motoman_direct_message.h File Reference

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Classes
struct	_SimpleMsg
union	SmBody
struct	SmBodyJointFeedback
struct	SmBodyJointTrajPtFull
struct	SmBodyMotoMotionCtrl
struct	SmBodyMotoMotionReply
struct	SmBodyRobotStatus
struct	SmHeader
struct	SmPrefix
Defines
#define	ROS_MAX_JOINT   10
Typedefs
typedef struct _SimpleMsg	SimpleMsg
Enumerations
enum	SmCommandType {   ROS_CMD_CHECK_MOTION_READY = 200101, ROS_CMD_CHECK_QUEUE_CNT = 200102, ROS_CMD_STOP_MOTION = 200111, 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_RESQUEST = 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 }
enum	SmMsgType {   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 }
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 }
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 _SimpleMsg	__attribute__ ((__packed__))
Variables
SmBody	body
SmHeader	header
SmPrefix	prefix

---

Define Documentation

#define ROS_MAX_JOINT   10

Definition at line 35 of file motoman_direct_message.h.

---

Typedef Documentation

typedef struct _SimpleMsg SimpleMsg

Definition at line 221 of file motoman_direct_message.h.

---

Enumeration Type Documentation

enum SmCommandType

Enumerator:

ROS_CMD_CHECK_MOTION_READY
ROS_CMD_CHECK_QUEUE_CNT
ROS_CMD_STOP_MOTION
ROS_CMD_START_TRAJ_MODE
ROS_CMD_STOP_TRAJ_MODE
ROS_CMD_DISCONNECT

Definition at line 124 of file motoman_direct_message.h.

enum SmCommType

Enumerator:

ROS_COMM_INVALID
ROS_COMM_TOPIC
ROS_COMM_SERVICE_RESQUEST
ROS_COMM_SERVICE_REPLY

Definition at line 61 of file motoman_direct_message.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

Definition at line 157 of file motoman_direct_message.h.

enum SmMsgType

Enumerator:

ROS_MSG_ROBOT_STATUS
ROS_MSG_JOINT_TRAJ_PT_FULL
ROS_MSG_JOINT_FEEDBACK
ROS_MSG_MOTO_MOTION_CTRL
ROS_MSG_MOTO_MOTION_REPLY

Definition at line 51 of file motoman_direct_message.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

Definition at line 175 of file motoman_direct_message.h.

enum SmReplyType

Enumerator:

ROS_REPLY_INVALID
ROS_REPLY_SUCCESS
ROS_REPLY_FAILURE

Definition at line 70 of file motoman_direct_message.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 144 of file motoman_direct_message.h.

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Function Documentation

struct _SimpleMsg __attribute__

(

(__packed__)

)

---

Variable Documentation

SmBody body

Definition at line 223 of file motoman_direct_message.h.

SmHeader header

Definition at line 222 of file motoman_direct_message.h.

SmPrefix prefix

Definition at line 221 of file motoman_direct_message.h.