00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 00033 #ifndef MOTOROS_LIB_H 00034 #define MOTOROS_LIB_H 00035 00036 namespace motoman 00037 { 00038 namespace motoros_lib 00039 { 00040 00041 00042 //#define DEFAULT_MAIN_MACRO(model) \ 00043 //\ 00044 //int motion_server_task_ID; \ 00045 //int system_server_task_ID; \ 00046 //int state_server_task_ID; \ 00047 //int io_server_task_ID; \ 00048 //extern "C" void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10) \ 00049 //{ \ 00050 // motion_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)motionServer, \ 00051 // arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); \ 00052 // //system_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)systemServer, \ 00053 // // arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); \ 00054 // state_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)stateServer, \ 00055 // arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); \ 00056 // //io_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)ioServer, \ 00057 // // arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); \ 00058 // mpExitUsrRoot; //Ends the initialization task. \ 00059 //} \ 00060 00061 00062 } //motoros_lib 00063 } //motoman 00064 00065 #endif MOTOROS_LIB_H