00001 /* mp_main.c - MotoPlus Test Application for Real Time Process */ 00002 // History: 00003 // 06/12/2013: Fix reply to ROS_MSG_JOINT_TRAJ_PT_FULL message 00004 // 06/12/2013: Release v.1.0.1 00005 // 07/15/2013: Added DX100 compiler option 00006 // Change "REMOTE" mode I/O signal to #80011 00007 // Listen for skill send 00008 // 08/14/2013: Check initialization success and added extra I/O Feedback 00009 // Release v.1.1.1 00010 /* 00011 * Software License Agreement (BSD License) 00012 * 00013 * Copyright (c) 2013, Yaskawa America, Inc. 00014 * All rights reserved. 00015 * 00016 * Redistribution and use in binary form, with or without modification, 00017 * is permitted provided that the following conditions are met: 00018 * 00019 * * Redistributions in binary form must reproduce the above copyright 00020 * notice, this list of conditions and the following disclaimer in the 00021 * documentation and/or other materials provided with the distribution. 00022 * * Neither the name of the Yaskawa America, Inc., nor the names 00023 * of its contributors may be used to endorse or promote products derived 00024 * from this software without specific prior written permission. 00025 * 00026 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00027 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00028 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00029 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00030 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00031 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00032 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00033 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00034 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00035 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00036 * POSSIBILITY OF SUCH DAMAGE. 00037 */ 00038 00039 #include "motoPlus.h" 00040 #include "ParameterExtraction.h" 00041 #include "CtrlGroup.h" 00042 #include "SimpleMessage.h" 00043 #include "Controller.h" 00044 #include "StateServer.h" 00045 #include "MotionServer.h" 00046 00047 //GLOBAL DATA DEFINITIONS 00048 00049 void RosInitTask(); 00050 int RosInitTaskID; 00051 00052 void mpUsrRoot(int arg1, int arg2, int arg3, int arg4, int arg5, int arg6, int arg7, int arg8, int arg9, int arg10) 00053 { 00054 00055 #ifdef DX100 00056 mpTaskDelay(10000); // 10 sec. delay to enable DX100 system to complete initialization 00057 #endif 00058 00059 //Creates and starts a new task in a seperate thread of execution. 00060 //All arguments will be passed to the new task if the function 00061 //prototype will accept them. 00062 RosInitTaskID = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, (FUNCPTR)RosInitTask, 00063 arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8, arg9, arg10); 00064 00065 //Ends the initialization task. 00066 mpExitUsrRoot; 00067 } 00068 00069 void RosInitTask() 00070 { 00071 Controller ros_controller; 00072 00073 if(!Ros_Controller_Init(&ros_controller)) 00074 { 00075 mpDeleteSelf; 00076 return; 00077 } 00078 00079 ros_controller.tidConnectionSrv = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, 00080 (FUNCPTR)Ros_Controller_ConnectionServer_Start, 00081 (int)&ros_controller, 0, 0, 0, 0, 0, 0, 0, 0, 0); 00082 00083 #ifdef DX100 00084 // DX100 need to execute a SKILLSEND command prior to the WAIT in order for the 00085 // incremental motion function to work. These tasks monitor for those commands 00086 // This supports a maximum of two robots which should be assigned to slave id 00087 // MP_SL_ID1 and MP_SL_ID2 respectively. 00088 00089 // first robot 00090 ros_controller.RosListenForSkillID[0] = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, 00091 (FUNCPTR)Ros_Controller_ListenForSkill, 00092 (int)&ros_controller, MP_SL_ID1, 0, 0, 0, 0, 0, 0, 0, 0); 00093 // if second robot 00094 if(ros_controller.numRobot > 1) 00095 { 00096 ros_controller.RosListenForSkillID[1] = mpCreateTask(MP_PRI_TIME_NORMAL, MP_STACK_SIZE, 00097 (FUNCPTR)Ros_Controller_ListenForSkill, 00098 (int)&ros_controller, MP_SL_ID2, 0, 0, 0, 0, 0, 0, 0, 0); 00099 } 00100 else 00101 { 00102 ros_controller.RosListenForSkillID[1] = INVALID_TASK; 00103 } 00104 #endif 00105 00106 // start loop to monitor controller state 00107 FOREVER 00108 { 00109 // Check controller status 00110 Ros_Controller_StatusUpdate(&ros_controller); 00111 00112 mpTaskDelay(CONTROLLER_STATUS_UPDATE_PERIOD); 00113 } 00114 } 00115 00116 00117