udp-exarm.aadl 2.56 KB
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package ocarina_drivers_udp_exarm

public

with Data_Model;
with Base_Types;

data protocol
properties
   Data_Model::Data_Representation => Struct;
end protocol;

data implementation protocol.robot
subcomponents
   cmd   : data Base_Types::Unsigned_32;
   pktid : data Base_Types::Unsigned_32;
   X1    : data Base_Types::Float_32;
   X2    : data Base_Types::Float_32;
   X3    : data Base_Types::Float_32;
   Y1    : data Base_Types::Float_32;
   Y2    : data Base_Types::Float_32;
   Y3    : data Base_Types::Float_32;
   Z1    : data Base_Types::Float_32;
   Z2    : data Base_Types::Float_32;
   Z3    : data Base_Types::Float_32;
   P1    : data Base_Types::Float_32;
   P2    : data Base_Types::Float_32;
   P3    : data Base_Types::Float_32;
   J1    : data Base_Types::Float_32;
   J2    : data Base_Types::Float_32;
   J3    : data Base_Types::Float_32;
   J4    : data Base_Types::Float_32;
   J5    : data Base_Types::Float_32;
   J6    : data Base_Types::Float_32;
   J7    : data Base_Types::Float_32;
   Elbow : data Base_Types::Float_32;
end protocol.robot;


data implementation protocol.vr
subcomponents
   J1    : data Base_Types::Float_64;
   J2    : data Base_Types::Float_64;
   J3    : data Base_Types::Float_64;
   J4    : data Base_Types::Float_64;
   J5    : data Base_Types::Float_64;
   J6    : data Base_Types::Float_64;
   J7    : data Base_Types::Float_64;
   J8    : data Base_Types::Float_64;
   J9    : data Base_Types::Float_64;
   J10    : data Base_Types::Float_64;
   J11    : data Base_Types::Float_64;
   J12    : data Base_Types::Float_64;
   J13    : data Base_Types::Float_64;
   J14    : data Base_Types::Float_64;
   J15    : data Base_Types::Float_64;
   J16    : data Base_Types::Float_64;
   P1    : data Base_Types::Float_64;
   P2    : data Base_Types::Float_64;
   P3    : data Base_Types::Float_64;
   X1    : data Base_Types::Float_64;
   X2    : data Base_Types::Float_64;
   X3    : data Base_Types::Float_64;
   Y1    : data Base_Types::Float_64;
   Y2    : data Base_Types::Float_64;
   Y3    : data Base_Types::Float_64;
   Z1    : data Base_Types::Float_64;
   Z2    : data Base_Types::Float_64;
   Z3    : data Base_Types::Float_64;
end protocol.vr;


subprogram init
properties
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   Source_Language   => (C);
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   Source_Name       => "__po_hi_driver_exarm_init";
end init;

subprogram spg_sender
properties
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   Source_Language   => (C);
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   Source_Name       => "__po_hi_driver_exarm_send";
end spg_sender;

abstract driver
end driver;

abstract implementation driver.i
subcomponents
   sender : subprogram spg_sender;
end driver.i;

end ocarina_drivers_udp_exarm;