MotionServer.h

// MotionServer.h
//
/*
* Software License Agreement (BSD License) 
*
* Copyright (c) 2013, Yaskawa America, Inc.
* All rights reserved.
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* is permitted provided that the following conditions are met:
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#ifndef MOTIONSERVER_H
#define MOTIONSERVER_H

//#include "motoPlus.h"
#include "Controller.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"

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