46 #warning Debug messages in MotoPlus *will* affect application performance (disable this in SimpleMessage.h) 54 void mpUsrRoot(
int arg1,
int arg2,
int arg3,
int arg4,
int arg5,
int arg6,
int arg7,
int arg8,
int arg9,
int arg10)
65 arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10);
67 mpSetAlarm(8004,
"MOTOROS FAILED TO CREATE TASK", 1);
85 ros_controller.
tidConnectionSrv = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE,
87 (
int)&ros_controller, 0, 0, 0, 0, 0, 0, 0, 0, 0);
89 if(ros_controller.tidConnectionSrv ==
ERROR)
90 mpSetAlarm(8004,
"MOTOROS FAILED TO CREATE TASK", 2);
99 ros_controller.RosListenForSkillID[0] = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE,
100 (FUNCPTR)Ros_Controller_ListenForSkill,
101 (
int)&ros_controller, MP_SL_ID1, 0, 0, 0, 0, 0, 0, 0, 0);
103 if(ros_controller.numRobot > 1)
105 ros_controller.RosListenForSkillID[1] = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE,
106 (FUNCPTR)Ros_Controller_ListenForSkill,
107 (
int)&ros_controller, MP_SL_ID2, 0, 0, 0, 0, 0, 0, 0, 0);
120 puts(
"Failed to update controller status. Check robot parameters.");
void Ros_Controller_SetIOState(ULONG signal, BOOL status)
BOOL Ros_Controller_Init(Controller *controller)
#define IO_FEEDBACK_FAILURE
void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10)
void Ros_Controller_ConnectionServer_Start(Controller *controller)
#define CONTROLLER_STATUS_UPDATE_PERIOD
void Ros_Sleep(float milliseconds)
BOOL Ros_Controller_StatusUpdate(Controller *controller)