO_OFF, ROS_RESULT_NOT_READY_HOLD, ROS_RESULT_NOT_READY_NOT_STARTED, ROS_RESULT_NOT_READY_WAITING_ROS, ROS_RESULT_NOT_READY_SKILLSEND }
enum	SmReplyType { ROS_REPLY_INVALID = 0, ROS_REPLY_SUCCESS = 1, ROS_REPLY_FAILURE = 2 }
enum	SmResultType { ROS_RESULT_SUCCESS = 0, ROS_RESULT_TRUE = 0, ROS_RESULT_BUSY = 1, ROS_RESULT_FAILURE = 2, ROS_RESULT_FALSE = 2, ROS_RESULT_INVALID = 3, ROS_RESULT_ALARM = 4, ROS_RESULT_NOT_READY = 5, ROS_RESULT_MP_FAILURE = 6 }
Functions
struct _SmHeader	__attribute__ ((__packed__))
int	Ros_SimpleMsg_IoReply (int result, int subcode, SimpleMsg *replyMsg)
int	Ros_SimpleMsg_JointFeedback (CtrlGroup ctrlGroup, SimpleMsg sendMsg)
int	Ros_SimpleMsg_JointFeedbackEx_Build (int groupIndex, SimpleMsg src_msgFeedback, SimpleMsg dst_msgExtendedFeedback)
void	Ros_SimpleMsg_JointFeedbackEx_Init (int numberOfGroups, SimpleMsg *sendMsg)
int	Ros_SimpleMsg_MotionReply (SimpleMsg receiveMsg, int result, int subcode, SimpleMsg replyMsg, int ctrlGrp)
Variables
typedef	__attribute__
float	acc [ROS_MAX_JOINT]
SmBody	body
SmCommandType	command
SmCommType	commType
float	data [ROS_MAX_JOINT]
int	drives_powered
int	e_stopped
int	error_code
int	groupNo
SmHeader	header
int	in_error
int	in_motion
UINT32	ioAddress
UINT32	ioValue
SmBodyJointTrajPtExData	jointTrajPtData [MOT_MAX_GR]
int	mode
int	motion_possible
SmMsgType	msgType
int	numberOfValidGroups
float	pos [ROS_MAX_JOINT]
SmPrefix	prefix
SmReplyType	replyType
SmResultType	result
UINT32	resultCode
int	sequence
int	subcode
float	time
FlagsValidFields	validFields
UINT32	value
float	vel [ROS_MAX_JOINT]

Define Documentation

#define MOT_MAX_GR 4

Definition at line 36 of file SimpleMessage.h.

#define ROS_MAX_JOINT 10

Definition at line 35 of file SimpleMessage.h.

Typedef Documentation

typedef struct _SimpleMsg SimpleMsg

Definition at line 356 of file SimpleMessage.h.

typedef struct _SmBodyJointFeedback SmBodyJointFeedback

Definition at line 209 of file SimpleMessage.h.

typedef struct _SmBodyJointFeedbackEx SmBodyJointFeedbackEx

Definition at line 258 of file SimpleMessage.h.

typedef struct _SmBodyJointTrajPtExData SmBodyJointTrajPtExData

Definition at line 242 of file SimpleMessage.h.

typedef struct _SmBodyJointTrajPtFull SmBodyJointTrajPtFull

Definition at line 198 of file SimpleMessage.h.

typedef struct _SmBodyJointTrajPtFullEx SmBodyJointTrajPtFullEx

Definition at line 250 of file SimpleMessage.h.

typedef struct _SmBodyMotoIoCtrlReply SmBodyMotoIoCtrlReply

Definition at line 321 of file SimpleMessage.h.

typedef struct _SmBodyMotoMotionCtrl SmBodyMotoMotionCtrl

Definition at line 219 of file SimpleMessage.h.

typedef struct _SmBodyMotoMotionReply SmBodyMotoMotionReply

Definition at line 231 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOBit SmBodyMotoReadIOBit

Definition at line 268 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOBitReply SmBodyMotoReadIOBitReply

Definition at line 275 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOGroup SmBodyMotoReadIOGroup

Definition at line 294 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOGroupReply SmBodyMotoReadIOGroupReply

Definition at line 301 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOBit SmBodyMotoWriteIOBit

Definition at line 282 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOBitReply SmBodyMotoWriteIOBitReply

Definition at line 288 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOGroup SmBodyMotoWriteIOGroup

Definition at line 308 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOGroupReply SmBodyMotoWriteIOGroupReply

Definition at line 314 of file SimpleMessage.h.

typedef struct _SmBodyRobotStatus SmBodyRobotStatus

Definition at line 186 of file SimpleMessage.h.

typedef struct _SmHeader SmHeader

Definition at line 162 of file SimpleMessage.h.

Enumeration Type Documentation

enum FlagsValidFields

Enumerator:

Valid_Time
Valid_Position
Valid_Velocity
Valid_Acceleration

Definition at line 164 of file SimpleMessage.h.

enum SmCommandType

Enumerator:

ROS_CMD_CHECK_MOTION_READY
ROS_CMD_CHECK_QUEUE_CNT
ROS_CMD_STOP_MOTION
ROS_CMD_START_SERVOS
ROS_CMD_STOP_SERVOS
ROS_CMD_RESET_ALARM
ROS_CMD_START_TRAJ_MODE
ROS_CMD_STOP_TRAJ_MODE
ROS_CMD_DISCONNECT

Definition at line 94 of file SimpleMessage.h.

enum SmCommType

Enumerator:

ROS_COMM_INVALID
ROS_COMM_TOPIC
ROS_COMM_SERVICE_REQUEST
ROS_COMM_SERVICE_REPLY

Definition at line 77 of file SimpleMessage.h.

enum SmInvalidSubCode

Enumerator:

ROS_RESULT_INVALID_UNSPECIFIED
ROS_RESULT_INVALID_MSGSIZE
ROS_RESULT_INVALID_MSGHEADER
ROS_RESULT_INVALID_MSGTYPE
ROS_RESULT_INVALID_GROUPNO
ROS_RESULT_INVALID_SEQUENCE
ROS_RESULT_INVALID_COMMAND
ROS_RESULT_INVALID_DATA
ROS_RESULT_INVALID_DATA_START_POS
ROS_RESULT_INVALID_DATA_POSITION
ROS_RESULT_INVALID_DATA_SPEED
ROS_RESULT_INVALID_DATA_ACCEL
ROS_RESULT_INVALID_DATA_INSUFFICIENT

Definition at line 122 of file SimpleMessage.h.

enum SmMsgType

Enumerator:

ROS_MSG_GET_VERSION
ROS_MSG_ROBOT_STATUS
ROS_MSG_JOINT_TRAJ_PT_FULL
ROS_MSG_JOINT_FEEDBACK
ROS_MSG_MOTO_MOTION_CTRL
ROS_MSG_MOTO_MOTION_REPLY
ROS_MSG_MOTO_READ_IO_BIT
ROS_MSG_MOTO_READ_IO_BIT_REPLY
ROS_MSG_MOTO_WRITE_IO_BIT
ROS_MSG_MOTO_WRITE_IO_BIT_REPLY
ROS_MSG_MOTO_READ_IO_GROUP
ROS_MSG_MOTO_READ_IO_GROUP_REPLY
ROS_MSG_MOTO_WRITE_IO_GROUP
ROS_MSG_MOTO_WRITE_IO_GROUP_REPLY
ROS_MSG_MOTO_IOCTRL_REPLY
ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX
ROS_MSG_MOTO_JOINT_FEEDBACK_EX

Definition at line 51 of file SimpleMessage.h.

enum SmNotReadySubcode

Enumerator:

ROS_RESULT_NOT_READY_UNSPECIFIED
ROS_RESULT_NOT_READY_ALARM
ROS_RESULT_NOT_READY_ERROR
ROS_RESULT_NOT_READY_ESTOP
ROS_RESULT_NOT_READY_NOT_PLAY
ROS_RESULT_NOT_READY_NOT_REMOTE
ROS_RESULT_NOT_READY_SERVO_OFF
ROS_RESULT_NOT_READY_HOLD
ROS_RESULT_NOT_READY_NOT_STARTED
ROS_RESULT_NOT_READY_WAITING_ROS
ROS_RESULT_NOT_READY_SKILLSEND

Definition at line 140 of file SimpleMessage.h.

enum SmReplyType

Enumerator:

ROS_REPLY_INVALID
ROS_REPLY_SUCCESS
ROS_REPLY_FAILURE

Definition at line 86 of file SimpleMessage.h.

enum SmResultType

Enumerator:

ROS_RESULT_SUCCESS
ROS_RESULT_TRUE
ROS_RESULT_BUSY
ROS_RESULT_FAILURE
ROS_RESULT_FALSE
ROS_RESULT_INVALID
ROS_RESULT_ALARM
ROS_RESULT_NOT_READY
ROS_RESULT_MP_FAILURE