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Classes
struct	Controller
Defines
#define	CONTROLLER_STATUS_UPDATE_PERIOD 10
#define	ERROR_MSG_MAX_SIZE 64
#define	INVALID_SOCKET -1
#define	INVALID_TASK -1
#define	IO_
#define	IO_FEEDBACK_CONNECTSERVERRUNNING 11123
#define	IO_FEEDBACK_FAILURE 11127
#define	IO_FEEDBACK_INITIALIZATION_DONE 11122
#define	IO_FEEDBACK_MOTIONSERVERCONNECTED 11124
#define	IO_FEEDBACK_MP_INCMOVE_DONE 11121
#define	IO_FEEDBACK_STATESERVERCONNECTED 11125
#define	IO_FEEDBACK_WAITING_MP_INCMOVE 11120
#define	IPPROTO_TCP 6
#define	MAX_MOTION_CONNECTIONS 1
#define	MAX_STATE_CONNECTIONS 4
#define	START_MAX_PULSE_DEVIATION 10
#define	TCP_PORT_MOTION 50240
#define	TCP_PORT_STATE 50241
Enumerations
enum	IoStatusIndex { IOSTATUS_ALARM_MAJOR = 0, IOSTATUS_ALARM_MINOR, IOSTATUS_ALARM_SYSTEM, IOSTATUS_ALARM_USER, IOSTATUS_ERROR, IOSTATUS_PLAY, IOSTATUS_TEACH, IOSTATUS_REMOTE, IOSTATUS_OPERATING, IOSTATUS_HOLD, IOSTATUS_SERVO, IOSTATUS_ESTOP_EX, IOSTATUS_ESTOP_PP, IOSTATUS_ESTOP_CTRL, IOSTATUS_WAITING_ROS, IOSTATUS_MAX }
Functions
void	Ros_Controller_ConnectionServer_Start (Controller *controller)
void	Ros_Controller_ErrNo_ToString (int errNo, char errMsg[ERROR_MSG_MAX_SIZE], int errMsgSize)
BOOL	Ros_Controller_GetIOState (ULONG signal)
int	Ros_Controller_GetNotReadySubcode (Controller *controller)
BOOL	Ros_Controller_Init (Controller *controller)
BOOL	Ros_Controller_IsAlarm (Controller *controller)
BOOL	Ros_Controller_IsError (Controller *controller)
BOOL	Ros_Controller_IsEStop (Controller *controller)
BOOL	Ros_Controller_IsHold (Controller *controller)
BOOL	Ros_Controller_IsMotionReady (Controller *controller)
BOOL	Ros_Controller_IsOperating (Controller *controller)
BOOL	Ros_Controller_IsPlay (Controller *controller)
BOOL	Ros_Controller_IsRemote (Controller *controller)
BOOL	Ros_Controller_IsServoOn (Controller *controller)
BOOL	Ros_Controller_IsTeach (Controller *controller)
BOOL	Ros_Controller_IsValidGroupNo (Controller *controller, int groupNo)
BOOL	Ros_Controller_IsWaitingRos (Controller *controller)
void	Ros_Controller_SetIOState (ULONG signal, BOOL status)
void	Ros_Controller_StatusInit (Controller *controller)
BOOL	Ros_Controller_StatusRead (Controller *controller, USHORT ioStatus[IOSTATUS_MAX])
int	Ros_Controller_StatusToMsg (Controller controller, SimpleMsg sendMsg)
BOOL	Ros_Controller_StatusUpdate (Controller *controller)

Define Documentation

#define CONTROLLER_STATUS_UPDATE_PERIOD 10

Definition at line 61 of file Controller.h.

#define ERROR_MSG_MAX_SIZE 64

Definition at line 57 of file Controller.h.

#define INVALID_SOCKET -1

Definition at line 53 of file Controller.h.

#define INVALID_TASK -1

Definition at line 54 of file Controller.h.

#define IO_

Definition at line 48 of file Controller.h.

#define IO_FEEDBACK_CONNECTSERVERRUNNING 11123

Definition at line 43 of file Controller.h.

#define IO_FEEDBACK_FAILURE 11127

Definition at line 46 of file Controller.h.

#define IO_FEEDBACK_INITIALIZATION_DONE 11122

Definition at line 42 of file Controller.h.

#define IO_FEEDBACK_MOTIONSERVERCONNECTED 11124

Definition at line 44 of file Controller.h.

#define IO_FEEDBACK_MP_INCMOVE_DONE 11121

Definition at line 41 of file Controller.h.

#define IO_FEEDBACK_STATESERVERCONNECTED 11125

Definition at line 45 of file Controller.h.

#define IO_FEEDBACK_WAITING_MP_INCMOVE 11120

Definition at line 40 of file Controller.h.

#define IPPROTO_TCP 6

Definition at line 55 of file Controller.h.

#define MAX_MOTION_CONNECTIONS 1

Definition at line 50 of file Controller.h.

#define MAX_STATE_CONNECTIONS 4

Definition at line 51 of file Controller.h.

#define START_MAX_PULSE_DEVIATION 10

Definition at line 59 of file Controller.h.

#define TCP_PORT_MOTION 50240

Definition at line 37 of file Controller.h.

#define TCP_PORT_STATE 50241

Definition at line 38 of file Controller.h.

Enumeration Type Documentation

enum IoStatusIndex

Enumerator:

IOSTATUS_ALARM_MAJOR
IOSTATUS_ALARM_MINOR
IOSTATUS_ALARM_SYSTEM
IOSTATUS_ALARM_USER
IOSTATUS_ERROR
IOSTATUS_PLAY
IOSTATUS_TEACH
IOSTATUS_REMOTE
IOSTATUS_OPERATING
IOSTATUS_HOLD
IOSTATUS_SERVO
IOSTATUS_ESTOP_EX
IOSTATUS_ESTOP_PP
IOSTATUS_ESTOP_CTRL
IOSTATUS_WAITING_ROS
IOSTATUS_MAX

Definition at line 63 of file Controller.h.

Function Documentation

void Ros_Controller_ConnectionServer_Start ( Controller * controller )

Definition at line 260 of file Controller.c.

void Ros_Controller_ErrNo_ToString	(	int	errNo,
		char	errMsg[ERROR_MSG_MAX_SIZE],
		int	errMsgSize
	)

Definition at line 651 of file Controller.c.

BOOL Ros_Controller_GetIOState ( ULONG signal )

Definition at line 597 of file Controller.c.

int Ros_Controller_GetNotReadySubcode ( Controller * controller )

Definition at line 435 of file Controller.c.

BOOL Ros_Controller_Init ( Controller * controller )

Definition at line 87 of file Controller.c.

BOOL Ros_Controller_IsAlarm ( Controller * controller )

Definition at line 368 of file Controller.c.

BOOL Ros_Controller_IsError ( Controller * controller )

Definition at line 376 of file Controller.c.

BOOL Ros_Controller_IsEStop ( Controller * controller )

Definition at line 411 of file Controller.c.

BOOL Ros_Controller_IsHold ( Controller * controller )

Definition at line 401 of file Controller.c.

BOOL Ros_Controller_IsMotionReady ( Controller * controller )

Definition at line 423 of file Controller.c.

BOOL Ros_Controller_IsOperating ( Controller * controller )

Definition at line 396 of file Controller.c.

BOOL Ros_Controller_IsPlay ( Controller * controller )

Definition at line 381 of file Controller.c.

BOOL Ros_Controller_IsRemote ( Controller * controller )

Definition at line 391 of file Controller.c.

BOOL Ros_Controller_IsServoOn ( Controller * controller )

Definition at line 406 of file Controller.c.

BOOL Ros_Controller_IsTeach ( Controller * controller )

Definition at line 386 of file Controller.c.

BOOL Ros_Controller_IsValidGroupNo	(	Controller *	controller,
		int	groupNo
	)

Definition at line 201 of file Controller.c.

BOOL Ros_Controller_IsWaitingRos ( Controller * controller )

Definition at line 418 of file Controller.c.

void Ros_Controller_SetIOState	(	ULONG	signal,
		BOOL	status
	)

Definition at line 616 of file Controller.c.

void Ros_Controller_StatusInit ( Controller * controller )

Definition at line 347 of file Controller.c.

BOOL Ros_Controller_StatusRead	(	Controller *	controller,
		USHORT	ioStatus[IOSTATUS_MAX]
	)

Definition at line 514 of file Controller.c.

int Ros_Controller_StatusToMsg	(	Controller *	controller,
		SimpleMsg *	sendMsg
	)

Definition at line 483 of file Controller.c.

BOOL Ros_Controller_StatusUpdate ( Controller * controller )

Definition at line 522 of file Controller.c.

Classes

Defines

Enumerations

Functions

Define Documentation

Enumeration Type Documentation

Function Documentation