35 #define TCP_PORT_MOTION 50240 36 #define TCP_PORT_STATE 50241 37 #define TCP_PORT_IO 50242 39 #define IO_FEEDBACK_WAITING_MP_INCMOVE 11120 //output# 889 40 #define IO_FEEDBACK_MP_INCMOVE_DONE 11121 //output# 890 41 #define IO_FEEDBACK_INITIALIZATION_DONE 11122 //output# 891 42 #define IO_FEEDBACK_CONNECTSERVERRUNNING 11123 //output# 892 43 #define IO_FEEDBACK_MOTIONSERVERCONNECTED 11124 //output# 893 44 #define IO_FEEDBACK_STATESERVERCONNECTED 11125 //output# 894 45 #define IO_FEEDBACK_IOSERVERCONNECTED 11126 //output# 895 46 #define IO_FEEDBACK_FAILURE 11127 //output# 896 48 #define IO_FEEDBACK_RESERVED_1 11130 //output# 897 49 #define IO_FEEDBACK_RESERVED_2 11131 //output# 898 50 #define IO_FEEDBACK_RESERVED_3 11132 //output# 899 51 #define IO_FEEDBACK_RESERVED_4 11133 //output# 900 52 #define IO_FEEDBACK_RESERVED_5 11134 //output# 901 53 #define IO_FEEDBACK_RESERVED_6 11135 //output# 902 54 #define IO_FEEDBACK_RESERVED_7 11136 //output# 903 55 #define IO_FEEDBACK_RESERVED_8 11137 //output# 904 57 #define MAX_IO_CONNECTIONS 1 58 #define MAX_MOTION_CONNECTIONS 1 59 #define MAX_STATE_CONNECTIONS 4 62 #define MAX_CONTROLLABLE_GROUPS 3 64 #define MAX_CONTROLLABLE_GROUPS 4 67 #define INVALID_SOCKET -1 68 #define INVALID_TASK -1 74 #define ERROR_MSG_MAX_SIZE 64 76 #define START_MAX_PULSE_DEVIATION 30 78 #define CONTROLLER_STATUS_UPDATE_PERIOD 10 80 #define MASK_ISALARM_ACTIVEALARM 0x02 81 #define MASK_ISALARM_ACTIVEERROR 0x01 101 #if (YRC1000||YRC1000u) 102 IO_ROBOTSTATUS_PFL_STOP,
103 IO_ROBOTSTATUS_PFL_ESCAPE,
104 IO_ROBOTSTATUS_PFL_AVOIDING,
105 IO_ROBOTSTATUS_PFL_AVOID_JOINT,
106 IO_ROBOTSTATUS_PFL_AVOID_TRANS,
143 BOOL bSkillMotionReady[2];
144 int RosListenForSkillID[2];
178 extern void Ros_Controller_ListenForSkill(
Controller* controller,
int sl);
187 extern void Db_Print(
char* msgFormat, ...);
189 extern void Ros_Sleep(
float milliseconds);
192 #ifdef DUMMY_SERVO_MODE 193 #warning Dont forget to disable DUMMY_SERO_MODE when done testing BOOL Ros_Controller_Init(Controller *controller)
BOOL Ros_Controller_StatusRead(Controller *controller, USHORT ioStatus[IO_ROBOTSTATUS_MAX])
int Ros_Controller_StatusToMsg(Controller *controller, SimpleMsg *sendMsg)
void Ros_Controller_SetIOState(ULONG signal, BOOL status)
void Ros_Sleep(float milliseconds)
void Db_Print(char *msgFormat,...)
BOOL Ros_Controller_IsHold(Controller *controller)
BOOL Ros_Controller_IsEcoMode(Controller *controller)
#define ERROR_MSG_MAX_SIZE
void Ros_Controller_ErrNo_ToString(int errNo, char errMsg[ERROR_MSG_MAX_SIZE], int errMsgSize)
BOOL Ros_Controller_IsError(Controller *controller)
#define MAX_STATE_CONNECTIONS
void Ros_Controller_StatusInit(Controller *controller)
BOOL Ros_Controller_IsEStop(Controller *controller)
BOOL Ros_Controller_IsOperating(Controller *controller)
BOOL Ros_Controller_IsPlay(Controller *controller)
BOOL Ros_Controller_IsTeach(Controller *controller)
BOOL Ros_Controller_IsValidGroupNo(Controller *controller, int groupNo)
BOOL Ros_Controller_IsAlarm(Controller *controller)
BOOL Ros_Controller_IsRemote(Controller *controller)
BOOL Ros_Controller_IsServoOn(Controller *controller)
BOOL Ros_Controller_IsPflActive(Controller *controller)
void Ros_Controller_ConnectionServer_Start(Controller *controller)
BOOL Ros_Controller_GetIOState(ULONG signal)
#define MAX_MOTION_CONNECTIONS
void motoRosAssert(BOOL mustBeTrue, ROS_ASSERTION_CODE subCodeIfFalse, char *msgFmtIfFalse,...)
BOOL Ros_Controller_IsMotionReady(Controller *controller)
#define MAX_IO_CONNECTIONS
BOOL Ros_Controller_IsWaitingRos(Controller *controller)
BOOL Ros_Controller_StatusUpdate(Controller *controller)
int Ros_Controller_GetNotReadySubcode(Controller *controller)