Go to the source code of this file.
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enum | IoStatusIndex {
IO_ROBOTSTATUS_ALARM_MAJOR = 0,
IO_ROBOTSTATUS_ALARM_MINOR,
IO_ROBOTSTATUS_ALARM_SYSTEM,
IO_ROBOTSTATUS_ALARM_USER,
IO_ROBOTSTATUS_ERROR,
IO_ROBOTSTATUS_PLAY,
IO_ROBOTSTATUS_TEACH,
IO_ROBOTSTATUS_REMOTE,
IO_ROBOTSTATUS_OPERATING,
IO_ROBOTSTATUS_HOLD,
IO_ROBOTSTATUS_SERVO,
IO_ROBOTSTATUS_ESTOP_EX,
IO_ROBOTSTATUS_ESTOP_PP,
IO_ROBOTSTATUS_ESTOP_CTRL,
IO_ROBOTSTATUS_WAITING_ROS,
IO_ROBOTSTATUS_INECOMODE,
IO_ROBOTSTATUS_MAX
} |
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enum | ROS_ASSERTION_CODE { SUBCODE_INVALID_AXIS_TYPE
} |
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void | Db_Print (char *msgFormat,...) |
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void | motoRosAssert (BOOL mustBeTrue, ROS_ASSERTION_CODE subCodeIfFalse, char *msgFmtIfFalse,...) |
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void | Ros_Controller_ConnectionServer_Start (Controller *controller) |
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void | Ros_Controller_ErrNo_ToString (int errNo, char errMsg[ERROR_MSG_MAX_SIZE], int errMsgSize) |
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BOOL | Ros_Controller_GetIOState (ULONG signal) |
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int | Ros_Controller_GetNotReadySubcode (Controller *controller) |
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BOOL | Ros_Controller_Init (Controller *controller) |
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BOOL | Ros_Controller_IsAlarm (Controller *controller) |
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BOOL | Ros_Controller_IsEcoMode (Controller *controller) |
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BOOL | Ros_Controller_IsError (Controller *controller) |
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BOOL | Ros_Controller_IsEStop (Controller *controller) |
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BOOL | Ros_Controller_IsHold (Controller *controller) |
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BOOL | Ros_Controller_IsMotionReady (Controller *controller) |
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BOOL | Ros_Controller_IsOperating (Controller *controller) |
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BOOL | Ros_Controller_IsPflActive (Controller *controller) |
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BOOL | Ros_Controller_IsPlay (Controller *controller) |
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BOOL | Ros_Controller_IsRemote (Controller *controller) |
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BOOL | Ros_Controller_IsServoOn (Controller *controller) |
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BOOL | Ros_Controller_IsTeach (Controller *controller) |
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BOOL | Ros_Controller_IsValidGroupNo (Controller *controller, int groupNo) |
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BOOL | Ros_Controller_IsWaitingRos (Controller *controller) |
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void | Ros_Controller_SetIOState (ULONG signal, BOOL status) |
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void | Ros_Controller_StatusInit (Controller *controller) |
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BOOL | Ros_Controller_StatusRead (Controller *controller, USHORT ioStatus[IO_ROBOTSTATUS_MAX]) |
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int | Ros_Controller_StatusToMsg (Controller *controller, SimpleMsg *sendMsg) |
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BOOL | Ros_Controller_StatusUpdate (Controller *controller) |
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void | Ros_Sleep (float milliseconds) |
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#define CONTROLLER_STATUS_UPDATE_PERIOD 10 |
#define ERROR_MSG_MAX_SIZE 64 |
#define INVALID_SOCKET -1 |
#define IO_FEEDBACK_CONNECTSERVERRUNNING 11123 |
#define IO_FEEDBACK_FAILURE 11127 |
#define IO_FEEDBACK_INITIALIZATION_DONE 11122 |
#define IO_FEEDBACK_IOSERVERCONNECTED 11126 |
#define IO_FEEDBACK_MOTIONSERVERCONNECTED 11124 |
#define IO_FEEDBACK_MP_INCMOVE_DONE 11121 |
#define IO_FEEDBACK_RESERVED_1 11130 |
#define IO_FEEDBACK_RESERVED_2 11131 |
#define IO_FEEDBACK_RESERVED_3 11132 |
#define IO_FEEDBACK_RESERVED_4 11133 |
#define IO_FEEDBACK_RESERVED_5 11134 |
#define IO_FEEDBACK_RESERVED_6 11135 |
#define IO_FEEDBACK_RESERVED_7 11136 |
#define IO_FEEDBACK_RESERVED_8 11137 |
#define IO_FEEDBACK_STATESERVERCONNECTED 11125 |
#define IO_FEEDBACK_WAITING_MP_INCMOVE 11120 |
#define MASK_ISALARM_ACTIVEALARM 0x02 |
#define MASK_ISALARM_ACTIVEERROR 0x01 |
#define MAX_CONTROLLABLE_GROUPS 4 |
#define MAX_IO_CONNECTIONS 1 |
#define MAX_MOTION_CONNECTIONS 1 |
#define MAX_STATE_CONNECTIONS 4 |
#define START_MAX_PULSE_DEVIATION 30 |
#define TCP_PORT_IO 50242 |
#define TCP_PORT_MOTION 50240 |
#define TCP_PORT_STATE 50241 |
Enumerator |
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IO_ROBOTSTATUS_ALARM_MAJOR |
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IO_ROBOTSTATUS_ALARM_MINOR |
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IO_ROBOTSTATUS_ALARM_SYSTEM |
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IO_ROBOTSTATUS_ALARM_USER |
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IO_ROBOTSTATUS_ERROR |
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IO_ROBOTSTATUS_PLAY |
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IO_ROBOTSTATUS_TEACH |
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IO_ROBOTSTATUS_REMOTE |
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IO_ROBOTSTATUS_OPERATING |
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IO_ROBOTSTATUS_HOLD |
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IO_ROBOTSTATUS_SERVO |
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IO_ROBOTSTATUS_ESTOP_EX |
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IO_ROBOTSTATUS_ESTOP_PP |
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IO_ROBOTSTATUS_ESTOP_CTRL |
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IO_ROBOTSTATUS_WAITING_ROS |
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IO_ROBOTSTATUS_INECOMODE |
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IO_ROBOTSTATUS_MAX |
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Definition at line 83 of file Controller.h.
Enumerator |
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SUBCODE_INVALID_AXIS_TYPE |
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Definition at line 181 of file Controller.h.
void Db_Print |
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char * |
msgFormat, |
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... |
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) |
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void motoRosAssert |
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BOOL |
mustBeTrue, |
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ROS_ASSERTION_CODE |
subCodeIfFalse, |
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char * |
msgFmtIfFalse, |
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... |
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) |
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void Ros_Controller_ConnectionServer_Start |
( |
Controller * |
controller | ) |
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void Ros_Controller_ErrNo_ToString |
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int |
errNo, |
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char |
errMsg[ERROR_MSG_MAX_SIZE], |
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int |
errMsgSize |
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) |
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BOOL Ros_Controller_GetIOState |
( |
ULONG |
signal | ) |
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int Ros_Controller_GetNotReadySubcode |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_Init |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsAlarm |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsEcoMode |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsError |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsEStop |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsHold |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsMotionReady |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsOperating |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsPflActive |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsPlay |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsRemote |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsServoOn |
( |
Controller * |
controller | ) |
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BOOL Ros_Controller_IsTeach |
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Controller * |
controller | ) |
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BOOL Ros_Controller_IsValidGroupNo |
( |
Controller * |
controller, |
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int |
groupNo |
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) |
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BOOL Ros_Controller_IsWaitingRos |
( |
Controller * |
controller | ) |
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void Ros_Controller_SetIOState |
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ULONG |
signal, |
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BOOL |
status |
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) |
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void Ros_Controller_StatusInit |
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Controller * |
controller | ) |
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BOOL Ros_Controller_StatusRead |
( |
Controller * |
controller, |
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USHORT |
ioStatus[IO_ROBOTSTATUS_MAX] |
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) |
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BOOL Ros_Controller_StatusUpdate |
( |
Controller * |
controller | ) |
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void Ros_Sleep |
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float |
milliseconds | ) |
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