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38 lines
1.0 KiB
38 lines
1.0 KiB
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#ifndef __DEFINES_H__
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#define __DEFINES_H__
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#define SVR_NAME "lwrsvr 4.11d"
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#define SVR_DEFAULT_PORT 8000
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#define SVR_HANDSHAKE "Hello Robot"
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#define SVR_HELLO_MSG std::string("welcome to ") + SVR_NAME + ("!")
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#define SVR_ACCEPTED std::string("accepted")
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#define SVR_FAILED std::string("Failed.")
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#define STRING_WHITESPACES " \t\r\n"
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#define SVR_TRUE_RSP "true"
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#define SVR_FALSE_RSP "false"
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#define M_PI 3.141592654f
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//Begin SVR_COMMANDS
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#define CMD_GetPositionJoints "GPJ"
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#define CMD_GetPositionHomRowWise "GPHRW"
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#define CMD_GetForceTorqueTcp "GFT"
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#define CMD_MovePTPJoints "MPTPJ"
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#define CMD_MoveHomRowWiseStatus "MHRWS"
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#define CMD_SetSpeed "SS"
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#define CMD_SetAccel "SA"
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#define CMD_StartPotFieldMode "STPF"
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#define CMD_StopPotFieldMode "SPPF"
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#define CMD_SetPos "SP"
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#define CMD_SetJoints "SJ"
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#define CMD_QUIT "Quit"
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#define CMD_ISKUKA "IsKukaLWR"
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#define CMD_MoveCartesian "MC"
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#define CMD_DoUltrasound "DU"
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//End SVR_COMMANDS
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#endif /* __DEFINES_H__ */
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