cinosmcrobot.h File Reference

The mcrobot class. More...

#include <inos.h>
#include <cinosmcmodule.h>
#include <cinosphysicalaxis.h>
#include <cinoscalib.h>
#include <cinoscalibs.h>
#include <cinosshape.h>

Include dependency graph for cinosmcrobot.h:

Go to the source code of this file.

Classes
class	CINOSMcRobot
class	CINOSMcRobotAxis
class	CINOSMcRobotCmd
class	CINOSMcRobotCmdMove
class	CINOSMcRobotCmdLinear
class	CINOSMcRobotCmdEndless
	INOS McRobot command to move one axis endlessly towards a certain direction with a specific speed set. More...
class	CINOSMcRobotCmdMoveSafe
class	CINOSMcRobotCmdMoveToBorder
class	CINOSMcRobotCmdMoveToBorderApp
class	CINOSMcRobotCmdMoveToDigitalSensor
	Move one axis towards a certain direction to search for a sensor. The axis stops when either the sensor is found or a predefined stop position has been reached. More...
class	CINOSMcRobotCmdMoveToAnalogSensor
class	CINOSMcRobotCmdMoveCarefully
class	CINOSMcRobotCmdMoveEx
struct	SINOSMcRobotCmdShapeEvent
class	CINOSMcRobotCmdShape
class	CINOSMcRobotSync
class	CINOSMcRobotInitSync
class	CINOSMcRobotCmdInit
class	CINOSMcRobotCmdCalib

Macros
#define	INOS_MCROBOT_CMD_BEGIN_INST(_inst_, _msg_)
#define	INOS_MCROBOT_CMD_RUN_INST(_inst_, _cmd_)
#define	INOS_MCROBOT_CMD_BEGIN(_msg_)   INOS_MCROBOT_CMD_BEGIN_INST((*this),_msg_)
#define	INOS_MCROBOT_CMD_RUN(_msg_)   INOS_MCROBOT_CMD_RUN_INST((*this),_msg_)
#define	INOS_MCROBOT_CMD_SETOUT(aCmd, aBit, aEvent)
#define	INOS_MCROBOT_CMD_CLROUT(aCmd, aBit, aEvent)
#define	INOS_MCROBOT_CMD_SENDCMD(aCmd, aCmdId, aEvent)
#define	INOS_MCROBOT_CMD_SENDCMD_NAME(aCmd, aName, aCmdId, aEvent)
#define	INOS_MCROBOT_CMD_SENDCMD_PARAM(aCmd, aCmdId, aEvent, aParam)

Typedefs
typedef const char *	tMcAxisName
	The name of a McRobot axis.

Detailed Description

The mcrobot class.

Author

Ch. Hirzel

Copyright

Copyright © 2016 Indel AG. All rights reserved.

This software is licensed on a non-exclusive basis for use on Indel products only. If the Source Code has been provided by Indel, the software may be modified or further developed, exclusively for the use on Indel's products. For evaluation purposes of the aforementioned development or modification of the software, the software may temporarily be used on third party products. Any further use of this software, its modification or development on non-Indel products is strictly prohibited.

Remarks

project         : McInos
language        : Gnu C++
system          : Power-PC

This class provides the mcrobot task

Macro Definition Documentation

INOS_MCROBOT_CMD_BEGIN_INST

#define INOS_MCROBOT_CMD_BEGIN_INST	(		_inst_,
			_msg_
	)

Value:

    CINOSMcRobotCmd* __c = _inst_.iCmdGet(_msg_->GetId());                      \
	if (!__c) {

INOS_MCROBOT_CMD_CLROUT

#define INOS_MCROBOT_CMD_CLROUT	(		aCmd,
			aBit,
			aEvent
	)

Value:

    if (!__m->GetTrigger()){                                                    \
		if (aBit) {                                                               \
            CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, eCmdClrBit);      \
            msg->SetName("ClrOut");                                             \
            msg->AddParam((uintptr)aBit);                                       \
            uint8 uBusId;                                                       \
            uint64 uBusTicks;                                                   \
			if (__c->GetEventTicks(aEvent, uBusTicks, uBusId)){                  \
                msg->SetTrigger(uBusTicks, uBusId);                             \
				PutMsg(msg);                                                    \
            }                                                                   \
            else {                                                              \
                delete msg;                                                     \
				INOS_WARNING("INOS_MCROBOT_CMD_CLROUT(aCmd,aBit,'%s') used without a valid event name",aEvent);\
            }                                                                   \
        }                                                                       \
        else {                                                                  \
			INOS_WARNING("INOS_MCROBOT_CMD_CLROUT(aCmd,???,'%s') used without a valid bit pointer",aEvent); \
        }                                                                       \
    }

INOS_MCROBOT_CMD_SENDCMD

#define INOS_MCROBOT_CMD_SENDCMD	(		aCmd,
			aCmdId,
			aEvent
	)

Value:

    if (!aCmd->GetMsg()->GetTrigger()){                                         \
        CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, aCmdId);              \
        msg->AddParam(aCmd->GetId());                                           \
        uint8 uBusId;                                                           \
        uint64 uBusTicks;                                                       \
		if (aCmd->GetEventTicks(aEvent, uBusTicks, uBusId)){                  \
            msg->SetTrigger(uBusTicks, uBusId);                                 \
			PutMsg(msg);                                                     \
        }                                                                       \
        else {                                                                  \
            delete msg;                                                         \
			INOS_WARNING("INOS_MCROBOT_CMD_SENDCMD(aCmd,aCmdId,'%s') used without a valid event name",aEvent);\
        }                                                                       \
    }

INOS_MCROBOT_CMD_SENDCMD_NAME

#define INOS_MCROBOT_CMD_SENDCMD_NAME	(		aCmd,
			aName,
			aCmdId,
			aEvent
	)

Value:

    if (!aCmd->GetMsg()->GetTrigger()){                                         \
        CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, aCmdId);              \
        msg->SetName(aName);                                                    \
        msg->AddParam(aCmd->GetId());                                           \
        uint8 uBusId;                                                           \
        uint64 uBusTicks;                                                       \
		if (aCmd->GetEventTicks(aEvent, uBusTicks, uBusId)){                  \
            msg->SetTrigger(uBusTicks, uBusId);                                 \
			PutMsg(msg);                                                     \
        }                                                                       \
        else {                                                                  \
            delete msg;                                                         \
			INOS_WARNING("INOS_MCROBOT_CMD_SENDCMD(aCmd,aCmdId,'%s') used without a valid event name",aEvent);\
        }                                                                       \
    }

INOS_MCROBOT_CMD_SENDCMD_PARAM

#define INOS_MCROBOT_CMD_SENDCMD_PARAM	(		aCmd,
			aCmdId,
			aEvent,
			aParam
	)

Value:

    if (!aCmd->GetMsg()->GetTrigger()){                                         \
        CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, aCmdId);              \
        msg->AddParam(aCmd->GetId());                                           \
        msg->AddParam(aParam);                                                  \
        uint8 uBusId;                                                           \
        uint64 uBusTicks;                                                       \
		if (aCmd->GetEventTicks(aEvent, uBusTicks, uBusId)){                  \
            msg->SetTrigger(uBusTicks, uBusId);                                 \
			PutMsg(msg);                                                     \
        }                                                                       \
        else {                                                                  \
            delete msg;                                                         \
			INOS_WARNING("INOS_MCROBOT_CMD_SENDCMD_PARAM(aCmd,aCmdId,'%s') used without a valid event name",aEvent);\
        }                                                                       \
    }

INOS_MCROBOT_CMD_SETOUT

#define INOS_MCROBOT_CMD_SETOUT	(		aCmd,
			aBit,
			aEvent
	)

Value:

    if (!__m->GetTrigger()){                                                    \
		if (aBit) {                                                               \
            CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, eCmdSetBit);      \
            msg->SetName("SetOut");                                             \
            msg->AddParam((uintptr)aBit);                                       \
            uint8 uBusId;                                                       \
            uint64 uBusTicks;                                                   \
			if (__c->GetEventTicks(aEvent, uBusTicks, uBusId)){                  \
                msg->SetTrigger(uBusTicks, uBusId);                             \
				PutMsg(msg);                                                    \
            }                                                                   \
            else {                                                              \
                delete msg;                                                     \
				INOS_WARNING("INOS_MCROBOT_CMD_SETOUT(aCmd,aBit,'%s') used without a valid event name",aEvent);\
            }                                                                   \
        }                                                                       \
        else {                                                                  \
			INOS_WARNING("INOS_MCROBOT_CMD_SETOUT(aCmd,???,'%s') used without a valid bit pointer",aEvent); \
        }                                                                       \
    }