32 #endif // HAVE_CONFIG_H 83 pthread_mutex_init(&g_spur.
mutex, NULL);
122 len = ipcmd.
recv(&ipcmd, &msg);
129 pthread_mutex_lock(&g_spur.
mutex);
449 pthread_mutex_unlock(&g_spur.
mutex);
451 pthread_testcancel();
454 pthread_cleanup_pop(1);
463 ipcmd->
send(ipcmd, res_msg);
469 if (pthread_create(thread, NULL, (
void *)
command, NULL) != 0)
void free_com(double *data, SpurUserParamsPtr spur)
void set_io_data_com(double *data, double *resdata)
void set_ang_accel_com(double *data, SpurUserParamsPtr spur)
void set_wheel_accel_com(double *data, SpurUserParamsPtr spur)
void param_state_com(int cs, double *data, SpurUserParamsPtr spur)
void get_joint_torque_com(int id, double *data, SpurUserParamsPtr spur)
void init_spur_command(void)
void message_return(struct ipcmd_t *ipcmd, long retpid, YPSpur_msg *res_msg)
double wvelref[YP_PARAM_MAX_MOTOR_NUM]
void set_joint_accel_com(int id, double *data, SpurUserParamsPtr spur)
int ipcmd_open_tcp(struct ipcmd_t *ipcmd, char *host, int port)
void set_torque_com(double *data, SpurUserParamsPtr spur)
void get_wheel_vel_com(double *data, double *resdata, SpurUserParamsPtr spur)
void(* flush)(struct ipcmd_t *ipcmd)
double wheel_accel[YP_PARAM_MAX_MOTOR_NUM]
double p(YPSpur_param id, enum motor_id motor)
void set_adjust_com(int cs, double *data, SpurUserParamsPtr spur)
void get_wheel_vref_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void command_loop_cleanup(void *data)
void param_set_com(int cs, double *data, SpurUserParamsPtr spur)
void set_GL_on_GL_com(double *data, SpurUserParamsPtr spur)
void set_pos_com(int cs, double *data, SpurUserParamsPtr spur)
MotorControlMode wheel_mode[YP_PARAM_MAX_MOTOR_NUM]
void set_tilt_com(int cs, double *data, SpurUserParamsPtr spur)
SpurUserParamsPtr get_spur_user_param_ptr()
void joint_vel_com(int id, double *data, SpurUserParamsPtr spur)
void wheel_vel_com(double *data, SpurUserParamsPtr spur)
int near_pos_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
double wheel_angle[YP_PARAM_MAX_MOTOR_NUM]
void get_error_state_com(double *data, double *resdata)
void get_vref_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void get_pos_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int over_line_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
int near_ang_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
double wheel_vel[YP_PARAM_MAX_MOTOR_NUM]
void get_wheel_ang_com(double *data, double *resdata, SpurUserParamsPtr spur)
void spin_com(int cs, double *data, SpurUserParamsPtr spur)
void get_ad_com(double *data, double *resdata)
void line_com(int cs, double *data, SpurUserParamsPtr spur)
int(* recv)(struct ipcmd_t *ipcmd, YPSpur_msg *data)
void set_accel_com(double *data, SpurUserParamsPtr spur)
void get_vel_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
#define YP_PARAM_MAX_MOTOR_NUM
void wheel_angle_com(double *data, SpurUserParamsPtr spur)
SpurRunMode before_run_mode
int param_get_com(int cs, double *resdata, SpurUserParamsPtr spur)
void yprintf(ParamOutputLv level, const char *format,...)
int motor_enable[YP_PARAM_MAX_MOTOR_NUM]
void set_io_dir_com(double *data, double *resdata)
void set_vel_com(double *data, SpurUserParamsPtr spur)
void joint_ang_vel_com(int id, double *data, SpurUserParamsPtr spur)
void dump_device_com(double *data, double *resdata)
void set_joint_vel_com(int id, double *data, SpurUserParamsPtr spur)
void get_force_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void circle_com(int cs, double *data, SpurUserParamsPtr spur)
int option(ParamOptions option)
void get_joint_ang_com(int id, double *data, SpurUserParamsPtr spur)
void stop_line_com(int cs, double *data, SpurUserParamsPtr spur)
void set_ang_vel_com(double *data, SpurUserParamsPtr spur)
void init_command_thread(pthread_t *thread)
void joint_ang_com(int id, double *data, SpurUserParamsPtr spur)
void vel_com(double *data, SpurUserParamsPtr spur)
void joint_torque_com(int id, double *data, SpurUserParamsPtr spur)
void ipcmd_close(struct ipcmd_t *ipcmd)
int(* send)(struct ipcmd_t *ipcmd, YPSpur_msg *data)
ParametersPtr get_param_ptr()
void stop_com(double *data, SpurUserParamsPtr spur)
void get_joint_vref_com(int id, double *data, SpurUserParamsPtr spur)
void get_joint_vel_com(int id, double *data, SpurUserParamsPtr spur)
int ipcmd_open_msq(struct ipcmd_t *ipcmd, int key, int creat)
void get_wheel_torque_com(int cs, double *data, double *resdata, SpurUserParamsPtr spur)
void set_wheel_vel_com(double *data, SpurUserParamsPtr spur)
void orient_com(int cs, double *data, SpurUserParamsPtr spur)
void openfree_com(double *data, SpurUserParamsPtr spur)