Controller.h

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//Controller.h
//
/*
* Software License Agreement (BSD License) 
*
* Copyright (c) 2013, Yaskawa America, Inc.
* All rights reserved.
*
* Redistribution and use in binary form, with or without modification,
* is permitted provided that the following conditions are met:
*
*       * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*       * Neither the name of the Yaskawa America, Inc., nor the names 
*       of its contributors may be used to endorse or promote products derived
*       from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*/ 

#ifndef CONTROLLER_H
#define CONTROLLER_H

//#define DX100          // Define to compile for DX100 controller  

#define TCP_PORT_MOTION 50240
#define TCP_PORT_STATE  50241

#define IO_FEEDBACK_WAITING_MP_INCMOVE    11120  //output# 889 
#define IO_FEEDBACK_MP_INCMOVE_DONE               11121  //output# 890 
#define IO_FEEDBACK_INITIALIZATION_DONE   11122  //output# 891 
#define IO_FEEDBACK_CONNECTSERVERRUNNING  11123  //output# 892 
#define IO_FEEDBACK_MOTIONSERVERCONNECTED 11124  //output# 893 
#define IO_FEEDBACK_STATESERVERCONNECTED  11125  //output# 894 
#define IO_FEEDBACK_FAILURE                               11127  //output# 896

#define IO_

#define MAX_MOTION_CONNECTIONS  1
#define MAX_STATE_CONNECTIONS   4

#define INVALID_SOCKET -1
#define INVALID_TASK -1
#define IPPROTO_TCP  6

#define ERROR_MSG_MAX_SIZE 64

#define START_MAX_PULSE_DEVIATION 10

#define CONTROLLER_STATUS_UPDATE_PERIOD 10

typedef enum 
{
        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
} IoStatusIndex;
 
typedef struct
{
        UINT16 interpolPeriod;                                                                  // Interpolation period of the controller
        int numGroup;                                                                                   // Actual number of defined group
        int numRobot;                                                                                   // Actual number of defined robot
        CtrlGroup* ctrlGroups[MP_GRP_NUM];                                              // Array of the controller control group
        
        // Controller Status
        MP_IO_INFO ioStatusAddr[IOSTATUS_MAX];                                  // Array of Specific Input Address representing the I/O status
    USHORT ioStatus[IOSTATUS_MAX];                                                      // Array storing the current status of the controller
    int alarmCode;                                                                                      // Alarm number currently active
        BOOL bRobotJobReady;                                                                    // Boolean indicating that the controller is ready for increment move
    BOOL bRobotJobReadyRaised;                                                          // Indicates that the signal was raised since operating was resumed
    BOOL bStopMotion;                                                                           // Flag to stop motion

        // Connection Server
        int tidConnectionSrv;
        
        // State Server Connection
        int tidStateSendState;                                                                  // ThreadId of thread sending the controller state
        int     sdStateConnections[MAX_STATE_CONNECTIONS];                      // Socket Descriptor array for State Server

        // Motion Server Connection
        int     sdMotionConnections[MAX_MOTION_CONNECTIONS];            // Socket Descriptor array for Motion Server
        int     tidMotionConnections[MAX_MOTION_CONNECTIONS];           // ThreadId array for Motion Server
        int tidIncMoveThread;                                                                   // ThreadId for sending the incremental move to the controller

#ifdef DX100
        BOOL bSkillMotionReady[2];                                                              // Boolean indicating that the SKILL command required for DX100 is active
        int RosListenForSkillID[2];                                                             // ThreadId for listening to SkillSend command
#endif
        
} Controller;

extern BOOL Ros_Controller_Init(Controller* controller);
extern BOOL Ros_Controller_IsValidGroupNo(Controller* controller, int groupNo);
extern void Ros_Controller_ConnectionServer_Start(Controller* controller);

extern void Ros_Controller_StatusInit(Controller* controller);
extern BOOL Ros_Controller_StatusRead(Controller* controller, USHORT ioStatus[IOSTATUS_MAX]);
extern BOOL Ros_Controller_StatusUpdate(Controller* controller);
extern BOOL Ros_Controller_IsAlarm(Controller* controller);
extern BOOL Ros_Controller_IsError(Controller* controller);
extern BOOL Ros_Controller_IsPlay(Controller* controller);
extern BOOL Ros_Controller_IsTeach(Controller* controller);
extern BOOL Ros_Controller_IsRemote(Controller* controller);
extern BOOL Ros_Controller_IsOperating(Controller* controller);
extern BOOL Ros_Controller_IsHold(Controller* controller);
extern BOOL Ros_Controller_IsServoOn(Controller* controller);
extern BOOL Ros_Controller_IsEStop(Controller* controller);
extern BOOL Ros_Controller_IsWaitingRos(Controller* controller);
extern BOOL Ros_Controller_IsMotionReady(Controller* controller);
extern int Ros_Controller_GetNotReadySubcode(Controller* controller);
extern int Ros_Controller_StatusToMsg(Controller* controller, SimpleMsg* sendMsg);

extern BOOL Ros_Controller_GetIOState(ULONG signal);
extern void Ros_Controller_SetIOState(ULONG signal, BOOL status);
extern void Ros_Controller_ErrNo_ToString(int errNo, char errMsg[ERROR_MSG_MAX_SIZE], int errMsgSize);

#ifdef DX100
extern void Ros_Controller_ListenForSkill(Controller* controller, int sl);
#endif

#endif