SimpleMessage.h File Reference

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Classes
struct	_SimpleMsg
struct	_SmBodyJointFeedback
struct	_SmBodyJointFeedbackEx
struct	_SmBodyJointTrajPtExData
struct	_SmBodyJointTrajPtFull
struct	_SmBodyJointTrajPtFullEx
struct	_SmBodyMotoGetDhParameters
struct	_SmBodyMotoIoCtrlReply
struct	_SmBodyMotoMotionCtrl
struct	_SmBodyMotoMotionReply
struct	_SmBodyMotoReadIOBit
struct	_SmBodyMotoReadIOBitReply
struct	_SmBodyMotoReadIOGroup
struct	_SmBodyMotoReadIOGroupReply
struct	_SmBodyMotoReadIOMRegister
struct	_SmBodyMotoReadIOMRegisterReply
struct	_SmBodyMotoWriteIOBit
struct	_SmBodyMotoWriteIOBitReply
struct	_SmBodyMotoWriteIOGroup
struct	_SmBodyMotoWriteIOGroupReply
struct	_SmBodyMotoWriteIOMRegister
struct	_SmBodyMotoWriteIOMRegisterReply
struct	_SmBodyRobotStatus
struct	_SmBodySelectTool
struct	_SmHeader
union	SmBody
struct	SmPrefix

Macros
#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 _SmBodyMotoGetDhParameters	SmBodyMotoGetDhParameters
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 _SmBodyMotoReadIOMRegister	SmBodyMotoReadIOMRegister
typedef struct _SmBodyMotoReadIOMRegisterReply	SmBodyMotoReadIOMRegisterReply
typedef struct _SmBodyMotoWriteIOBit	SmBodyMotoWriteIOBit
typedef struct _SmBodyMotoWriteIOBitReply	SmBodyMotoWriteIOBitReply
typedef struct _SmBodyMotoWriteIOGroup	SmBodyMotoWriteIOGroup
typedef struct _SmBodyMotoWriteIOGroupReply	SmBodyMotoWriteIOGroupReply
typedef struct _SmBodyMotoWriteIOMRegister	SmBodyMotoWriteIOMRegister
typedef struct _SmBodyMotoWriteIOMRegisterReply	SmBodyMotoWriteIOMRegisterReply
typedef struct _SmBodyRobotStatus	SmBodyRobotStatus
typedef struct _SmBodySelectTool	SmBodySelectTool
typedef struct _SmHeader	SmHeader

Enumerations
enum	FlagsValidFields { Valid_Time = 1, Valid_Position = 2, Valid_Velocity = 4, Valid_Acceleration = 8 }
enum	IoResultCodes {   IO_RESULT_OK = 0, IO_RESULT_READ_ADDRESS_INVALID = 1001, IO_RESULT_WRITE_ADDRESS_INVALID, IO_RESULT_WRITE_VALUE_INVALID,   IO_RESULT_READ_API_ERROR, IO_RESULT_WRITE_API_ERROR }
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, ROS_RESULT_INVALID_DATA_TIME, ROS_RESULT_INVALID_DATA_TOOLNO }
enum	SmMsgType {   ROS_MSG_PING = 1, 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_READ_MREGISTER = 2012, ROS_MSG_MOTO_WRITE_MREGISTER = 2013, ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX = 2016, ROS_MSG_MOTO_JOINT_FEEDBACK_EX = 2017,   ROS_MSG_MOTO_SELECT_TOOL = 2018, ROS_MSG_MOTO_GET_DH_PARAMETERS = 2020 }
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, ROS_RESULT_NOT_READY_PFL_ACTIVE }
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]
DH_PARAMETERS	dhParameters [MOT_MAX_GR]
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
UINT32	registerNumber
SmReplyType	replyType
SmResultType	result
IoResultCodes	resultCode
int	sequence
int	subcode
float	time
int	tool
FlagsValidFields	validFields
UINT32	value
float	vel [ROS_MAX_JOINT]

Macro Definition 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 426 of file SimpleMessage.h.

typedef struct _SmBodyJointFeedback SmBodyJointFeedback

Definition at line 219 of file SimpleMessage.h.

typedef struct _SmBodyJointFeedbackEx SmBodyJointFeedbackEx

Definition at line 268 of file SimpleMessage.h.

typedef struct _SmBodyJointTrajPtExData SmBodyJointTrajPtExData

Definition at line 252 of file SimpleMessage.h.

typedef struct _SmBodyJointTrajPtFull SmBodyJointTrajPtFull

Definition at line 208 of file SimpleMessage.h.

typedef struct _SmBodyJointTrajPtFullEx SmBodyJointTrajPtFullEx

Definition at line 260 of file SimpleMessage.h.

typedef struct _SmBodyMotoGetDhParameters SmBodyMotoGetDhParameters

Definition at line 385 of file SimpleMessage.h.

typedef struct _SmBodyMotoIoCtrlReply SmBodyMotoIoCtrlReply

Definition at line 349 of file SimpleMessage.h.

typedef struct _SmBodyMotoMotionCtrl SmBodyMotoMotionCtrl

Definition at line 229 of file SimpleMessage.h.

typedef struct _SmBodyMotoMotionReply SmBodyMotoMotionReply

Definition at line 241 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOBit SmBodyMotoReadIOBit

Definition at line 296 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOBitReply SmBodyMotoReadIOBitReply

Definition at line 303 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOGroup SmBodyMotoReadIOGroup

Definition at line 322 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOGroupReply SmBodyMotoReadIOGroupReply

Definition at line 329 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOMRegister SmBodyMotoReadIOMRegister

Definition at line 355 of file SimpleMessage.h.

typedef struct _SmBodyMotoReadIOMRegisterReply SmBodyMotoReadIOMRegisterReply

Definition at line 362 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOBit SmBodyMotoWriteIOBit

Definition at line 310 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOBitReply SmBodyMotoWriteIOBitReply

Definition at line 316 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOGroup SmBodyMotoWriteIOGroup

Definition at line 336 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOGroupReply SmBodyMotoWriteIOGroupReply

Definition at line 342 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOMRegister SmBodyMotoWriteIOMRegister

Definition at line 369 of file SimpleMessage.h.

typedef struct _SmBodyMotoWriteIOMRegisterReply SmBodyMotoWriteIOMRegisterReply

Definition at line 375 of file SimpleMessage.h.

typedef struct _SmBodyRobotStatus SmBodyRobotStatus

Definition at line 196 of file SimpleMessage.h.

typedef struct _SmBodySelectTool SmBodySelectTool

Definition at line 276 of file SimpleMessage.h.

typedef struct _SmHeader SmHeader

Definition at line 172 of file SimpleMessage.h.

Enumeration Type Documentation

enum FlagsValidFields

Enumerator
Valid_Time
Valid_Position
Valid_Velocity
Valid_Acceleration

Definition at line 174 of file SimpleMessage.h.

enum IoResultCodes

Enumerator
IO_RESULT_OK
IO_RESULT_READ_ADDRESS_INVALID
IO_RESULT_WRITE_ADDRESS_INVALID
IO_RESULT_WRITE_VALUE_INVALID
IO_RESULT_READ_API_ERROR
IO_RESULT_WRITE_API_ERROR

Definition at line 282 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 101 of file SimpleMessage.h.

enum SmCommType

Enumerator
ROS_COMM_INVALID
ROS_COMM_TOPIC
ROS_COMM_SERVICE_REQUEST
ROS_COMM_SERVICE_REPLY

Definition at line 84 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
ROS_RESULT_INVALID_DATA_TIME
ROS_RESULT_INVALID_DATA_TOOLNO

Definition at line 129 of file SimpleMessage.h.

enum SmMsgType

Enumerator
ROS_MSG_PING
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_READ_MREGISTER
ROS_MSG_MOTO_WRITE_MREGISTER
ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX
ROS_MSG_MOTO_JOINT_FEEDBACK_EX
ROS_MSG_MOTO_SELECT_TOOL
ROS_MSG_MOTO_GET_DH_PARAMETERS

Definition at line 52 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
ROS_RESULT_NOT_READY_PFL_ACTIVE

Definition at line 149 of file SimpleMessage.h.

enum SmReplyType

Enumerator
ROS_REPLY_INVALID
ROS_REPLY_SUCCESS
ROS_REPLY_FAILURE

Definition at line 93 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

Definition at line 115 of file SimpleMessage.h.

Function Documentation

struct _SmHeader __attribute__

(

(__packed__)

)

int Ros_SimpleMsg_IoReply	(	int	result,
		int	subcode,
		SimpleMsg *	replyMsg
	)

Definition at line 173 of file SimpleMessage.c.

int Ros_SimpleMsg_JointFeedback	(	CtrlGroup *	ctrlGroup,
		SimpleMsg *	sendMsg
	)

Definition at line 51 of file SimpleMessage.c.

int Ros_SimpleMsg_JointFeedbackEx_Build	(	int	groupIndex,
		SimpleMsg *	src_msgFeedback,
		SimpleMsg *	dst_msgExtendedFeedback
	)

Definition at line 109 of file SimpleMessage.c.

void Ros_SimpleMsg_JointFeedbackEx_Init	(	int	numberOfGroups,
		SimpleMsg *	sendMsg
	)

Definition at line 90 of file SimpleMessage.c.

int Ros_SimpleMsg_MotionReply	(	SimpleMsg *	receiveMsg,
		int	result,
		int	subcode,
		SimpleMsg *	replyMsg,
		int	ctrlGrp
	)

Definition at line 122 of file SimpleMessage.c.

Variable Documentation

struct _SimpleMsg __attribute__

float acc

Definition at line 180 of file SimpleMessage.h.

SmBody body

Definition at line 176 of file SimpleMessage.h.

int command

Definition at line 176 of file SimpleMessage.h.

SmCommType commType

Definition at line 175 of file SimpleMessage.h.

float data

Definition at line 177 of file SimpleMessage.h.

DH_PARAMETERS dhParameters[MOT_MAX_GR]

Definition at line 174 of file SimpleMessage.h.

int drives_powered

Definition at line 174 of file SimpleMessage.h.

int e_stopped

Definition at line 175 of file SimpleMessage.h.

int error_code

Definition at line 176 of file SimpleMessage.h.

int groupNo

Definition at line 174 of file SimpleMessage.h.

SmHeader header

Definition at line 175 of file SimpleMessage.h.

int in_error

Definition at line 177 of file SimpleMessage.h.

int in_motion

Definition at line 178 of file SimpleMessage.h.

UINT32 ioAddress

Definition at line 174 of file SimpleMessage.h.

UINT32 ioValue

Definition at line 175 of file SimpleMessage.h.

SmBodyJointFeedback jointTrajPtData

Definition at line 176 of file SimpleMessage.h.

int mode

Definition at line 179 of file SimpleMessage.h.

int motion_possible

Definition at line 180 of file SimpleMessage.h.

SmMsgType msgType

Definition at line 174 of file SimpleMessage.h.

int numberOfValidGroups

Definition at line 174 of file SimpleMessage.h.

float pos

Definition at line 178 of file SimpleMessage.h.

SmPrefix prefix

Definition at line 174 of file SimpleMessage.h.

UINT32 registerNumber

Definition at line 174 of file SimpleMessage.h.

SmReplyType replyType

Definition at line 176 of file SimpleMessage.h.

SmResultType result

Definition at line 177 of file SimpleMessage.h.

IoResultCodes resultCode

Definition at line 175 of file SimpleMessage.h.

int sequence

Definition at line 175 of file SimpleMessage.h.

int subcode

Definition at line 178 of file SimpleMessage.h.

float time

Definition at line 177 of file SimpleMessage.h.

int tool

Definition at line 175 of file SimpleMessage.h.

FlagsValidFields validFields

Definition at line 176 of file SimpleMessage.h.

UINT32 value

Definition at line 174 of file SimpleMessage.h.

float vel

Definition at line 179 of file SimpleMessage.h.