Main Page
Namespaces
Classes
Files
File List
File Members
MotoPlus
MotionServer.h
Go to the documentation of this file.
1
// MotionServer.h
2
//
3
/*
4
* Software License Agreement (BSD License)
5
*
6
* Copyright (c) 2013, Yaskawa America, Inc.
7
* All rights reserved.
8
*
9
* Redistribution and use in binary form, with or without modification,
10
* is permitted provided that the following conditions are met:
11
*
12
* * Redistributions in binary form must reproduce the above copyright
13
* notice, this list of conditions and the following disclaimer in the
14
* documentation and/or other materials provided with the distribution.
15
* * Neither the name of the Yaskawa America, Inc., nor the names
16
* of its contributors may be used to endorse or promote products derived
17
* from this software without specific prior written permission.
18
*
19
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
20
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
21
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
22
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
23
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
24
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
25
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
26
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
27
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
28
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
29
* POSSIBILITY OF SUCH DAMAGE.
30
*/
31
32
#ifndef MOTIONSERVER_H
33
#define MOTIONSERVER_H
34
35
#define MOTION_STOP_TIMEOUT 20
36
#define MOTION_START_TIMEOUT 5000 // in milliseconds
37
#define MOTION_START_CHECK_PERIOD 50 // in millisecond
38
#define MOTION_INIT_ROS_JOB "INIT_ROS"
39
40
#define MAX_TRAJECTORY_TIME_LENGTH 14400.0f //seconds (4 hours)
41
42
#define MIN_VALID_TOOL_INDEX 0
43
#define MAX_VALID_TOOL_INDEX 63
44
45
extern
void
Ros_MotionServer_StartNewConnection
(
Controller
* controller,
int
sd);
46
extern
BOOL
Ros_MotionServer_HasDataInQueue
(
Controller
* controller);
47
extern
BOOL
Ros_MotionServer_ClearQ_All
(
Controller
* controller);
48
49
#endif
Ros_MotionServer_ClearQ_All
BOOL Ros_MotionServer_ClearQ_All(Controller *controller)
Definition:
MotionServer.c:1562
Ros_MotionServer_HasDataInQueue
BOOL Ros_MotionServer_HasDataInQueue(Controller *controller)
Definition:
MotionServer.c:1611
Ros_MotionServer_StartNewConnection
void Ros_MotionServer_StartNewConnection(Controller *controller, int sd)
Definition:
MotionServer.c:82
Controller
Definition:
Controller.h:111
motoman_driver
Author(s): Jeremy Zoss (Southwest Research Institute), Ted Miller (MotoROS) (Yaskawa Motoman), Eric Marcil (MotoROS) (Yaskawa Motoman)
autogenerated on Sat May 8 2021 02:27:43