MotionServer.h

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// MotionServer.h
//
/*
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*
* Copyright (c) 2013, Yaskawa America, Inc.
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#ifndef MOTIONSERVER_H
#define MOTIONSERVER_H

#define MOTION_STOP_TIMEOUT                     20
#define MOTION_START_TIMEOUT            5000  // in milliseconds
#define MOTION_START_CHECK_PERIOD       50  // in millisecond
#define MOTION_INIT_ROS_JOB                     "INIT_ROS"

#define MAX_TRAJECTORY_TIME_LENGTH      14400.0f //seconds (4 hours)

#define MIN_VALID_TOOL_INDEX            0
#define MAX_VALID_TOOL_INDEX            63

extern void Ros_MotionServer_StartNewConnection(Controller* controller, int sd);
extern BOOL Ros_MotionServer_HasDataInQueue(Controller* controller);
extern BOOL Ros_MotionServer_ClearQ_All(Controller* controller);

#endif