mpMain.cpp

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//mpMain.cpp
//
//This contains mpUsrRoot which is the entry point for your MotoPlus application
#include "mp_default_main.h"
#include "controller.h"
#include "motoPlus.h"

using namespace motoman::mp_default_main;
using motoman::controller::Controller;

int motion_server_task_ID; \
int system_server_task_ID; \
int state_server_task_ID; \
int io_server_task_ID; \
extern "C" void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10)
{
  const int ROBOT_CONTROL_GROUP = 0;  // assume Robot Control Group #1 (0-based indexing)
  Controller::initParameters(ROBOT_CONTROL_GROUP);

  motion_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)motionServer, 
                                        arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); 
  state_server_task_ID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)stateServer, 
                                        arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); 
  mpExitUsrRoot; //Ends the initialization task. 
}