Commit 2339064f authored by julien.delange's avatar julien.delange

* update exarm, add the real protocol as well as the model protocol



git-svn-id: https://tecsw.estec.esa.int/svn/taste/trunk/ocarina@781 129961e7-ef38-4bb5-a8f7-c9a525a55882
parent a33479d3
......@@ -146,10 +146,16 @@ end exarm.i;
data exarm_protocol_data
end exarm_protocol_data;
data implementation exarm_protocol_data.i extends ocarina_drivers_udp_exarm::protocol.i
data implementation exarm_protocol_data.vr extends ocarina_drivers_udp_exarm::protocol.vr
properties
Data_Model::Data_Representation => Struct;
end exarm_protocol_data.i;
end exarm_protocol_data.vr;
data implementation exarm_protocol_data.robot extends ocarina_drivers_udp_exarm::protocol.robot
properties
Data_Model::Data_Representation => Struct;
end exarm_protocol_data.robot;
end ocarina_drivers;
......@@ -10,7 +10,7 @@ properties
Data_Model::Data_Representation => Struct;
end protocol;
data implementation protocol.i
data implementation protocol.robot
subcomponents
cmd : data Base_Types::Unsigned_32;
pktid : data Base_Types::Unsigned_32;
......@@ -34,7 +34,41 @@ subcomponents
J6 : data Base_Types::Float_32;
J7 : data Base_Types::Float_32;
Elbow : data Base_Types::Float_32;
end protocol.i;
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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