INOS
cinosmcrobot.h
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1//******************************************************************************
26//******************************************************************************
27
28#ifndef INC_CINOSMCROBOT_H
29#define INC_CINOSMCROBOT_H
30
31//
32//------------------------------------------------------------------------------
33// defines
34//------------------------------------------------------------------------------
35//
36#define INOS_MCROBOT_CMD_BEGIN_INST(_inst_,_msg_) \
37 CINOSMcRobotCmd* __c = _inst_.iCmdGet(_msg_->GetId()); \
38 if (!__c) {
39#define INOS_MCROBOT_CMD_RUN_INST(_inst_,_cmd_) \
40 __c = _cmd_; \
41 uint32 __e = __c->Check(); \
42 if (__e) { \
43 _inst_.CmdFailed(__c->GetMsg(), __e); \
44 delete __c; \
45 return; \
46 } \
47 _inst_.iCmdAdd(__c); \
48 } \
49 CINOSTaskExMsg* __m = __c->GetMsg(); \
50 if (__m->GetTrigger()){ \
51 uint32 __e = __c->Trigger(); \
52 if (__e) { \
53 _inst_.iCmdRemove(__c); \
54 _inst_.CmdFailed(__m, __e); \
55 return; \
56 } \
57 } \
58 else { \
59 if (__m->GetCanceled()){ \
60 CINOSTaskExMsg* usr = new CINOSTaskExMsg(CINOSTaskEx::eMsgUser, \
61 CINOSMcRobot::eUsrDone); \
62 usr->AddParam(__m->GetId()); \
63 usr->AddParam((uint32)0); \
64 _inst_.PutMsg(usr); \
65 } \
66 else { \
67 uint32 __e = __c->Run(); \
68 if (__e) { \
69 _inst_.iCmdRemove(__c); \
70 _inst_.CmdFailed(__m, __e); \
71 return; \
72 } \
73 } \
74 _inst_.MsgDefer(__m); \
75 }
76#define INOS_MCROBOT_CMD_BEGIN(_msg_) INOS_MCROBOT_CMD_BEGIN_INST((*this),_msg_)
77#define INOS_MCROBOT_CMD_RUN(_msg_) INOS_MCROBOT_CMD_RUN_INST((*this),_msg_)
78
79#define INOS_MCROBOT_CMD_SETOUT(aCmd,aBit,aEvent) \
80 if (!__m->GetTrigger()){ \
81 if (aBit) { \
82 CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, eCmdSetBit); \
83 msg->SetName("SetOut"); \
84 msg->AddParam((uintptr)aBit); \
85 uint8 uBusId; \
86 uint64 uBusTicks; \
87 if (__c->GetEventTicks(aEvent, uBusTicks, uBusId)){ \
88 msg->SetTrigger(uBusTicks, uBusId); \
89 PutMsg(msg); \
90 } \
91 else { \
92 delete msg; \
93 INOS_WARNING("INOS_MCROBOT_CMD_SETOUT(aCmd,aBit,'%s') used without a valid event name",aEvent);\
94 } \
95 } \
96 else { \
97 INOS_WARNING("INOS_MCROBOT_CMD_SETOUT(aCmd,???,'%s') used without a valid bit pointer",aEvent); \
98 } \
99 }
100#define INOS_MCROBOT_CMD_CLROUT(aCmd,aBit,aEvent) \
101 if (!__m->GetTrigger()){ \
102 if (aBit) { \
103 CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, eCmdClrBit); \
104 msg->SetName("ClrOut"); \
105 msg->AddParam((uintptr)aBit); \
106 uint8 uBusId; \
107 uint64 uBusTicks; \
108 if (__c->GetEventTicks(aEvent, uBusTicks, uBusId)){ \
109 msg->SetTrigger(uBusTicks, uBusId); \
110 PutMsg(msg); \
111 } \
112 else { \
113 delete msg; \
114 INOS_WARNING("INOS_MCROBOT_CMD_CLROUT(aCmd,aBit,'%s') used without a valid event name",aEvent);\
115 } \
116 } \
117 else { \
118 INOS_WARNING("INOS_MCROBOT_CMD_CLROUT(aCmd,???,'%s') used without a valid bit pointer",aEvent); \
119 } \
120 }
121#define INOS_MCROBOT_CMD_SENDCMD(aCmd,aCmdId,aEvent) \
122 if (!aCmd->GetMsg()->GetTrigger()){ \
123 CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, aCmdId); \
124 msg->AddParam(aCmd->GetId()); \
125 uint8 uBusId; \
126 uint64 uBusTicks; \
127 if (aCmd->GetEventTicks(aEvent, uBusTicks, uBusId)){ \
128 msg->SetTrigger(uBusTicks, uBusId); \
129 PutMsg(msg); \
130 } \
131 else { \
132 delete msg; \
133 INOS_WARNING("INOS_MCROBOT_CMD_SENDCMD(aCmd,aCmdId,'%s') used without a valid event name",aEvent);\
134 } \
135 }
136#define INOS_MCROBOT_CMD_SENDCMD_NAME(aCmd,aName,aCmdId,aEvent) \
137 if (!aCmd->GetMsg()->GetTrigger()){ \
138 CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, aCmdId); \
139 msg->SetName(aName); \
140 msg->AddParam(aCmd->GetId()); \
141 uint8 uBusId; \
142 uint64 uBusTicks; \
143 if (aCmd->GetEventTicks(aEvent, uBusTicks, uBusId)){ \
144 msg->SetTrigger(uBusTicks, uBusId); \
145 PutMsg(msg); \
146 } \
147 else { \
148 delete msg; \
149 INOS_WARNING("INOS_MCROBOT_CMD_SENDCMD(aCmd,aCmdId,'%s') used without a valid event name",aEvent);\
150 } \
151 }
152#define INOS_MCROBOT_CMD_SENDCMD_PARAM(aCmd,aCmdId,aEvent,aParam) \
153 if (!aCmd->GetMsg()->GetTrigger()){ \
154 CINOSTaskExMsg* msg = new CINOSTaskExMsg(eMsgCmd, aCmdId); \
155 msg->AddParam(aCmd->GetId()); \
156 msg->AddParam(aParam); \
157 uint8 uBusId; \
158 uint64 uBusTicks; \
159 if (aCmd->GetEventTicks(aEvent, uBusTicks, uBusId)){ \
160 msg->SetTrigger(uBusTicks, uBusId); \
161 PutMsg(msg); \
162 } \
163 else { \
164 delete msg; \
165 INOS_WARNING("INOS_MCROBOT_CMD_SENDCMD_PARAM(aCmd,aCmdId,'%s') used without a valid event name",aEvent);\
166 } \
167 }
168//
169//------------------------------------------------------------------------------
170// includes
171//------------------------------------------------------------------------------
172//
173// system
174#include <inos.h>
175#include <cinosmcmodule.h>
176#include <cinosphysicalaxis.h>
177#include <cinoscalib.h>
178#include <cinoscalibs.h>
179#include <cinosshape.h>
180#ifdef INOS_MOVEPATH_SUPPORT
181#include <cinosmovepath.h>
182#endif
183//
184// C++
185//
186// project
187//
188//------------------------------------------------------------------------------
189// type definition
190//------------------------------------------------------------------------------
191//
193typedef const char* tMcAxisName;
194//------------------------------------------------------------------------------
195// forward declarations
196//------------------------------------------------------------------------------
197//
198class CINOSMcRobotAxis;
199class CINOSMcRobotCmd;
200//
201//------------------------------------------------------------------------------
202// class definition
203//------------------------------------------------------------------------------
204//
205class CINOSMcRobot : public CINOSMcModule
206{
207 //--- user interface ---------------------------------------------------
208
209 // public types
210 public :
211#ifdef INOS_MOVEPATH_SUPPORT
212 enum EMovePathDone {
213 eMPNothing,
214 eMPDestroy,
215 eMPPoolUnlock,
216 eMPPoolDestroy
217 };
218#endif
219
220 // public member functions
221 public :
222
258 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> CreateSpeedset {
259 "CreateSpeedset", &CINOSMcRobot::iCreateSpeedset, nullptr, *this,
260 { "Axis", "" },
261 { "SpeedsetName", "" },
262 { "InitialValues", "", nullptr, CINOSTaskExMsgParam::eFlgStructure}
263 };
264
265 // Old variant for backwards compatibility, only added when option "Cmd=SpeedSet" is active and invisible
266 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> CreateAxisSpeedSet {
267 "CreateAxisSpeedSet", &CINOSMcRobot::iCreateSpeedset, nullptr, *this,
268 { "Axis", "" },
269 { "SpeedSetName", "" },
270 { "InitialValues", "", nullptr, CINOSTaskExMsgParam::eFlgStructure},
271 0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
272 };
273
281 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> DestroySpeedset {
282 "DestroySpeedset", &CINOSMcRobot::iDestroySpeedset, nullptr, *this,
283 { "Axis", "" },
284 { "SpeedsetName", "" },
285 };
286
287 // Old variant for backwards compatibility, only added when option "SpeedSet" is active and invisible
288 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> DestroyAxisSpeedSet {
289 "DestroyAxisSpeedSet", &CINOSMcRobot::iDestroySpeedset, nullptr, *this,
290 { "Axis", "" },
291 { "SpeedsetName", "" },
292 0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
293 };
303 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> SetSpeedset {
304 "SetSpeedset", &CINOSMcRobot::iSetSpeedset, nullptr, *this,
305 { "Axis", "" },
306 { "SpeedsetName", "" },
307 { "Values", "", nullptr, CINOSTaskExMsgParam::eFlgStructure}
308 };
309
310 // Old variant for backwards compatibility, only added when option "SpeedSet" is active and invisible
311 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> SetAxisSpeedSet {
312 "SetAxisSpeedSet", &CINOSMcRobot::iSetSpeedset, nullptr, *this,
313 { "Axis", "" },
314 { "SpeedSetName", "" },
315 { "Values", "", nullptr, CINOSTaskExMsgParam::eFlgStructure},
316 0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
317 };
318
335 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> GetSpeedset {
336 "GetSpeedset", &CINOSMcRobot::iGetSpeedset, nullptr, *this,
337 { "Axis", "" },
338 { "SpeedsetName", "" },
339 };
340
341 // Old variant for backwards compatibility, only added when option "SpeedSet" is active and invisible
342 TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> GetAxisSpeedSet {
343 "GetAxisSpeedSet", &CINOSMcRobot::iGetSpeedset, nullptr, *this,
344 { "Axis", "" },
345 { "SpeedSetName", "" },
346 0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
347 };
348 // single axis methods
349
362 virtual CMcResult MoveAbs (real64 arPosition, real64 arExit, real64 arEnter,
363 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
364
377 virtual CMcResult MoveRel (real64 arPosition, real64 arExit, real64 arEnter,
378 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
379
389 virtual CMcResult MoveToBorder (real64 arPosition,
390 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
391
405 virtual CMcResult MoveToBorderApp (real64 arPosition, real64 arPositionVel,
406 real64 arVelocity, const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
407
416 virtual CMcResult MoveFromBorder (real64 arPosition,
417 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
418
429 virtual CMcResult MoveFromBorderDep (real64 arPosition, real64 arPositionVel,
430 real64 arVelocity, const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
431
442 virtual CMcResult MoveToDigitalSensor (const char* apName, real64 arPosition,
443 real64 arSet, const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
444
457 virtual CMcResult MoveToAnalogSensor (const char* apName, real64 arPosition,
458 real64 arLevel, real64 arGreater, const char* apParam,
459 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
460
465 virtual CMcResult JoyEnb (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
466
471 virtual CMcResult JoyDis (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
472
477 virtual CMcResult JoyPos (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
478
483 virtual CMcResult JoyNeg (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
484
490 virtual CMcResult JoyAdc (real64 arSlow, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
491
496 virtual CMcResult JoyStop (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
497
499 virtual CMcResult WheelEnb (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
501 virtual CMcResult WheelDis (CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
503 virtual CMcResult WheelFactor (real64 arFactor, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
504
505 // multiple axes methods
506
522 virtual CMcResult On (tMcAxisName apAxis,
523 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
527 virtual CMcResult Off (tMcAxisName apAxis,
528 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
538 virtual CMcResult Init (tMcAxisName apAxis,
539 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
541 virtual CMcResult Calib(tMcAxisName apAxis,
542 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
543
556 virtual CMcResult MoveAbs (tMcAxisName apAxis, real64 arPosition,
557 real64 arExit, real64 arEnter, const char* apParam,
558 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
559
572 virtual CMcResult MoveRel (tMcAxisName apAxis, real64 arPosition,
573 real64 arExit, real64 arEnter, const char* apParam,
574 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
575
585 virtual CMcResult MoveToBorder (tMcAxisName apAxis, real64 arPosition,
586 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
587
602 virtual CMcResult MoveToBorderApp (tMcAxisName apAxis, real64 arPosition,
603 real64 arPositionVel, real64 arVelocity, const char* apParam,
604 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
605
615 virtual CMcResult MoveFromBorder (tMcAxisName apAxis, real64 arPosition,
616 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
617
629 virtual CMcResult MoveFromBorderDep (tMcAxisName apAxis, real64 arPosition,
630 real64 arPositionVel, real64 arVelocity, const char* apParam,
631 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
632
644 virtual CMcResult MoveToDigitalSensor (tMcAxisName apAxis, const char* apName,
645 real64 arPosition, real64 arSet, const char* apParam,
646 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
647
661 virtual CMcResult MoveToAnalogSensor (tMcAxisName apAxis, const char* apName,
662 real64 arPosition, real64 arLevel, real64 arGreater, const char* apParam,
663 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
664
675 virtual CMcResult MoveCarefully (tMcAxisName apAxis, real64 arPosition,
676 real64 arPosError, real64 arCurrent, const char* apParam,
677 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
678
681 virtual CMcResult MoveEx (tMcAxisName apAxis, real64 arPosition,
682 real64 arTrgPosition, uint32 auFlags, const char* apTrgName, real64 arTrgLevel,
683 const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
684
685 #ifdef INOS_MOVEPATH_SUPPORT
693 virtual CMcResult RunPath (const char* apPathName, const char* apSpeedset, const char* apParam, CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
694 #endif
695
700 virtual CMcResult JoyEnb (tMcAxisName apAxis,
701 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
702
707 virtual CMcResult JoyDis (tMcAxisName apAxis,
708 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
709
715 virtual CMcResult JoyPos (tMcAxisName apAxis,
716 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
717
723 virtual CMcResult JoyNeg (tMcAxisName apAxis,
724 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
725
731 virtual CMcResult JoyAdc (tMcAxisName apAxis, real64 arSlow,
732 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
733
738 virtual CMcResult JoyStop (tMcAxisName apAxis,
739 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
740
742 virtual CMcResult WheelEnb (tMcAxisName apAxis,
743 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
745 virtual CMcResult WheelDis (tMcAxisName apAxis,
746 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
748 virtual CMcResult WheelFactor (tMcAxisName apAxis, real64 arFactor,
749 CINOSSync* apSync=DF_INOS_SYNCHRONOUS);
750
751 //--- useful for derived classes ---------------------------------------
752 virtual CINOSPhysicalAxis* GetAxisResource(tMcAxisName apAxis) override;
754 virtual void RegisterCheckLimitHook();
755
756 //--- useful for derived classes ---------------------------------------
757
759 uint32 GetAxisCount() const
760 { return m_uAxesNbr;};
762 CINOSMcRobotAxis* GetAxis(tMcAxisName apAxis) const;
764 int32 GetAxisIndex(tMcAxisName apAxis) const;
766 uint32 GetAxisSourceId(tMcAxisName apAxis) const;
769 CINOSMcRobotAxis* GetAxis(uint32 auIndex) const;
771 const char* GetRealAxisName(tMcAxisName apAxis) const;
773 const char* GetVirtAxisName(const char* apName) const;
774
776 virtual real64 GetLifetimeDistance(tMcAxisName apAxis);
777
778 #ifdef INOS_MOVEPATH_SUPPORT
780 virtual class CINOSMovePath* GetMovePath()
781 { return m_pMovePathRun; };
782 #endif
783
784 #ifdef INOS_FORCE_CONTROL_SUPPORT
785
792 virtual CMcResult ForceActivate(tMcAxisName apAxis, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
793
799 virtual CMcResult ForceInactivate(tMcAxisName apAxis, double adLimit, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
800
814 virtual CMcResult ForceApproach(tMcAxisName apAxis, double adPosition, double adPositionVel, double adVelocity,
815 double adForce, double adForceLimit, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
816
827 virtual CMcResult ForceDepart(tMcAxisName apAxis, double adPosition, double adPositionVel, double adVelocity,
828 double adForceLimit, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
829
837 virtual CMcResult ForceMove(tMcAxisName apAxis, double adForce, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
838
845 virtual CMcResult ForceMoveStop(tMcAxisName apAxis, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
846
856 virtual CMcResult ForceBreak(tMcAxisName apAxis, double adForce, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
857
863 virtual CMcResult ForceTara(tMcAxisName apAxis, double adForce, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
864
870 virtual CMcResult ForceSelect(tMcAxisName apAxis, const char* apParam, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
871
880 virtual CMcResult ForceCheck(tMcAxisName apAxis, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
881
882 #endif
883
885 constexpr static int GetLastCmd() {
886 return eCmdINOSMcRobotLast;
887 }
889 constexpr static int GetLastUsr() {
890 return eUsrINOSMcRobotLast;
891 }
892 //--- internals --------------------------------------------------------
893
894 friend class CINOSMcRobotAxis;
895 friend class CINOSMcRobotCmd;
896 friend class CINOSMcRobotCmdInit;
897 friend class CINOSMcRobotCmdCalib;
898 friend class CINOSMcRobotCmdMove;
899 friend class CINOSMcRobotCmdMoveToBorder;
900 friend class CINOSMcRobotCmdMoveToBorderApp;
901 friend class CINOSMcRobotCmdMoveToDigitalSensor;
902 friend class CINOSMcRobotCmdMoveToAnalogSensor;
903 friend class CINOSMcRobotCmdMoveCarefully;
904 friend class CINOSMcRobotCmdMoveEx;
905 friend class CINOSMcRobotCmdLinear;
906 friend class CINOSMcRobotCmdEndless;
907 friend class CINOSMcRobotCmdShape;
908 friend class CINOSMcRobotCmdMoveSafe;
909 friend class CINOSMcRobotCmdValveVC8;
910 friend class CINOSMcRobotCmdPull;
911 friend class CINOSMcRobotSync;
912 friend class CINOSMcRobotForceSync;
913 friend class CINCOaxspos;
914 friend class CINCOcmdaxspos;
915 friend class CINCOaxslifetime;
916 friend class CINITTask;
917
918 // constructor / destructor
919 public :
921 CINOSMcRobot (const char* apName, const char* apParam);
923 CINOSMcRobot (const char* apName, const char* apType, const char* apParam);
925 virtual ~CINOSMcRobot ();
926
927 // protected members
928 protected :
930 virtual bool DispatchCmd(CINOSTaskExMsg* apMsg) override;
932 virtual bool DispatchTmd(CINOSTaskExMsg* apMsg) override;
934 virtual bool DispatchUser(CINOSTaskExMsg* apMsg) override;
936 virtual bool DispatchReply(CINOSTaskExMsg* apMsg) override;
937
939 virtual void iStartup(CINOSTaskExMsg* apMsg) override;
941 virtual void iStartup (real64 arStage) override;
943 virtual void iShutdown(CINOSTaskExMsg* apMsg) override;
944
946 virtual void iStop(CINOSTaskExMsg* apMsg) override;
948 virtual void iCancel(CINOSTaskExMsg* apMsg) override;
949
951 virtual void iOn(CINOSTaskExMsg* apMsg) override;
953 virtual void iOff(CINOSTaskExMsg* apMsg) override;
955 virtual void iInit(CINOSTaskExMsg* apMsg) override;
962 virtual void iInit(tMcAxisName apAxisName, CINOSTaskExMsg* apMsg);
964 virtual void iInitDone(CINOSMcRobotCmd* apCmd){};
966 virtual void iCalib(CINOSTaskExMsg* apMsg);
968 virtual void iCalibDone(CINOSMcRobotCmd* apCmd){};
970 virtual void iRecover(CINOSTaskExMsg* apMsg) override;
971
972 virtual void iCreateSpeedset(CINOSTaskExMsg* apMsg);
973 virtual void iDestroySpeedset(CINOSTaskExMsg* apMsg);
974 virtual void iSetSpeedset(CINOSTaskExMsg* apMsg);
975 virtual void iGetSpeedset(CINOSTaskExMsg* apMsg);
976
978 virtual void iMoveAbs(CINOSTaskExMsg* apMsg);
980 virtual void iMoveRel(CINOSTaskExMsg* apMsg);
981
983 virtual void iMoveToBorder(CINOSTaskExMsg* apMsg);
985 virtual void iMoveToBorderApp(CINOSTaskExMsg* apMsg);
987 virtual void iMoveFromBorder(CINOSTaskExMsg* apMsg);
989 virtual void iMoveFromBorderDep(CINOSTaskExMsg* apMsg);
991 virtual void iMoveToDigitalSensor(CINOSTaskExMsg* apMsg);
993 virtual void iMoveToAnalogSensor(CINOSTaskExMsg* apMsg);
995 virtual void iMoveCarefully(CINOSTaskExMsg* apMsg);
997 virtual void iMoveEx(CINOSTaskExMsg* apMsg);
998
1000 virtual void iJoyEnb(CINOSTaskExMsg* apMsg);
1002 virtual void iJoyDis(CINOSTaskExMsg* apMsg);
1005 virtual void iJoyDisAxisStopped(CINOSTaskExMsg* apUsrMsg);
1007 virtual void iJoyPos(CINOSTaskExMsg* apMsg);
1009 virtual void iJoyNeg(CINOSTaskExMsg* apMsg);
1011 virtual void iJoyAdc(CINOSTaskExMsg* apMsg);
1013 virtual void iJoyStop(CINOSTaskExMsg* apMsg);
1014
1016 virtual void iWheelEnb(CINOSTaskExMsg* apMsg);
1018 virtual void iWheelDis(CINOSTaskExMsg* apMsg);
1020 virtual void iWheelFactor(CINOSTaskExMsg* apMsg);
1021
1023 virtual void iSetBit(CINOSTaskExMsg* apMsg);
1025 virtual void iClrBit(CINOSTaskExMsg* apMsg);
1026
1028 virtual void iLimitSet(CINOSTaskExMsg* apMsg);
1030 virtual void iLimitClr(CINOSTaskExMsg* apMsg);
1032 virtual void iLimitPosSet(CINOSTaskExMsg* apMsg);
1034 virtual void iLimitPosClr(CINOSTaskExMsg* apMsg);
1036 virtual void iLimitNegSet(CINOSTaskExMsg* apMsg);
1038 virtual void iLimitNegClr(CINOSTaskExMsg* apMsg);
1039
1041 virtual void iMonitorError(CINOSTaskExMsg* apMsg);
1043 virtual void iMonitorWarning(CINOSTaskExMsg* apMsg);
1044
1046 virtual void iLinkDown(CINOSTaskExMsg* apMsg) override;
1047
1049 virtual CMcResult PostAxisMessage (tMcAxisName apAxis, uint32 auType,
1050 uint32 auCode, uint32 auFlags);
1051
1052 #ifdef INOS_MOVEPATH_SUPPORT
1054 virtual void iPreparePath(CINOSTaskExMsg* apMsg);
1056 virtual void iPreparePathDone(CINOSTaskExMsg* apMsg, CINOSTaskExMsg* apRpl);
1058 virtual void iRunPath(CINOSTaskExMsg* apMsg);
1059 virtual void iiRunPath(CINOSTaskExMsg* apMsg, CINOSMovePath* apPath, const char* apSpeed, const char* apParam);
1060 void iiRunPath(CINOSTaskExMsg* apMsg, CINOSMovePath* apPath, const char* apSpeed, const char* apParam,
1061 EMovePathDone aeDone);
1063 virtual void iRunPathStr(CINOSTaskExMsg* apMsg);
1065 virtual void iRunPathDone(CINOSTaskExMsg* apMsg, CINOSTaskExMsg* apRpl);
1067 virtual uint32 iGetInvolved(CINOSMovePath* apPath);
1069 virtual void iSetStateInvolved(CINOSMovePath* apPath, uint32 auState);
1071 virtual void iResetStateInvolved(CINOSMovePath* apPath, uint32 auNewState, uint32 auOldState);
1072 #endif
1073
1074 #ifdef INOS_FORCE_CONTROL_SUPPORT
1075 virtual void iForceDone(CINOSTaskExMsg* apMsg);
1076 virtual void iForceActivate(CINOSTaskExMsg* apMsg);
1077 virtual void iForceInactivate(CINOSTaskExMsg* apMsg);
1078 virtual void iForceApproach(CINOSTaskExMsg* apMsg);
1079 virtual void iForceDepart(CINOSTaskExMsg* apMsg);
1080 virtual void iForceMove(CINOSTaskExMsg* apMsg);
1081 virtual void iForceMoveStop(CINOSTaskExMsg* apMsg);
1082 virtual void iForceBreak(CINOSTaskExMsg* apMsg);
1083 virtual void iForceTara(CINOSTaskExMsg* apMsg);
1084 virtual void iForceSelect(CINOSTaskExMsg* apMsg);
1085 virtual void iForceCheck(CINOSTaskExMsg* apMsg);
1086 virtual void iForceCancel();
1087
1088 #endif
1089
1091 virtual void iCmdDone(CINOSTaskExMsg* apMsg);
1093 virtual void iCmdAdd(CINOSMcRobotCmd* apCmd);
1095 virtual void iCmdRemove(CINOSMcRobotCmd* apCmd);
1097 virtual void iCancelDeferred() override;
1099 virtual CINOSMcRobotCmd* iCmdGet(tMsgId auId);
1101 virtual CINOSMcRobotCmd* iCmdGetFirst() const
1102 { return m_pFstCmd;};
1104 virtual void CmdStop(tMsgId auId, uint32 auReply=CINOSTaskEx::eRplStopped);
1105
1107 virtual void iOnSlowMotionChanged(CINOSTaskExMsg* apMsg) override;
1109 virtual void iOnSimLevelChanged(uint32 auOldLevel, uint32 auNewLevel) override;
1110
1112 virtual void iSetModeSetup(CINOSTaskExMsg* apMsg) override;
1114 virtual void iClrModeSetup(CINOSTaskExMsg* apMsg) override;
1116 virtual bool iCheckSetupMode() override;
1117
1118 // internal helper methods
1119
1121 virtual void iStepCanceled(CINOSTaskExMsg* apMsg) override;
1123 virtual void iStepStopped(CINOSTaskExMsg* apMsg) override;
1125 virtual void iStepSkipped(CINOSTaskExMsg* apMsg) override;
1126
1128 virtual void iMsgRejected(CINOSTaskExMsg* apMsg) override;
1129
1131 virtual uint32 iOn(tMcAxisName apAxis);
1133 virtual uint32 iOff(tMcAxisName apAxis);
1135 virtual uint32 iRecover(tMcAxisName apAxis);
1137 virtual uint32 iWaitForPower(tMcAxisName apAxis);
1138
1140 virtual bool iGetFlag(tMcAxisName apAxis, uint32 auFlag);
1142 virtual void iSetFlag(tMcAxisName apAxis, uint32 auFlag);
1144 virtual void iClrFlag(tMcAxisName apAxis, uint32 auFlag);
1146 virtual uint32 iGetSimLevel(tMcAxisName apAxis);
1148 virtual real64 iGetSlowMotion(tMcAxisName apAxis);
1150 virtual real64 GetRealPosition(tMcAxisName apAxis, const char* apBase);
1152 virtual real64 GetActPosition(tMcAxisName apAxis, const char* apBase);
1154 virtual void SetActPosition(tMcAxisName apAxis, const char* apBase, real64 arPosition);
1155
1157 virtual void SetLifetimeDistance(tMcAxisName apAxis, real64 arDistance);
1159 virtual void SaveLifetimeDistance(tMcAxisName apAxis = NULL);
1160
1166 virtual uint32 GetDistanceCodedPosition(const char* apName, real64 arDistance, real64& arPosition)
1167 { return INOS_MCMSG_CODE_ROBOT_DIST_CODED_IMPL_MISSING; };
1168
1170 virtual bool iInitOk() const;
1172 virtual bool iIsIdle() const;
1173
1175 virtual const char* GetStateText() override;
1176
1178 virtual CINOSMcRobotAxis* CreateMcRobotAxis(const char* apAlias,
1179 const char* apParam);
1180
1182 virtual void MsgDone(CINOSTaskExMsg* apMsg, uint32 auResult = 0) override;
1184 virtual void MsgDone(CINOSTaskExMsg* apMsg, ERplId aRplId, uint32 auResult = 0) override;
1189 virtual void CmdFailed(CINOSTaskExMsg* apMsg, uint32 auError);
1190
1191 // external helper methods
1192
1194 CMcResult eMoveAbs (real64 arPosition, real64 arExit, real64 arEnter,
1195 const char* apParam);
1197 CMcResult eMoveRel (real64 arPosition, real64 arExit, real64 arEnter,
1198 const char* apParam);
1200 CMcResult eMoveAbs (tMcAxisName apAxis, real64 arPosition, real64 arExit,
1201 real64 arEnter, const char* apParam);
1203 CMcResult eMoveRel (tMcAxisName apAxis, real64 arPosition, real64 arExit,
1204 real64 arEnter, const char* apParam);
1205
1207 CMcResult eMoveToBorder (real64 arPosition, const char* apParam);
1209 CMcResult eMoveToBorder (tMcAxisName apAxis, real64 arPosition, const char* apParam);
1211 CMcResult eMoveToBorderApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char* apParam);
1213 CMcResult eMoveToBorderApp (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char* apParam);
1215 CMcResult eMoveFromBorder (real64 arPosition, const char* apParam);
1217 CMcResult eMoveFromBorder (tMcAxisName apAxis, real64 arPosition, const char* apParam);
1219 CMcResult eMoveFromBorderDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char* apParam);
1221 CMcResult eMoveFromBorderDep (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char* apParam);
1223 CMcResult eMoveToDigitalSensor (const char* apName, real64 arPosition,
1224 real64 arSet, const char* apParam);
1226 CMcResult eMoveToDigitalSensor (tMcAxisName apAxis, const char* apName,
1227 real64 arPosition, real64 arSet, const char* apParam);
1229 CMcResult eMoveToAnalogSensor (const char* apName, real64 arPosition,
1230 real64 arLevel, real64 arGreater, const char* apParam);
1232 CMcResult eMoveToAnalogSensor (tMcAxisName apAxis, const char* apName,
1233 real64 arPosition, real64 arLevel, real64 arGreater, const char* apParam);
1235 CMcResult eMoveCarefully (tMcAxisName apAxis, real64 arPosition,
1236 real64 arPosError, real64 arCurrent, const char* apParam);
1237
1239 CMcResult eJoyEnb ();
1241 CMcResult eJoyDis ();
1243 CMcResult eJoyPos ();
1245 CMcResult eJoyNeg ();
1247 CMcResult eJoyAdc (real64 arslow);
1249 CMcResult eJoyStop ();
1251 CMcResult eJoyEnb (tMcAxisName apAxis);
1253 CMcResult eJoyDis (tMcAxisName apAxis);
1255 CMcResult eJoyPos (tMcAxisName apAxis);
1257 CMcResult eJoyNeg (tMcAxisName apAxis);
1259 CMcResult eJoyAdc (tMcAxisName apAxis, real64 arSlow);
1261 CMcResult eJoyStop (tMcAxisName apAxis);
1262
1264 CMcResult eWheelEnb ();
1266 CMcResult eWheelDis ();
1268 CMcResult eWheelFactor (real64 arFactor);
1270 CMcResult eWheelEnb (tMcAxisName apAxis);
1272 CMcResult eWheelDis (tMcAxisName apAxis);
1274 CMcResult eWheelFactor (tMcAxisName apAxis, real64 arFactor);
1275
1276 #ifdef INOS_MOVEPATH_SUPPORT
1278 virtual uint32 iMovePathCheck(
1279 CINOSMovePath* apPath, uint32 auSegmentId,
1280 TINOSMovePathVec& vPos,
1281 TINOSMovePathVec& vVel,
1282 TINOSMovePathVec& vAcc,
1283 TINOSMovePathVec& vJrk) {
1284 return 0;
1285 };
1286 #endif // INOS_MOVEPATH_SUPPORT
1287
1288 // options
1289 enum {
1290 eOptMultiple= 0x00010000, // multiple axes support
1291 eOptJoy = 0x00020000, // joystick support
1292 eOptWheel = 0x00040000, // wheel support
1293 eOptLimitInv= 0x00080000, // limit switches inverted
1294 eOptEarlyInit=0x00100000, // early init
1295 eOptResMcR5 = 0x00200000, // reserved for future use
1296 eOptResMcR6 = 0x00400000, // reserved for future use
1297 eOptResMcR7 = 0x00800000 // reserved for future use
1298 };
1299
1300 // commands
1301 enum {
1302 eCmdINOSMcRobotFirst = eCmdINOSMcModuleLast+1,
1303 eCmdMoveAbs,
1304 eCmdMoveRel,
1305 eCmdMoveToBorder,
1306 eCmdMoveToBorderApp,
1307 eCmdMoveFromBorder,
1308 eCmdMoveFromBorderDep,
1309 eCmdMoveToDigitalSensor,
1310 eCmdMoveToAnalogSensor,
1311 eCmdMoveCarefully,
1312 eCmdMoveEx,
1313 eCmdJoyEnb,
1314 eCmdJoyDis,
1315 eCmdJoyPos,
1316 eCmdJoyNeg,
1317 eCmdJoyAdc,
1318 eCmdJoyStop,
1319 eCmdWheelEnb,
1320 eCmdWheelDis,
1321 eCmdWheelFactor,
1322 eCmdSetBit,
1323 eCmdClrBit,
1324 eCmdCalib,
1325 eCmdPreparePath,
1326 eCmdRunPath,
1327 eCmdRunPathStr,
1328 #ifdef INOS_FORCE_CONTROL_SUPPORT
1329 eCmdForceActivate,
1330 eCmdForceInactivate,
1331 eCmdForceApproach,
1332 eCmdForceDepart,
1333 eCmdForceMove,
1334 eCmdForceMoveStop,
1335 eCmdForceBreak,
1336 eCmdForceTara,
1337 eCmdForceSelect,
1338 eCmdForceCheck,
1339 #endif
1340 eCmdINOSMcRobotLast
1341 };
1342
1343 // usr
1344 enum {
1345 eUsrINOSMcRobotFirst = eUsrINOSMcModuleLast+1,
1346 eUsrDone,
1347 eUsrLimitSet,
1348 eUsrLimitClr,
1349 eUsrLimitPosSet,
1350 eUsrLimitPosClr,
1351 eUsrLimitNegSet,
1352 eUsrLimitNegClr,
1353 eUsrMonitorError,
1354 eUsrMonitorWarning,
1355 eUsrJoyDisAxisStopped,
1356 #ifdef INOS_FORCE_CONTROL_SUPPORT
1357 eUsrForceDone,
1358 #endif
1359 eUsrINOSMcRobotLast
1360 };
1361
1362 // reply codes
1363 enum {
1364 eRplNotYet = 0xffffffff
1365 };
1366
1367 // private methods
1368 private :
1370 void Create();
1372 void iCheckLimitHook();
1374 void iHandleCmdHook();
1376 void iMonitorHook();
1377
1379 void InstallHandler(CINOSMcRobotCmd* apCmd);
1381 void RemoveHandler(CINOSMcRobotCmd* apCmd);
1382
1383 uint32 SetSpeedsetValues(CINOSBaseAxisParamSet* apParamSet,
1384 CINOSTaskExMsgParam* apValues, inosName128& oErrorItemName);
1385
1386 // private members
1387 private :
1389 uint32 m_uAxesNbr;
1391 inosName64 m_cPositionBase;
1393 uintid m_uCheckLimitHookId;
1395 uintid m_uHandleCmdHookId;
1397 uintid m_uMonitorHookId;
1398
1399 #ifdef INOS_SAFETY_SUPPORT
1401 uint32 m_uSOSHookId = 0;
1402 #endif
1403
1405 uint32 m_uBusId;
1407 uint32 m_uCycleTime;
1409 uint32 m_uCycleNumber;
1417 bool m_bJoyDisAsyncStop;
1418
1420 CINOSMcRobotAxis** m_pAxes;
1422 CINOSMcRobotCmd* m_pFstCmd;
1423
1424 #ifdef INOS_MOVEPATH_SUPPORT
1426 inosName64 m_cMovePathName;
1428 class CINOSMovePath* m_pMovePathPrp;
1430 class CINOSMovePath* m_pMovePathRun;
1432 EMovePathDone m_eMovePathDone = eMPNothing;
1433 #endif
1434
1436 static int32 m_uTmpIndex;
1437
1439 DECLARE_DYNAMIC(CINOSMcRobot);
1440};
1441
1442//------------------------------------------------------------------------------
1443// class definition
1444//------------------------------------------------------------------------------
1445//
1446class CINOSMcRobotAxis
1447{
1448 //--- user interface -------------------------------------------------------
1449
1450 // public member functions
1451 public :
1453 uint32 GetState()
1454 { return m_uState;};
1456 void SetState(uint32 auState);
1458 void ResetState(uint32 auNewState, uint32 auOldState);
1460 bool GetFlag(uint32 auFlag) const
1461 { return (m_uFlags & auFlag);};
1469 bool GetOption(const char* apOption) const
1470 { return strstr(m_cParam, apOption);};
1472 uint32 GetSimLevel() const
1473 { return m_uSimLevel.GetValue();};
1475 real64 GetSlowMotion() const
1476 { return m_rSlowMotion.GetValue();};
1478 void SetSlowMotion(real64 arSlowMotion)
1479 { m_rSlowMotion.SetValue(arSlowMotion);};
1481 real64 GetMinPositionOn() const
1482 { return m_rMinPositionOn.GetValue();};
1484 real64 GetMaxPositionOn() const
1485 { return m_rMaxPositionOn.GetValue();};
1487 real64 GetPowerTimeout() const
1488 { return m_rPowerTimeout.GetValue();};
1490 const char* GetName() const
1491 { if (m_cAlias[0]) return &m_cAlias[0]; else return &m_cName[0];};
1493 void SetName(const char* apName)
1494 { inos_strncpy(m_cName, apName, sizeof(m_cName));};
1496 uint32 GetSourceId() const
1497 { if (m_pAxisRes) return m_pAxisRes->GetResId(); else return 0; };
1499 uint32 GetNumber() const
1500 { return m_uNumber;}
1502 CINOSPhysicalAxis* GetAxis() const
1503 { return m_pAxis;};
1508 CINOSBit* GetZero()
1509 {
1510 // zero input available ?
1511 if (NULL == m_pZero){
1512 // no -> try it with a resource update
1513 UpdateResource("Zero");
1514 }
1515 // return
1516 return m_pZero;
1517 };
1519 CINOSBit* GetLimitPos() const
1520 { return m_pLimitPos;};
1522 bool CheckLimitPos() const;
1524 CINOSBit* GetLimitNeg() const
1525 { return m_pLimitNeg;};
1527 bool CheckLimitNeg() const;
1529 CINOSBit* GetBrake() const
1530 { return m_pBrake;};
1540 uint32 CheckError(bool abPostMessage = true);
1542 uint32 CheckWarning(tMsgId& auMsgId);
1544 uint32 CheckConfig();
1546 SINOSRampParam* GetRampParam(const char* apParam, SINOSRampParam* apResult=NULL);
1548 void SaveLifetimeDistance();
1549
1550 // init handling
1551
1553 uint32 GetInitType() const
1554 { return m_uInitType.GetValue()&0xff;};
1556 uint32 GetInitOrder() const
1557 { return (m_uInitType.GetValue()&0xff00)>>8;};
1559 uint32 GetInitDirection() const
1560 { return m_uInitDirection.GetValue();};
1562 uint32 GetInitEdge() const
1563 { return m_uInitEdge.GetValue();};
1565 uint32 GetInitCommutation() const
1566 { return m_uInitCommutation.GetValue();};
1568 uint32 GetInitBorder() const
1569 { return m_uInitBorder.GetValue();};
1571 uint32 GetInitReference() const
1572 { return m_uInitReference.GetValue();};
1577 real64 GetInitReferenceSearchTol() const
1578 { return m_rInitReferenceSearchTol.GetValue();};
1580 real64 GetInitReferenceSearchBack() const
1581 { return m_rInitReferenceSearchBack.GetValue();};
1583 real64 GetInitReferencePos() const
1584 { return m_rInitReferencePos.GetValue();};
1589 real64 GetInitReferenceTol() const
1590 { return m_rInitReferenceTol.GetValue();};
1592 uint32 GetInitCurrentLimit() const
1593 { return m_uInitCurrentLimit.GetValue();};
1595 real64 GetInitMaxCurrent() const
1596 { return m_rInitMaxCurrent.GetValue();};
1598 real64 GetInitBorderLimit() const
1599 { return m_rInitBorderLimit.GetValue();};
1601 real64 GetInitZeroSlow() const
1602 { return m_rInitZeroSlow.GetValue();};
1604 real64 GetInitZeroLeave() const
1605 { return m_rInitZeroLeave.GetValue();};
1607 real64 GetInitPos() const
1608 { return m_rInitPos.GetValue();};
1610 void SetInitPos(real64 arInitPos)
1611 { m_rInitPos.SetValue(arInitPos); };
1613 real64 GetInitRange() const
1614 { return m_rInitRange.GetValue();};
1616 real64 GetInitSlaveBack() const
1617 { return m_rInitSlaveBack.GetValue();};
1619 const char* GetInitParam() const
1620 { return m_cInitParam.GetValue();};
1625 uint32 GetInitMove() const
1626 { return m_uInitMove.GetValue();};
1628 real64 GetInitMovePos() const
1629 { return m_rInitMovePos.GetValue();};
1634 const char* GetInitMoveParam() const
1635 { return m_cInitMoveParam.GetValue();};
1636
1637 // calib
1638
1640 uint32 GetCalibType() const
1641 { return m_uCalibType.GetValue();};
1643 real64 GetCalibTolerance() const
1644 { return m_rCalibTolerance.GetValue();};
1646 const char* GetCalibParam() const
1647 { return m_cCalibParam.GetValue();};
1651
1652 // brake handling
1653
1655 bool HasBrake() const
1656 { return m_pBrake;};
1658 int32 GetBrakeWaitOn() const
1659 { return m_iBrakeWaitOn.GetValue();};
1661 int32 GetBrakeWaitOff() const
1662 { return m_iBrakeWaitOff.GetValue();};
1664 void SetBrakeReleaseRequest(int32 aiMs);
1666 void DoBrake()
1667 { if (m_pBrake) m_pBrake->Clear();};
1669 void DoBrakeRelease()
1670 { if (m_pBrake) m_pBrake->Set();};
1671
1672 // joystick handling
1673
1675 uint32 GetJoyType() const
1676 { return m_uJoyType.GetValue();};
1678 uint32 GetJoyWait() const
1679 { return m_uJoyWait.GetValue();};
1681 uint32 GetJoyDeltaInc() const
1682 { return m_uJoyDeltaInc.GetValue();};
1684 real64 GetJoyDeltaUnit() const
1685 { return m_rJoyDeltaUnit.GetValue();};
1687 const char* GetJoyParam() const
1688 { return m_cJoyParam.GetValue();};
1689
1690 // wheel handling
1691
1693 uint32 GetWheelType() const
1694 { return m_uWheelType.GetValue();};
1696 real64 GetWheelFactor() const
1697 { return m_rWheelFactor.GetValue();};
1699 void SetWheelFactor(real64 arFactor)
1700 { m_rWheelFactor.SetValue(arFactor);};
1702 uint32 GetWheelFilterLength() const
1703 { return m_uWheelFilterLength.GetValue();};
1705 const char* GetWheelParam() const
1706 { return m_cWheelParam.GetValue();};
1707
1709 const char* GetWheelName() const
1710 { return m_pWheel ? m_pWheel->GetName() : nullptr;};
1711 // monitor
1712
1723 uint32 GetMonitorType() const
1724 { return m_uMonitorType.GetValue();};
1726 uint32 GetMonitorActionError() const
1727 { return m_uMonitorActionError.GetValue();};
1729 uint32 GetMonitorActionWarning() const
1730 { return m_uMonitorActionWarning.GetValue();};
1734
1735 // user properties
1736
1738 virtual void AddProp(const char* apName, nvreal64& aMember,
1739 real64 arDefault, real64 arMin, real64 arMax, const char* apUnit,
1740 uint32 auDigits);
1741
1742 //--- internal -------------------------------------------------------------
1743
1744 friend class CINOSMcRobot;
1745 friend class CINOSMcRobotCmdInit;
1746 friend class CINOSMcRobotCmdCalib;
1747 friend class CINOSMcRobotCmdMove;
1748 friend class CINOSMcRobotCmdLinear;
1749 friend class CINOSMcRobotCmdEndless;
1750
1751 // init types
1752 enum {
1753 eInitStandard = 0,
1754 eInitBorder = 1,
1755 eInitStall = 2,
1756 eInitPosition = 3,
1757 eInitCustom = 4,
1758 eInitShared = 5,
1759 eInitNone = 6,
1760 eInitStallWithTolerance = 7,
1761 eInitResolverAbsolute = 8,
1762 eInitAbsoluteEncoder = 9,
1763 eInitLua,
1764 eInitLast = 10,
1765 };
1766
1767 // options
1768 enum {
1769 eFlgOn = 0x00000200, // axis on ok
1770 eFlgInit = 0x00000400, // axis init ok
1771 eFlgSlave = 0x08000000, // axis is a coupled slave
1772 eFlgPureLimit = 0x10000000, // axis has pure limit switches
1773 eFlgShared = 0x20000000, // axis is shared
1774 eFlgCoupled = 0x40000000, // axis is coupled
1775 eFlgSimulated = 0x80000000, // axis is simulated
1776 };
1777
1778 // monitor
1779 enum {
1780 eMonError = 0x00000001, // error monitor
1781 eMonWarning = 0x00000002 // warning monitor
1782 };
1783
1784 // states
1785 enum {
1786 eStaIdle = 0, // axis is idle
1787 eStaInit = 1, // axis is initialysing
1788 eStaMove = 2, // axis is moving
1789 eStaJoyStick= 3, // axis is in joystick mode
1790 eStaEndless = 4, // axis is endless moving
1791 eStaWheel= 5, // axis is in wheel mode
1792 eStaCalib = 6, // axis is calibrating
1793 eStaMoveToBorder = 7, // axis is moving to border
1794 eStaMoveToBorderApp = 8, // axis is moving to borderapp
1795 eStaMoveToDigitalSensor = 9, // axis is moving to digital sensor
1796 eStaMoveToAnalogSensor = 10, // axis is moving to analog sensor
1797 eStaMoveSafe = 11, // axis is moving safe
1798 eStaMoveCarefully = 12, // axis is moving carefully
1799 eStaJoyStickDisabling = 13, // axis in joystick mode, but it's disabling (i.e. stopping the axis)
1800 eStaMoveEx = 14, // axis is moving extended
1801 eStaMovePath = 15, // axis is part of a running movepath
1802 };
1803
1804 // reference support
1805 enum {
1806 eRefNo = 0, // no reference support
1807 eRefYes = 1, // reference support requested
1808 eRefYesOpposite = 2, // reference support requested (search reference in opposite direction)
1809 eRefYesDistanceCoded= 3, // distance coded reference support requested
1810 };
1811
1812 // reference search types
1813 enum {
1814 eRefSearchDefault = 0, // 'safe controller' it the controller supports it otherwize 'single'
1815 eRefSearchSingle = 1, // only one reference search (the standard for over 25 years)
1816 eRefSearchSafe = 2, // search two times or handle over to controller if it does support 'safe sync'
1817 eRefSearchSafeController= 3, // require 'safe search' by controller
1818 };
1819
1820 // options
1821 enum {
1822 eJoyTypeDigital = 0, // joystick type 'digital'
1823 eJoyTypeAnalog = 1 // joystick type 'analog'
1824 };
1825
1826 // protected member functions
1827 protected :
1829 CINOSMcRobotAxis (CINOSMcRobot* apModule, uint32 auNumber, const char* apAlias=0,
1830 const char* apParam=0);
1832 virtual ~CINOSMcRobotAxis();
1834 CINOSMcModule* GetModule()
1835 { return m_pModule;};
1837 CINCOObject* GetRegister(CINCOObject* apParent=0);
1839 void RegisterIO(CINCOObject* apParent);
1841 bool HasLimit() const;
1843 bool HasPosNegLimit() const;
1845 void CheckLimit();
1847 uint32 CheckLimit(real64 arPosition);
1849 void Monitor();
1851 void HndBrakeReleaseRequest();
1853 virtual bool DispatchReply(CINOSTaskExMsg* apMsg);
1855 void UpdateResource(const char* apName);
1856
1857 // protected member functions
1858 protected :
1860 uint32 m_uState;
1862 uint32 m_uStateCount;
1864 uint32 m_uFlags;
1866 CINOSMcRobot* m_pModule;
1868 uint32 m_uNumber;
1870 inosName64 m_cAlias;
1872 char m_cParam[32];
1874 inosResName m_cName;
1876 inosResName m_cZero;
1878 inosResName m_cBrake;
1880 inosResName m_cLimitPos;
1882 inosResName m_cLimitNeg;
1884 inosResName m_cJoyPos;
1886 inosResName m_cJoyNeg;
1888 inosResName m_cJoyAdc;
1890 inosResName m_cWheel;
1892 CINCOObject* m_pRegister;
1894 uint32 m_uOrder;
1896 CINOSPhysicalAxis* m_pAxis;
1898 CINOSMcModuleRes* m_pAxisRes;
1900 CINOSBit* m_pZero;
1902 CINOSBit* m_pBrake;
1904 CINOSBit* m_pLimitPos;
1906 CINOSBit* m_pLimitNeg;
1908 CINOSBit* m_pJoyPos;
1910 CINOSMcModuleRes* m_pJoyPosRes{};
1912 CINOSBit* m_pJoyNeg;
1914 CINOSMcModuleRes* m_pJoyNegRes{};
1916 CINOSAdcChannel* m_pJoyAdc;
1918 CINOSMcModuleRes* m_pJoyAdcRes{};
1920 CINOSPosChannel* m_pWheel;
1922 CINOSMcModuleRes* m_pWheelRes{};
1924 SINOSRampParam m_sInitParam;
1926 SINOSRampParam m_sCalibParam;
1927
1929 nvuint32 m_uSimLevel;
1931 nvreal64 m_rSlowMotion;
1933 nvreal64 m_rLifetimeDistance;
1935 nvreal64 m_rMinPositionOn;
1937 nvreal64 m_rMaxPositionOn;
1939 nvreal64 m_rPowerTimeout;
1940
1942 real64 m_rMinPosition;
1944 real64 m_rMaxPosition;
1945
1947 bool m_bLimitPos;
1949 bool m_bLimitNeg;
1951 tMsgId m_LimitPosMsgId;
1952 tMsgId m_LimitNegMsgId;
1953
1954 // axis init members
1955
1957 nvuint32 m_uInitType;
1959 char m_cInitGeneric[256];
1961 nvuint32 m_uInitDirection;
1963 nvuint32 m_uInitEdge;
1965 nvuint32 m_uInitCommutation;
1967 nvuint32 m_uInitBorder;
1969 nvuint32 m_uInitReference;
1971 nvreal64 m_rInitReferencePos;
1973 nvreal64 m_rInitReferenceTol;
1975 nvuint32 m_uInitReferenceSearchType;
1977 nvreal64 m_rInitReferenceSearchTol;
1979 nvreal64 m_rInitReferenceSearchBack;
1981 nvuint32 m_uInitCurrentLimit;
1983 nvreal64 m_rInitMaxCurrent;
1985 nvreal64 m_rInitBorderLimit;
1987 nvreal64 m_rInitZeroSlow;
1989 nvreal64 m_rInitZeroLeave;
1991 nvreal64 m_rInitPos;
1993 nvreal64 m_rInitRange;
1995 nvreal64 m_rInitSlaveBack;
1997 nvstring m_cInitParam;
1999 nvuint32 m_uInitMove;
2001 nvreal64 m_rInitMovePos;
2003 nvstring m_cInitMoveParam;
2004
2005 // axis calib members
2006
2008 nvuint32 m_uCalibType;
2010 nvreal64 m_rCalibTolerance;
2012 nvstring m_cCalibParam;
2013
2014 // axis brake members
2015
2017 nvint32 m_iBrakeWaitOn;
2019 nvint32 m_iBrakeWaitOff;
2021 uint32 m_uBrakeReleaseRequest;
2023 CINOSxmsHandler* m_pBrakeReleaseHnd;
2024
2025 // axis joystick members
2026
2028 nvuint32 m_uJoyType;
2030 nvuint32 m_uJoyWait;
2032 nvuint32 m_uJoyDeltaInc;
2034 nvreal64 m_rJoyDeltaUnit;
2036 nvstring m_cJoyParam;
2037
2038 // axis wheel members
2039
2041 nvuint32 m_uWheelType;
2043 nvreal64 m_rWheelFactor;
2045 nvuint32 m_uWheelFilterLength;
2047 nvstring m_cWheelParam;
2048
2049 // monitor members
2050
2052 uint32 m_uMonitorEnabled;
2054 uint32 m_uMonitorPending;
2056 nvuint32 m_uMonitorType;
2058 nvuint32 m_uMonitorActionError;
2060 nvuint32 m_uMonitorActionWarning;
2062 tMsgId m_WarningMsgId;
2063
2065 CINOSMcRobotAxis* m_pNext = nullptr;
2066
2067 // check config lock
2068 static CINOSMutex m_Config;
2069
2071 DECLARE_DYNAMIC(CINOSMcRobotAxis);
2072};
2073
2074//------------------------------------------------------------------------------
2075// class CINOSMcRobotCmd
2076//------------------------------------------------------------------------------
2077//
2078class CINOSMcRobotCmd
2079{
2080 //--- user interface -------------------------------------------------------
2081
2082 // public member functions
2083 public :
2085 CINOSMcRobotCmd (CINOSTaskExMsg* apMsg, void* apCallBack = NULL,
2086 void* apCallBackObject = NULL);
2088 virtual ~CINOSMcRobotCmd ();
2089
2098
2100 enum eMoveType {
2101 eTypAbsolute,
2102 eTypRelative
2103 };
2104
2106 enum eEventType {
2107 eEvtBgnUnit=0,
2108 eEvtEndUnit=1,
2109 eEvtBgnMs=2,
2110 eEvtEndMs=3,
2111 eEvtBgnCmd=4,
2112 eEvtEndCmd=5,
2113 eEvtBrkUnit=6,
2114 eEvtBrkMs=7,
2115 eEvtBgnMsFix=8,
2116 eEvtEndMsFix=9
2117 };
2118
2120 virtual uint32 Check()=0;
2122 virtual uint32 Trigger()=0;
2124 virtual uint32 Run()=0;
2126 virtual uint32 Stop(uint32 auReply)=0;
2128 virtual uint32 Break()
2129 { return 0;};
2131 virtual uint32 Continue()
2132 { return 0;};
2134 virtual uint32 EmgStop()=0;
2136 virtual void Done(uintid auPartId)=0;
2137
2139 eCmdState GetState() const
2140 { return m_eState;};
2141
2143 const char* GetName();
2145 CINOSMcRobot* GetModule()
2146 { return m_pModule; };
2147
2149 uint32 GetReply() const
2150 { return m_uReply;};
2152 uint32 SetReply(uint32 auReply)
2153 { return m_uReply = auReply;};
2155 uint32 GetResult() const
2156 { return m_uResult;};
2158 uint32 SetResult(uint32 auResult)
2159 { return m_uResult = auResult;};
2161 CINOSTaskExMsg* GetMsg()
2162 { return m_pMsg;};
2164 CINOSTask* GetSender()
2165 { if (m_pMsg) return m_pMsg->GetSender();else return NULL;};
2167 void SetId(tMsgId auId)
2168 { m_uId = auId;};
2170 tMsgId GetId()
2171 { if (!m_uId) return m_pMsg->GetId(); else return m_uId;};
2172
2174 virtual void AddEvent(const char* apName, real64 arValue, eEventType aeEventType,
2175 bool abFireEvent=true, uint32 auFlags=0){};
2177 virtual bool GetEventTicks(const char* apName, uint64& auBusTicks,
2178 uint8& auBusId)
2179 { auBusTicks=0; auBusId=CINOSBus::GetFirstBus()->GetId(); return false;};
2180
2184
2186 virtual void SetSlowMotion(real64 arSlowMotion)=0;
2188 virtual void GetCmdPosition(real64& arPosition)=0;
2190 virtual void GetActPosition(real64& arPosition)=0;
2192 virtual void GetActVelocity(real64& arVelocity)=0;
2193
2194 #ifdef INOS_USE_CUSTOMER_IMAGE_DATA
2195 void* GetCustomerSpecificData() const;
2196 //; \return The pinter to the customer specific data (or NULL if
2197 //; no such data are set).
2198 void SetCustomerSpecificData(void* apData);
2199 //; Sets apData to be the "customer specific data" of this axis.
2200 //; The function doesn't care about any previously set customer
2201 //; specific data: The caller is 100% responsible for freeing amy
2202 //; resource related to these data!
2203 //; This class will never access the data in any way apart from
2204 //; initialization to NULL during object contstruction!
2205 #endif
2206
2207 //--- internal -------------------------------------------------------------
2208
2209 friend class CINOSMcRobot;
2210 friend class CINOSMcRobotSync;
2211
2212 // protected member functions
2213 protected :
2215 void* GetCallBack()
2216 { return m_pCallBack;};
2221 void* GetCallBackObject()
2222 { return m_pCallBackObject; };
2224 int32 GetBusTicks(uint8 auBusId, real64 arMs);
2226 void InstallHandler();
2228 void RemoveHandler();
2230 virtual void Handle(){};
2231
2233 enum eFlags {
2234 eFlgBegin = 0x00000001,
2235 eFlgEnd = 0x00000002,
2236 eFlgMoveTime = 0x00000004,
2237 eFlgSlowMotion = 0x00000008,
2238 eFlgFireEvent = 0x00000010,
2239 eFlgLength = 0x00000020,
2240 eFlgDepart = 0x00000040,
2241 eFlgMultipleEvent = 0x00000080,
2242 eFlgEmgStop = 0x40000000,
2243 eFlgDone = 0x80000000
2244 };
2245
2246 // protected members
2247 protected :
2249 eCmdState m_eState;
2251 uint32 m_uReply;
2253 uint32 m_uReplySave;
2255 uint32 m_uResult;
2257 tMsgId m_uId;
2259 bool m_bEndEvent;
2261 bool m_bCyclicHandling;
2263 char m_cEndEvent[32];
2265 void* m_pCallBack;
2267 void* m_pCallBackObject;
2269 CINOSTaskExMsg* m_pMsg;
2271 CINOSMcRobot* m_pModule;
2272 #ifdef INOS_USE_CUSTOMER_IMAGE_DATA
2278 void* m_pCustomerSpecificData;
2279 #endif
2281 CINOSMcRobotCmd* m_pNext;
2282
2284 DECLARE_DYNAMIC(CINOSMcRobotCmd);
2285};
2286
2287//------------------------------------------------------------------------------
2288// class CINOSMcRobotCmdMove
2289//------------------------------------------------------------------------------
2290//
2291struct SINOSMcRobotCmdMovePart;
2292//
2293class CINOSMcRobotCmdMove : public CINOSMcRobotCmd
2294{
2295 //--- user interface -------------------------------------------------------
2296
2297 // public member functions
2298 public :
2300 CINOSMcRobotCmdMove (CINOSTaskExMsg* apMsg, void* apCallBack = NULL,
2301 real64 arSlowMotion=REAL64(0.0));
2306 CINOSMcRobotCmdMove (CINOSTaskExMsg* apMsg, void* apCallBack,
2307 void* apCallBackObject, real64 arSlowMotion=REAL64(0.0));
2309 virtual ~CINOSMcRobotCmdMove ();
2310
2312 void AddMove(tMcAxisName apAxis, real64 arPosition, const char* apParam,
2313 eMoveType aeMoveType=eTypAbsolute);
2315 void AddMove(tMcAxisName apAxis, real64 arPosition, SINOSRampParam* apParam,
2316 eMoveType aeMoveType=eTypAbsolute);
2318 void AddMove(tMcAxisName apAxis, real64 arPosition, const char* apParam,
2319 real64 arSlowMotion, eMoveType aeMoveType=eTypAbsolute);
2320
2322 void AddMoveApp(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel,
2323 real64 arVelocity, const char* apParam, eMoveType aeMoveType=eTypAbsolute);
2325 void AddMoveApp(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel,
2326 real64 arVelocity, SINOSRampParam* apParam, eMoveType aeMoveType=eTypAbsolute);
2328 void AddMoveDep(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel,
2329 real64 arVelocity, const char* apParam, eMoveType aeMoveType=eTypAbsolute);
2331 void AddMoveDep(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel,
2332 real64 arVelocity, SINOSRampParam* apParam, eMoveType aeMoveType=eTypAbsolute);
2333
2335 virtual void AddEvent(const char* apName, real64 arValue, eEventType aeEventType,
2336 bool abFireEvent=true, uint32 auFlags=0) override;
2337
2339 virtual bool GetEventTicks(const char* apName, uint64& auBusTicks, uint8& auBusId) override;
2341 virtual uint32 GetEventMultiple(const char* apName);
2343 virtual struct SINOSMcRobotCmdMoveEvent* GetMultipleEventWithMaxTicks();
2344
2346 virtual uint32 Check() override;
2348 virtual uint32 Trigger() override;
2350 virtual uint32 Run() override;
2352 virtual uint32 Stop(uint32 auReply) override;
2354 virtual uint32 EmgStop() override;
2356 virtual void Done(uintid auPartId) override;
2357
2359 virtual void SetSlowMotion(real64 arSlowMotion) override;
2361 virtual void GetSlowMotion(real64& arSlowMotion)
2362 {
2363 if (m_rSlowMotionOverwrite != REAL64(0.0)){
2364 // overwrite active
2365 arSlowMotion = m_rSlowMotionOverwrite;
2366 }
2367 else {
2368 arSlowMotion = m_rSlowMotion;
2369 }
2370 }
2372 virtual void GetCmdPosition(real64& arPosition) override;
2374 virtual void GetCmdPosition(tMcAxisName apAxis, real64& arPosition);
2376 virtual void GetActPosition(real64& arPosition) override;
2378 virtual void GetActVelocity(real64& arVelocity) override;
2380 virtual void GetCmdVelocity(real64& arVelocity);
2381
2382 //--- internal -------------------------------------------------------------
2383
2384 friend class CINOSMcRobot;
2385
2386 // private methods
2387 private :
2389 void Create (real64 arSlowMotion);
2391 void CalcMoveTime();
2393 uint32 GetSyncTime(const char* apSync, real64& arTime);
2395 void iAddMove(SINOSMcRobotCmdMovePart* apPart, real64 arPosition,
2396 real64 arSlowMotion, eMoveType aeMoveType);
2398 virtual void Handle() override;
2399
2400 // protected members
2401 protected :
2402
2404 uint32 m_uFlags;
2406 real64 m_rMoveTime;
2408 real64 m_rSlowMotion;
2410 real64 m_rSlowMotionOverwrite;
2412 real64 m_rDepPosBgn;
2414 real64 m_rDepPosVel;
2416 bool m_bDepCurLim;
2418 SINOSMcRobotCmdMovePart* m_pFstPart;
2420 SINOSMcRobotCmdMovePart* m_pLstPart;
2421
2423 DECLARE_DYNAMIC(CINOSMcRobotCmdMove);
2424};
2425
2426//------------------------------------------------------------------------------
2427// class CINOSMcRobotCmdLinear
2428//------------------------------------------------------------------------------
2429//
2430struct SINOSMcRobotCmdLinearPart;
2431struct SINOSMcRobotCmdLinearEvent;
2432//
2433class CINOSMcRobotCmdLinear : public CINOSMcRobotCmd
2434{
2435 //--- user interface -------------------------------------------------------
2436
2437 // public member functions
2438 public :
2440 CINOSMcRobotCmdLinear (CINOSTaskExMsg* apMsg, const char* apParam,
2441 void* apCallBack = NULL, real64 arSlowMotion=REAL64(0.0));
2446 CINOSMcRobotCmdLinear (CINOSTaskExMsg* apMsg, const char* apParam,
2447 void* apCallBack, void* apCallBackObject,
2448 real64 arSlowMotion=REAL64(0.0));
2450 virtual ~CINOSMcRobotCmdLinear ();
2451
2453 void AddLinear(tMcAxisName apAxis, real64 arPosition,
2454 eMoveType aeMoveType=eTypAbsolute, bool abLength=true);
2455
2457 virtual void AddEvent(const char* apName, real64 arValue, eEventType aeEventType,
2458 bool abFireEvent=true, uint32 auFlags=0);
2459
2461 virtual bool GetEventTicks(const char* apName, uint64& auBusTicks, uint8& auBusId);
2462
2464 virtual void SetMoveApp(real64 arAppPos, real64 arAppVel);
2466 virtual void SetMoveDep(real64 arDepPos, real64 arDepVel);
2467
2469 virtual uint32 Check();
2471 virtual uint32 Trigger();
2473 virtual uint32 Run();
2475 virtual uint32 Stop(uint32 auReply);
2477 virtual uint32 EmgStop();
2479 virtual void Done(uintid auPartId);
2480
2482 virtual void SetSlowMotion(real64 arSlowMotion);
2484 virtual void GetCmdPosition(real64& arPosition);
2486 virtual void GetActPosition(real64& arPosition);
2488 virtual void GetActVelocity(real64& arVelocity);
2489
2490 //--- internal -------------------------------------------------------------
2491
2492 // private methods
2493 private :
2495 void Create (const char* apParam, real64 arSlowMotion);
2497 void CalcMoveTime();
2499 uint32 GetSyncTime(const char* apSync, real64& arTime);
2501 virtual void Handle();
2503 #ifdef INOS_SAFETY_SUPPORT
2504 void GetSafetyLimit(ESafetyFunction& aeSafetyFunction, real64& arVmax);
2505 #endif
2506
2507 // private members
2508 private :
2510 inosName64 m_cParam;
2512 uint32 m_uFlags;
2514 real64 m_rMoveTime;
2516 real64 m_rMoveLength;
2518 real64 m_rSlowMotion;
2520 real64 m_rMvPos;
2522 real64 m_rMvVel;
2524 #ifdef INOS_SAFETY_SUPPORT
2525 real64 m_rVorg;
2526 #endif
2528 SINOSRampParam* m_pParam;
2530 CINOSBaseRamp* m_pRamp;
2532 SINOSMcRobotCmdLinearPart* m_pFstPart;
2534 SINOSMcRobotCmdLinearPart* m_pLstPart;
2536 SINOSMcRobotCmdLinearEvent* m_pFstEvent;
2538 SINOSMcRobotCmdLinearEvent* m_pLstEvent;
2539 #ifdef INOS_SAFETY_SUPPORT
2540 uint8 m_uSafetyType;
2541 #endif
2542
2544 DECLARE_DYNAMIC(CINOSMcRobotCmdLinear);
2545};
2546
2547//------------------------------------------------------------------------------
2548// class CINOSMcRobotCmdEndless
2549//------------------------------------------------------------------------------
2550//
2560class CINOSMcRobotCmdEndless : public CINOSMcRobotCmd
2561{
2562 //--- user interface -------------------------------------------------------
2563
2564 // public member functions
2565 public :
2567 CINOSMcRobotCmdEndless (CINOSTaskExMsg* apMsg, tMcAxisName apAxis, bool abPositive,
2568 const char* apParam, void* apCallBack = NULL, real64 arSlowMotion=REAL64(0.0));
2573 CINOSMcRobotCmdEndless (CINOSTaskExMsg* apMsg, tMcAxisName apAxis, bool abPositive,
2574 const char* apParam, void* apCallBack, void* apCallBackObject,
2575 real64 arSlowMotion=REAL64(0.0));
2577 virtual ~CINOSMcRobotCmdEndless ();
2578
2580 virtual uint32 Check();
2582 virtual uint32 Trigger();
2584 virtual uint32 Run();
2586 virtual uint32 Stop(uint32 auReply);
2588 virtual uint32 EmgStop();
2590 virtual void Done(uintid auPartId);
2591
2593 virtual void SetSlowMotion(real64 arSlowMotion);
2595 virtual void GetCmdPosition(real64& arPosition);
2597 virtual void GetActPosition(real64& arPosition);
2599 virtual void GetActVelocity(real64& arVelocity);
2600
2601 //--- internal -------------------------------------------------------------
2602
2603 // private methods
2604 private:
2606 void Create(tMcAxisName apAxis, bool abPositive, const char* apParam,
2607 real64 arSlowMotion);
2608
2609 // private members
2610 private :
2612 inosName32 m_cAxis;
2614 inosName64 m_cParam;
2616 CINOSMcRobotAxis* m_pAxis;
2618 uint32 m_uFlags;
2620 bool m_bPositive;
2622 real64 m_rSlowMotion;
2624 SINOSRampParam* m_pParam;
2625
2627 DECLARE_DYNAMIC(CINOSMcRobotCmdEndless);
2628};
2629
2630//------------------------------------------------------------------------------
2631// class CINOSMcRobotCmdMoveSafe
2632//------------------------------------------------------------------------------
2633//
2634class CINOSMcRobotCmdMoveSafe : public CINOSMcRobotCmd
2635{
2636 //--- user interface -------------------------------------------------------
2637
2638 // public member functions
2639 public :
2641 CINOSMcRobotCmdMoveSafe (CINOSTaskExMsg* apMsg, tMcAxisName apAxis1,
2642 real64 arPosition1, real64 arSafe1, real64 arSafe2, const char* apParam1,
2643 tMcAxisName apAxisP, real64 arPositionP, const char* apParamP, void* apCallBack = NULL,
2644 void* apCallBackObject = NULL);
2645 CINOSMcRobotCmdMoveSafe (CINOSTaskExMsg* apMsg, tMcAxisName apAxis1,
2646 real64 arPosition1, real64 arSafe1, real64 arSafe2, SINOSRampParam* apParam1,
2647 tMcAxisName apAxisP, real64 arPositionP, SINOSRampParam* apParamP, void* apCallBack = NULL,
2648 void* apCallBackObject = NULL);
2650 CINOSMcRobotCmdMoveSafe (CINOSTaskExMsg* apMsg, tMcAxisName apAxis1,
2651 real64 arPosition1, real64 arSafe1, real64 arSafe2, const char* apParam1, const char* apParam2,
2652 tMcAxisName apAxisP, real64 arPositionP, const char* apParamP, void* apCallBack = NULL,
2653 void* apCallBackObject = NULL);
2654 CINOSMcRobotCmdMoveSafe (CINOSTaskExMsg* apMsg, tMcAxisName apAxis1,
2655 real64 arPosition1, real64 arSafe1, real64 arSafe2, SINOSRampParam* apParam1, SINOSRampParam* apParam2,
2656 tMcAxisName apAxisP, real64 arPositionP, SINOSRampParam* apParamP, void* apCallBack = NULL,
2657 void* apCallBackObject = NULL);
2659 virtual ~CINOSMcRobotCmdMoveSafe ();
2660
2662 virtual uint32 Check();
2664 virtual uint32 Trigger();
2666 virtual uint32 Run();
2668 virtual uint32 Stop(uint32 auReply);
2670 virtual uint32 EmgStop();
2672 virtual void Done(uintid auPartId);
2673
2675 virtual void SetSlowMotion(real64 arSlowMotion);
2677 virtual void GetCmdPosition(real64& arPosition);
2679 virtual void GetActPosition(real64& arPosition);
2681 virtual void GetActVelocity(real64& arVelocity);
2682
2684 virtual bool GetEventTicks(const char* apName, uint64& auBusTicks, uint8& auBusId);
2685
2686 //--- internal -------------------------------------------------------------
2687
2688 // private methods
2689 private :
2690 // create command
2691 void Create(tMcAxisName apAxis1, real64 arPosition1, real64 arSafe1,
2692 real64 arSafe2, const char* apParam1, const char* apParam2, tMcAxisName apAxisP,
2693 real64 arPositionP, const char* apParamP);
2694 // create command
2695 void Create(tMcAxisName apAxis1, real64 arPosition1, real64 arSafe1,
2696 real64 arSafe2, SINOSRampParam* apParam1, SINOSRampParam* apParam2, tMcAxisName apAxisP,
2697 real64 arPositionP, SINOSRampParam* apParamP);
2698
2699 // private members
2700 private :
2702 bool m_bNamed;
2704 inosName32 m_cAxis1;
2706 CINOSMcRobotAxis* m_pAxis1;
2708 inosName32 m_cAxisP;
2710 CINOSMcRobotAxis* m_pAxisP;
2711
2712 // params
2713
2715 real64 m_rPosition1;
2717 real64 m_rSafe1;
2719 real64 m_rSafe2;
2721 inosName64 m_cParam1;
2723 SINOSRampParam m_sParam1;
2725 inosName64 m_cParam2;
2727 SINOSRampParam m_sParam2;
2728
2730 real64 m_rPositionP;
2732 inosName64 m_cParamP;
2734 SINOSRampParam m_sParamP;
2735
2737 uint64 m_uOnEndTicks;
2739 uint8 m_uOnEndBusId;
2740
2742 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveSafe);
2743};
2744
2745//------------------------------------------------------------------------------
2746// class CINOSMcRobotCmdMoveToBorder
2747//------------------------------------------------------------------------------
2748//
2749class CINOSMcRobotCmdMoveToBorder : public CINOSMcRobotCmd
2750{
2751 //--- user interface -------------------------------------------------------
2752
2753 // public member functions
2754 public :
2756 CINOSMcRobotCmdMoveToBorder (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2757 real64 arPosition, const char* apParam, void* apCallBack = NULL,
2758 void* apCallBackObject = NULL);
2759 CINOSMcRobotCmdMoveToBorder (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2760 real64 arPosition, real64& arResult, const char* apParam, void* apCallBack = NULL,
2761 void* apCallBackObject = NULL);
2763 virtual ~CINOSMcRobotCmdMoveToBorder ();
2764
2766 virtual uint32 Check();
2768 virtual uint32 Trigger();
2770 virtual uint32 Run();
2772 virtual uint32 Stop(uint32 auReply);
2774 virtual uint32 EmgStop();
2776 virtual void Done(uintid auPartId);
2777
2779 virtual void SetSlowMotion(real64 arSlowMotion);
2781 virtual void GetCmdPosition(real64& arPosition);
2783 virtual void GetActPosition(real64& arPosition);
2785 virtual void GetActVelocity(real64& arVelocity);
2786
2787 //--- internal -------------------------------------------------------------
2788
2789 // private methods
2790 private :
2791 // create command
2792 void Create(tMcAxisName apAxis, real64 arPosition, real64* apResult,
2793 const char* apParam);
2794
2795 // private members
2796 private :
2798 inosName32 m_cAxis;
2800 CINOSMcRobotAxis* m_pAxis;
2802 real64 m_rResult;
2803
2804 // params
2805
2807 real64 m_rPosition;
2809 real64* m_pResult;
2811 inosName64 m_cParam;
2812
2814 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveToBorder);
2815};
2816
2817//------------------------------------------------------------------------------
2818// class CINOSMcRobotCmdMoveToBorderApp
2819//------------------------------------------------------------------------------
2820//
2821class CINOSMcRobotCmdMoveToBorderApp : public CINOSMcRobotCmd
2822{
2823 //--- user interface -------------------------------------------------------
2824
2825 // public member functions
2826 public :
2828 CINOSMcRobotCmdMoveToBorderApp (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2829 real64 arPosition, real64 arPositionVel, real64 arVelocity,
2830 const char* apParam, void* apCallBack = NULL,
2831 void* apCallBackObject = NULL);
2832 CINOSMcRobotCmdMoveToBorderApp (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2833 real64 arPosition, real64 arPositionVel, real64 arVelocity,
2834 real64& arResult, const char* apParam, void* apCallBack = NULL,
2835 void* apCallBackObject = NULL);
2836 CINOSMcRobotCmdMoveToBorderApp (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2837 real64 arPosition, real64 arPositionVel, real64 arVelocity,
2838 real64& arResult, uint32 auFlags, const char* apParam, void* apCallBack = NULL,
2839 void* apCallBackObject = NULL);
2841 virtual ~CINOSMcRobotCmdMoveToBorderApp ();
2842
2844 virtual uint32 Check();
2846 virtual uint32 Trigger();
2848 virtual uint32 Run();
2850 virtual uint32 Stop(uint32 auReply);
2852 virtual uint32 EmgStop();
2854 virtual void Done(uintid auPartId);
2855
2857 virtual void SetSlowMotion(real64 arSlowMotion);
2859 virtual void GetCmdPosition(real64& arPosition);
2861 virtual void GetActPosition(real64& arPosition);
2863 virtual void GetActVelocity(real64& arVelocity);
2864
2865 //--- internal -------------------------------------------------------------
2866
2867 // private methods
2868 private :
2869 // create command
2870 void Create(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel,
2871 real64 arVelocity, real64* apResult, uint32 auFlags, const char* apParam);
2872
2873 // private members
2874 private :
2876 inosName32 m_cAxis;
2878 CINOSMcRobotAxis* m_pAxis;
2880 real64 m_rResult;
2881
2882 // params
2883
2885 real64 m_rPosition;
2887 real64 m_rPositionVel;
2889 real64 m_rVelocity;
2891 real64* m_pResult;
2893 uint32 m_uFlags;
2895 inosName64 m_cParam;
2896
2898 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveToBorderApp);
2899};
2900
2901//------------------------------------------------------------------------------
2902// class CINOSMcRobotCmdMoveToDigitalSensor
2903//------------------------------------------------------------------------------
2904//
2924class CINOSMcRobotCmdMoveToDigitalSensor : public CINOSMcRobotCmd
2925{
2926 //--- user interface -------------------------------------------------------
2927
2928 // public member functions
2929 public :
2945 CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2946 const char* apName, real64 arPosition, bool abSet, const char* apParam,
2947 void* apCallBack = NULL, void* apCallBackObject = NULL);
2969 CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
2970 const char* apName, real64 arPosition, bool abSet, real64& arResult,
2971 const char* apParam, void* apCallBack = NULL, void* apCallBackObject = NULL);
3004 CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
3005 const char* apName, real64 arPosition, bool abSet, real64& arResult,
3006 uint32 auFlags, const char* apParam, void* apCallBack = NULL,
3007 void* apCallBackObject = NULL);
3020 CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
3021 real64 arPositionVel, real64 arVelocity,
3022 const char* apName, real64 arPosition, bool abSet, real64& arResult,
3023 uint32 auFlags, const char* apParam, void* apCallBack = NULL,
3024 void* apCallBackObject = NULL);
3025 real64 m_rPositionVel{};
3026 real64 m_rVelocity{};
3028 virtual ~CINOSMcRobotCmdMoveToDigitalSensor ();
3029
3031 virtual void AddEvent(const char* apName, real64 arValue, eEventType aeEventType,
3032 bool abFireEvent=true, uint32 auFlags=0);
3034 virtual bool GetEventTicks(const char* apName, uint64& auBusTicks, uint8& auBusId);
3035
3037 virtual uint32 Check();
3039 virtual uint32 Trigger();
3041 virtual uint32 Run();
3043 virtual uint32 Stop(uint32 auReply);
3045 virtual uint32 EmgStop();
3047 virtual void Done(uintid auPartId);
3048
3050 virtual void SetSlowMotion(real64 arSlowMotion);
3052 virtual void GetCmdPosition(real64& arPosition);
3054 virtual void GetActPosition(real64& arPosition);
3056 virtual void GetActVelocity(real64& arVelocity);
3057
3058 //--- internal -------------------------------------------------------------
3059
3060 // private methods
3061 private :
3062 // create command
3063 void Create(uint32 auType, tMcAxisName apAxis, const char* apName,
3064 real64 arPosition, bool abSet, real64* apResult, uint32 auFlags,
3065 const char* apParam);
3067 void CalcMoveTime();
3069 uint32 GetSyncTime(const char* apSync, real64& arTime);
3070
3071 // private members
3072 private :
3074 inosName32 m_cAxis;
3076 CINOSMcRobotAxis* m_pAxis;
3078 CINOSBit* m_pInput;
3080 real64 m_rResult;
3082 real64 m_rSlowMotion;
3083 real64 m_rMoveTime{};
3084
3085 // params
3086
3088 uint32 m_uCallType;
3090 inosName64 m_cSensor;
3092 real64 m_rPosition;
3094 bool m_bSet;
3096 real64* m_pResult;
3098 uint32 m_uFlags;
3100 uint32 m_uTimeFlags;
3102 inosName64 m_cParam;
3103
3105 SINOSMcRobotCmdMoveEvent* m_pFstEvent{};
3107 SINOSMcRobotCmdMoveEvent* m_pLstEvent{};
3108
3110 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveToDigitalSensor);
3111};
3112
3113//------------------------------------------------------------------------------
3114// class CINOSMcRobotCmdMoveToAnalogSensor
3115//------------------------------------------------------------------------------
3116//
3117class CINOSMcRobotCmdMoveToAnalogSensor : public CINOSMcRobotCmd
3118{
3119 //--- user interface -------------------------------------------------------
3120
3121 // public member functions
3122 public :
3124 CINOSMcRobotCmdMoveToAnalogSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
3125 const char* apName, real64 arPosition, real64 arLevel, bool abGreater, const char* apParam,
3126 void* apCallBack = NULL, void* apCallBackObject = NULL);
3127 CINOSMcRobotCmdMoveToAnalogSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
3128 const char* apName, real64 arPosition, real64 arLevel, bool abGreater, real64& arResult,
3129 const char* apParam, void* apCallBack = NULL, void* apCallBackObject = NULL);
3130 CINOSMcRobotCmdMoveToAnalogSensor (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
3131 const char* apName, real64 arPosition, real64 arLevel, bool abGreater, real64& arResult,
3132 uint32 auFlags, const char* apParam, void* apCallBack = NULL, void* apCallBackObject = NULL);
3133
3135 virtual ~CINOSMcRobotCmdMoveToAnalogSensor ();
3136
3138 virtual uint32 Check();
3140 virtual uint32 Trigger();
3142 virtual uint32 Run();
3144 virtual uint32 Stop(uint32 auReply);
3146 virtual uint32 EmgStop();
3148 virtual void Done(uintid auPartId);
3149
3151 virtual void SetSlowMotion(real64 arSlowMotion);
3153 virtual void GetCmdPosition(real64& arPosition);
3155 virtual void GetActPosition(real64& arPosition);
3157 virtual void GetActVelocity(real64& arVelocity);
3158
3159 //--- internal -------------------------------------------------------------
3160
3161 // private methods
3162 private :
3163 // create command
3164 void Create(uint32 auType, tMcAxisName apAxis, const char* apName,
3165 real64 arPosition, real64 arLevel, bool abGreater, real64* apResult,
3166 uint32 auFlags, const char* apParam);
3167
3168 // private members
3169 private :
3171 inosName32 m_cAxis;
3173 CINOSMcRobotAxis* m_pAxis;
3175 CINOSAdcChannel* m_pInput;
3177 real64 m_rResult;
3178
3179 // params
3180
3182 uint32 m_uCallType;
3184 inosName64 m_cSensor;
3186 real64 m_rPosition;
3188 real64 m_rLevel;
3190 bool m_bGreater;
3192 real64* m_pResult;
3194 uint32 m_uFlags;
3196 inosName64 m_cParam;
3198 SINOSRampParam m_Param;
3199
3201 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveToAnalogSensor);
3202};
3203
3204//------------------------------------------------------------------------------
3205// class CINOSMcRobotCmdMoveCarefully
3206//------------------------------------------------------------------------------
3207//
3208class CINOSMcRobotCmdMoveCarefully : public CINOSMcRobotCmd
3209{
3210 //--- user interface -------------------------------------------------------
3211
3212 // public member functions
3213 public :
3215 CINOSMcRobotCmdMoveCarefully (CINOSTaskExMsg* apMsg, tMcAxisName apAxis,
3216 real64 arPosition, real64 arPosError, real64 arCurLimit,
3217 const char* apParam, void* apCallBack = NULL, void* apCallBackObject = NULL);
3219 virtual ~CINOSMcRobotCmdMoveCarefully ();
3220
3222 virtual uint32 Check();
3224 virtual uint32 Trigger();
3226 virtual uint32 Run();
3228 virtual uint32 Stop(uint32 auReply);
3230 virtual uint32 EmgStop();
3232 virtual void Done(uintid auPartId);
3233
3235 virtual void SetSlowMotion(real64 arSlowMotion);
3237 virtual void GetCmdPosition(real64& arPosition);
3239 virtual void GetActPosition(real64& arPosition);
3241 virtual void GetActVelocity(real64& arVelocity);
3242
3243 //--- internal -------------------------------------------------------------
3244
3245 // private members
3246 private :
3248 inosName32 m_cAxis;
3250 CINOSMcRobotAxis* m_pAxis;
3251
3252 // params
3253
3255 real64 m_rPosition;
3257 real64 m_rCurLimit;
3259 real64 m_rCurLimitOrig;
3261 real64 m_rPosError;
3264 real64 m_rPosErrorOrig;
3266 real64 m_rBorderPosUnused;
3268 inosName64 m_cParam;
3269
3271 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveCarefully);
3272};
3273
3274//------------------------------------------------------------------------------
3275// class CINOSMcRobotCmdMoveEx
3276//------------------------------------------------------------------------------
3277//
3278class CINOSMcRobotCmdMoveEx : public CINOSMcRobotCmd
3279{
3280 //--- user interface -------------------------------------------------------
3281
3282 // public member functions
3283 public :
3285 CINOSMcRobotCmdMoveEx (CINOSTaskExMsg* apMsg, tMcAxisName apAxis, real64 arPosition,
3286 real64 arTrgPosition,
3287 uint32 auFlags, const char* apTrgName, real64 arTrgLevel,
3288 const char* apParam, void* apCallBack = NULL, void* apCallBackObject = NULL);
3290 virtual ~CINOSMcRobotCmdMoveEx ();
3291
3293 virtual uint32 Check();
3295 virtual uint32 Trigger();
3297 virtual uint32 Run();
3299 virtual uint32 Stop(uint32 auReply);
3301 virtual uint32 EmgStop();
3303 virtual void Done(uintid auPartId);
3304
3306 virtual void SetSlowMotion(real64 arSlowMotion);
3308 virtual void GetCmdPosition(real64& arPosition);
3310 virtual void GetActPosition(real64& arPosition);
3312 virtual void GetActVelocity(real64& arVelocity);
3313
3314 //--- internal -------------------------------------------------------------
3315
3316 // private members
3317 private :
3319 inosName32 m_cAxis;
3321 CINOSMcRobotAxis* m_pAxis;
3322
3323 // params
3325 real64 m_rPosition;
3327 uint32 m_uFlags;
3329 inosName64 m_cTriggerName;
3331 real64 m_rTrgLevel;
3333 real64 m_rTrgPosition;
3335 inosName64 m_cParam;
3336
3338 DECLARE_DYNAMIC(CINOSMcRobotCmdMoveEx);
3339};
3340
3341//------------------------------------------------------------------------------
3342// class CINOSMcRobotCmdShape
3343//------------------------------------------------------------------------------
3344//
3369
3370//
3371//
3372class CINOSMcRobotCmdShape : public CINOSMcRobotCmd
3373{
3374 //--- user interface -------------------------------------------------------
3375
3376 // public member functions
3377 public :
3379 CINOSMcRobotCmdShape (CINOSTaskExMsg* apMsg, const char* apParam,
3380 uint32 auPoints = 0, void* apCallBack = NULL,
3381 real64 arSlowMotion = REAL64(0.0));
3386 CINOSMcRobotCmdShape (CINOSTaskExMsg* apMsg, const char* apParam,
3387 uint32 auPoints, void* apCallBack, void* apCallBackObject,
3388 real64 arSlowMotion = REAL64(0.0));
3390 CINOSMcRobotCmdShape (CINOSTaskExMsg* apMsg, const char* apName,
3391 const char* apParam, uint32 auPoints = 0, void* apCallBack = NULL,
3392 real64 arSlowMotion = REAL64(0.0));
3397 CINOSMcRobotCmdShape (CINOSTaskExMsg* apMsg, const char* apName,
3398 const char* apParam, uint32 auPoints, void* apCallBack,
3399 void* apCallBackObject, real64 arSlowMotion = REAL64(0.0));
3401 CINOSMcRobotCmdShape (CINOSTaskExMsg* apMsg, CINOSShape* apShape,
3402 const char* apParam, uint32 auPoints = 0, void* apCallBack = NULL,
3403 real64 arSlowMotion = REAL64(0.0));
3408 CINOSMcRobotCmdShape (CINOSTaskExMsg* apMsg, CINOSShape* apShape,
3409 const char* apParam, uint32 auPoints, void* apCallBack,
3410 void* apCallBackObject, real64 arSlowMotion = REAL64(0.0));
3412 virtual ~CINOSMcRobotCmdShape ();
3413
3414 // shape methods
3415
3417 virtual void SetTolerance(real64 arTolerance);
3419 virtual void SetShapeFlags(uint32 auFlags)
3420 { m_uShapeFlags = auFlags; };
3433
3435 virtual void SetBegin(uint32 auSetNumber=DF_INOS_SHAPE_SET_NO_NUMBER);
3437 virtual void SetEnd();
3439 virtual void Velocity(double adVelocity = DF_INOS_SHAPE_SET_NO_VELOCITY);
3441 virtual void Pause(double adTime);
3443 virtual void Linear(tMcAxisName apAxis, double adPosition, uint32 auFlags=0);
3445 virtual void Linear(tMcAxisName apAxis, double adPosition, double adTolerance, uint32 auFlags=0);
3447 virtual void Rapid(tMcAxisName apAxis, double adPosition, uint32 auFlags=0);
3449 virtual void CircleCW(tMcAxisName apAxis1, tMcAxisName apAxis2,
3450 double adMid1, double adMid2, double adAngle, bool abAngleAbsolute,
3451 uint32 auFlags=0);
3453 virtual void CircleCC(tMcAxisName apAxis1, tMcAxisName apAxis2,
3454 double adMid1, double adMid2, double adAngle, bool abAngleAbsolute,
3455 uint32 auFlags=0);
3457 virtual void CircleCW(tMcAxisName apAxis1, tMcAxisName apAxis2,
3458 double adEnd1, double adEnd2, double adMid1, double adMid2,
3459 uint32 auFlags=0);
3461 virtual void CircleCC(tMcAxisName apAxis1, tMcAxisName apAxis2,
3462 double adEnd1, double adEnd2, double adMid1, double adMid2,
3463 uint32 auFlags=0);
3465 virtual void CircleCW(tMcAxisName apAxis1, tMcAxisName apAxis2,
3466 double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0);
3468 virtual void CircleCC(tMcAxisName apAxis1, tMcAxisName apAxis2,
3469 double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0);
3471 virtual void Absolute (tMcAxisName apAxis="");
3473 virtual void Incremental (tMcAxisName apAxis="");
3474
3476 virtual void AddEvent(const char* apName, real64 arValue, eEventType aeEventType,
3477 bool abFireEvent=true, uint32 auFlags=0);
3479 virtual SINOSMcRobotCmdShapeEvent* GetEvent(const char* apName);
3481 virtual bool GetEventTicks(const char* apName, uint64& auBusTicks, uint8& auBusId);
3483 virtual CINOSShape* GetShape()
3484 { return m_pShape; };
3485
3487 virtual uint32 Check();
3489 virtual uint32 Trigger();
3491 virtual uint32 Run();
3493 virtual uint32 Stop(uint32 auReply);
3495 virtual uint32 Break();
3497 virtual uint32 Continue();
3499 virtual uint32 EmgStop();
3501 virtual void Done(uintid auPartId);
3502
3504 virtual void SetSlowMotion(real64 arSlowMotion);
3506 virtual void GetSlowMotion(real64& arSlowMotion)
3507 {
3508 arSlowMotion = m_rSlowMotion;
3509 }
3511 virtual void GetCmdPosition(real64& arPosition);
3513 virtual void GetActPosition(real64& arPosition);
3515 virtual void GetActVelocity(real64& arVelocity);
3517 virtual void GetCmdVelocity(real64& arVelocity);
3519 virtual uint32 GetSets();
3521 virtual uint32 GetActSet();
3523 virtual real64 GetMoveTime();
3524
3525 //--- internal -------------------------------------------------------------
3526
3527 // private methods
3528 private:
3530 void Create (const char* apShapeName, CINOSShape* apShape,
3531 const char* apParam, uint32 auPoints, real64 arSlowMotion);
3532
3533 // protected members
3534 protected :
3535
3537 void SetupParam(const char* apParam);
3538
3540 inosName64 m_cShapeName;
3542 inosName64 m_cParam;
3544 uint32 m_uShapeFlags;
3546 uint32 m_uPoints;
3548 real64 m_rSlowMotion;
3550 real64 m_rTolerance;
3551 // ! is tolerance requested
3552 bool m_bSetTolerance;
3554 CINOSShape* m_pShape;
3556 bool m_bShapeCreated;
3558 SINOSRampParam* m_pParam;
3560 SINOSMcRobotCmdShapeEvent* m_pFstEvent;
3562 SINOSMcRobotCmdShapeEvent* m_pLstEvent;
3563
3565 DECLARE_DYNAMIC(CINOSMcRobotCmdShape);
3566};
3567
3568//------------------------------------------------------------------------------
3569// class CINOSMcRobotSync
3570//------------------------------------------------------------------------------
3571//
3572class CINOSMcRobotSync : public CINOSSync
3573{
3574 //--- user interface ---------------------------------------------------
3575
3576 // public members
3577 public:
3579 CINOSMcRobotSync(tMsgId aCmdId, uintid auPartId=-1);
3580
3581 //--- internals --------------------------------------------------------
3582
3583 // protected members
3584 protected :
3586 virtual void Signal();
3587
3588 // private members
3589 private :
3591 CINOSTaskEx* m_pTask;
3593 tMsgId m_CmdId;
3595 uintid m_uPartId;
3596
3598 DECLARE_DYNAMIC(CINOSMcRobotSync);
3599};
3600
3601
3602//------------------------------------------------------------------------------
3603// class CINOSMcRobotInitSync
3604//------------------------------------------------------------------------------
3605//
3606class CINOSMcRobotCmdInit;
3607struct SINOSMcRobotCmdInitPart;
3608class CINOSMcRobotInitSync : public CINOSSync
3609{
3610 //--- user interface ---------------------------------------------------
3611
3612 // public members
3613 public:
3615 CINOSMcRobotInitSync(CINOSMcRobot* apModule, CINOSMcRobotCmdInit* apInitCmd, SINOSMcRobotCmdInitPart* apPart);
3616
3617 //--- internals --------------------------------------------------------
3618
3619 // protected members
3620 protected :
3622 virtual void SignalEx(CINOSTaskExMsg* apMsg, uint32 auRplId, uint32 auAppError);
3623
3624 // private members
3625 private :
3627 CINOSMcRobot* m_pModule;
3629 CINOSMcRobotCmdInit* m_pInitCmd;
3631 SINOSMcRobotCmdInitPart* m_pPart;
3632
3634 DECLARE_DYNAMIC(CINOSMcRobotInitSync);
3635};
3636
3637//------------------------------------------------------------------------------
3638// class CINOSMcRobotCmdInit
3639//------------------------------------------------------------------------------
3640//
3641struct SINOSMcRobotCmdInitPart;
3642//
3643class CINOSMcRobotCmdInit : public CINOSMcRobotCmd
3644{
3645 //--- user interface -------------------------------------------------------
3646
3647 // public member functions
3648 public :
3650 CINOSMcRobotCmdInit (CINOSTaskExMsg* apMsg, void* apCallBack = NULL,
3651 void* apCallBackObject = NULL);
3653 virtual ~CINOSMcRobotCmdInit ();
3654
3656 void AddInit(tMcAxisName apAxis);
3657
3659 virtual uint32 Check();
3661 virtual uint32 Trigger();
3663 virtual uint32 Run();
3665 virtual uint32 Stop(uint32 auReply);
3667 virtual uint32 EmgStop();
3669 virtual void Done(uintid auPartId);
3671 virtual void SetSlowMotion(real64 arSlowMotion){};
3673 virtual void GetCmdPosition(real64& arPosition);
3675 virtual void GetActPosition(real64& arPosition);
3677 virtual void GetActVelocity(real64& arVelocity);
3678
3679 // init types
3680
3682 void Standard(SINOSMcRobotCmdInitPart* apPart);
3684 void Border(SINOSMcRobotCmdInitPart* apPart);
3686 void Stall(SINOSMcRobotCmdInitPart* apPart);
3688 void StallTolerance(SINOSMcRobotCmdInitPart* apPart);
3690 void Position(SINOSMcRobotCmdInitPart* apPart);
3692 void Custom(SINOSMcRobotCmdInitPart* apPart);
3694 void Shared(SINOSMcRobotCmdInitPart* apPart);
3696 void None(SINOSMcRobotCmdInitPart* apPart);
3698 void ResolverAbsolute(SINOSMcRobotCmdInitPart* apPart);
3700 void AbsoluteEncoder(SINOSMcRobotCmdInitPart* apPart);
3701
3702 //--- internal -------------------------------------------------------------
3703
3704 friend class CINITTask;
3705 friend class CINOSMcRobotInitSync;
3706
3707 // proteced member functions
3708 protected :
3710 void PreInit(SINOSMcRobotCmdInitPart* apPart);
3712 void PostInit(SINOSMcRobotCmdInitPart* apPart, uint32 auResult=0);
3714 void StopInit(SINOSMcRobotCmdInitPart* apPart);
3716 void EmgStopInit(SINOSMcRobotCmdInitPart* apPart);
3718 uint32 HandleReferenceCnt(SINOSMcRobotCmdInitPart* apPart);
3720 uint32 CheckBlockedReference(SINOSMcRobotCmdInitPart* apPart);
3721
3723 uint32 ApplyAbsoluteEncoderPos(CINOSMcRobotAxis* mcra);
3724
3726 enum EFlags {
3727 eFlgStopped = 0x40000000,
3728 eFlgDone = 0x80000000
3729 };
3730
3732 enum EOrder {
3733 eOrdNone = 0,
3734 eOrdFirst = 1,
3735 eOrdSecond = 2,
3736 eOrdThird = 3,
3737 eOrdFourth = 4,
3738 eOrdFifth = 5,
3739 eOrdSixth = 6,
3740 eOrdSeventh = 7,
3741 eOrdLast = 7
3742 };
3743
3744 // protected members
3745 protected :
3747 uint32 m_uActOrder;
3749 uint32 m_uActCount;
3751 uint32 m_uFlags;
3753 bool m_bExceptionPending;
3755 SINOSMcRobotCmdInitPart* m_pFstPart;
3757 SINOSMcRobotCmdInitPart* m_pLstPart;
3758
3760 DECLARE_DYNAMIC(CINOSMcRobotCmdInit);
3761};
3762
3763//------------------------------------------------------------------------------
3764// class CINOSMcRobotCmdCalib
3765//------------------------------------------------------------------------------
3766//
3767struct SINOSMcRobotCmdCalibPart;
3768//
3769class CINOSMcRobotCmdCalib : public CINOSMcRobotCmd
3770{
3771 //--- user interface -------------------------------------------------------
3772
3773 // public member functions
3774 public :
3776 CINOSMcRobotCmdCalib (CINOSTaskExMsg* apMsg, void* apCallBack = NULL,
3777 void* apCallBackObject = NULL);
3779 virtual ~CINOSMcRobotCmdCalib ();
3780
3782 void AddCalib(tMcAxisName apAxis);
3783
3785 virtual uint32 Check();
3787 virtual uint32 Trigger();
3789 virtual uint32 Run();
3791 virtual uint32 Stop(uint32 auReply);
3793 virtual uint32 EmgStop();
3795 virtual void Done(uintid auPartId);
3797 virtual void SetSlowMotion(real64 arSlowMotion){};
3799 virtual void GetCmdPosition(real64& arPosition);
3801 virtual void GetActPosition(real64& arPosition);
3803 virtual void GetActVelocity(real64& arVelocity);
3804
3805 // calib types
3806
3808 void Standard(SINOSMcRobotCmdCalibPart* apPart);
3809
3810 //--- internal -------------------------------------------------------------
3811
3812 friend class CCALIBTask;
3813
3814 // proteced member functions
3815 protected :
3817 void PreCalib(SINOSMcRobotCmdCalibPart* apPart);
3819 void PostCalib(SINOSMcRobotCmdCalibPart* apPart, uint32 auResult=0);
3821 void StopCalib(SINOSMcRobotCmdCalibPart* apPart);
3823 void EmgStopCalib(SINOSMcRobotCmdCalibPart* apPart);
3824
3826 enum eFlags {
3827 eFlgStopped = 0x40000000,
3828 eFlgDone = 0x80000000
3829 };
3830
3831 // protected members
3832 protected :
3834 bool m_bExceptionPending;
3836 SINOSMcRobotCmdCalibPart* m_pFstPart;
3838 SINOSMcRobotCmdCalibPart* m_pLstPart;
3840 real64 m_rInitPos;
3842 real64 m_rNegBorder;
3844 real64 m_rPosBorder;
3845
3847 DECLARE_DYNAMIC(CINOSMcRobotCmdCalib);
3848};
3849
3850//------------------------------------------------------------------------------
3851// end of file
3852//------------------------------------------------------------------------------
3853
3854#endif // INC_CINOSMCROBOT_H
cinosmcmodule.h
The mcmodule class.
tMcAxisName
const char * tMcAxisName
The name of a McRobot axis.
Definition cinosmcrobot.h:193
cinosmovepath.h
The CINOSMovePath class.
DECLARE_DYNAMIC
#define DECLARE_DYNAMIC(aClass)
Definition cinospartitionmemory.h:328
CINOSAdcChannel
Definition cinosadcchannel.h:53
CINOSBaseRamp
Definition cinosbaseramp.h:752
CINOSBit
Definition cinosbit.h:54
CINOSBus::GetFirstBus
static CINOSBus * GetFirstBus()
Return first valid bus (aka "g_pBus[0]").
Definition cinosbus.h:641
CINOSMcModuleRes
Definition cinosmcmodule.h:126
CINOSMcModuleRes::GetResId
uint32 GetResId() const
get resource id
Definition cinosmcmodule.h:196
CINOSMcModuleWaitVar
Definition cinosmcmodule.h:1900
CINOSMcModule
Definition cinosmcmodule.h:296
CINOSMcRobotAxis
Definition cinosmcrobot.h:1447
CINOSMcRobotAxis::GetWheelParam
const char * GetWheelParam() const
get wheel param
Definition cinosmcrobot.h:1705
CINOSMcRobotAxis::m_uFlags
uint32 m_uFlags
axis flags
Definition cinosmcrobot.h:1864
CINOSMcRobotAxis::m_pWheel
CINOSPosChannel * m_pWheel
pointer to wheel pos channel
Definition cinosmcrobot.h:1920
CINOSMcRobotAxis::GetSourceId
uint32 GetSourceId() const
get source id
Definition cinosmcrobot.h:1496
CINOSMcRobotAxis::GetMinPositionOn
real64 GetMinPositionOn() const
get minposition at on
Definition cinosmcrobot.h:1481
CINOSMcRobotAxis::m_uInitBorder
nvuint32 m_uInitBorder
init border support
Definition cinosmcrobot.h:1967
CINOSMcRobotAxis::m_rInitReferenceTol
nvreal64 m_rInitReferenceTol
init reference tolerance
Definition cinosmcrobot.h:1973
CINOSMcRobotAxis::m_cJoyAdc
inosResName m_cJoyAdc
joystick adc name
Definition cinosmcrobot.h:1888
CINOSMcRobotAxis::m_bLimitNeg
bool m_bLimitNeg
neg limit reached
Definition cinosmcrobot.h:1949
CINOSMcRobotAxis::HasLimit
bool HasLimit() const
return true if axes has limit supervision
CINOSMcRobotAxis::HndBrakeReleaseRequest
void HndBrakeReleaseRequest()
handle brake release request
CINOSMcRobotAxis::m_rInitZeroSlow
nvreal64 m_rInitZeroSlow
init zero search slowmotion factor
Definition cinosmcrobot.h:1987
CINOSMcRobotAxis::m_rMaxPositionOn
nvreal64 m_rMaxPositionOn
max. allowed position at 'on'
Definition cinosmcrobot.h:1937
CINOSMcRobotAxis::CINOSMcRobotAxis
CINOSMcRobotAxis(CINOSMcRobot *apModule, uint32 auNumber, const char *apAlias=0, const char *apParam=0)
script constructor
CINOSMcRobotAxis::SetWheelFactor
void SetWheelFactor(real64 arFactor)
set wheel factor
Definition cinosmcrobot.h:1699
CINOSMcRobotAxis::SetAxis
void SetAxis(CINOSPhysicalAxis *apAxis)
set pointer axis
Definition cinosmcrobot.h:1505
CINOSMcRobotAxis::GetInitOrder
uint32 GetInitOrder() const
get init order
Definition cinosmcrobot.h:1556
CINOSMcRobotAxis::GetSlowMotion
real64 GetSlowMotion() const
get slowmotion factor
Definition cinosmcrobot.h:1475
CINOSMcRobotAxis::DispatchReply
virtual bool DispatchReply(CINOSTaskExMsg *apMsg)
dispatch reply message
CINOSMcRobotAxis::GetInitMovePos
real64 GetInitMovePos() const
get init move
Definition cinosmcrobot.h:1628
CINOSMcRobotAxis::m_rInitMovePos
nvreal64 m_rInitMovePos
init move position
Definition cinosmcrobot.h:2001
CINOSMcRobotAxis::m_rInitRange
nvreal64 m_rInitRange
init search range
Definition cinosmcrobot.h:1993
CINOSMcRobotAxis::m_uWheelFilterLength
nvuint32 m_uWheelFilterLength
wheel filter length
Definition cinosmcrobot.h:2045
CINOSMcRobotAxis::m_uInitType
nvuint32 m_uInitType
init type
Definition cinosmcrobot.h:1957
CINOSMcRobotAxis::GetBrake
CINOSBit * GetBrake() const
get pointer brake
Definition cinosmcrobot.h:1529
CINOSMcRobotAxis::m_rLifetimeDistance
nvreal64 m_rLifetimeDistance
lifetime distance
Definition cinosmcrobot.h:1933
CINOSMcRobotAxis::ResetState
void ResetState(uint32 auNewState, uint32 auOldState)
reset state
CINOSMcRobotAxis::m_rMinPosition
real64 m_rMinPosition
min. position
Definition cinosmcrobot.h:1942
CINOSMcRobotAxis::m_uInitCurrentLimit
nvuint32 m_uInitCurrentLimit
init currentlimit support
Definition cinosmcrobot.h:1981
CINOSMcRobotAxis::m_rJoyDeltaUnit
nvreal64 m_rJoyDeltaUnit
joystick delta [unit]
Definition cinosmcrobot.h:2034
CINOSMcRobotAxis::RegisterIO
void RegisterIO(CINCOObject *apParent)
register axis IO's
CINOSMcRobotAxis::m_pJoyAdcRes
CINOSMcModuleRes * m_pJoyAdcRes
pointer to joyadc resource
Definition cinosmcrobot.h:1918
CINOSMcRobotAxis::ClrFlag
void ClrFlag(uint32 auFlag)
clear flag
Definition cinosmcrobot.h:1466
CINOSMcRobotAxis::m_pWheelRes
CINOSMcModuleRes * m_pWheelRes
pointer to wheel resource
Definition cinosmcrobot.h:1922
CINOSMcRobotAxis::AddProp
virtual void AddProp(const char *apName, nvreal64 &aMember, real64 arDefault, real64 arMin, real64 arMax, const char *apUnit, uint32 auDigits)
add nvreal property to the 'Prop' folder
CINOSMcRobotAxis::~CINOSMcRobotAxis
virtual ~CINOSMcRobotAxis()
destructor
CINOSMcRobotAxis::m_uMonitorActionError
nvuint32 m_uMonitorActionError
monitor action error [0-no,1-cancel,2-cancel parent]
Definition cinosmcrobot.h:2058
CINOSMcRobotAxis::GetInitPos
real64 GetInitPos() const
get init position
Definition cinosmcrobot.h:1607
CINOSMcRobotAxis::HasPosNegLimit
bool HasPosNegLimit() const
return true if axes has pos/neg limit supervision
CINOSMcRobotAxis::CheckLimit
void CheckLimit()
do limitcheck
CINOSMcRobotAxis::CheckWarning
uint32 CheckWarning(tMsgId &auMsgId)
check actual axis warning
CINOSMcRobotAxis::m_pZero
CINOSBit * m_pZero
pointer to zero input
Definition cinosmcrobot.h:1900
CINOSMcRobotAxis::SaveLifetimeDistance
void SaveLifetimeDistance()
save lifetime distance
CINOSMcRobotAxis::GetInitReferenceSearchTol
real64 GetInitReferenceSearchTol() const
get init reference search tolerance
Definition cinosmcrobot.h:1577
CINOSMcRobotAxis::m_cJoyParam
nvstring m_cJoyParam
joystick param
Definition cinosmcrobot.h:2036
CINOSMcRobotAxis::GetInitReferenceSearchType
uint32 GetInitReferenceSearchType() const
get init reference search type
Definition cinosmcrobot.h:1574
CINOSMcRobotAxis::m_uInitDirection
nvuint32 m_uInitDirection
init direction
Definition cinosmcrobot.h:1961
CINOSMcRobotAxis::m_sInitParam
SINOSRampParam m_sInitParam
init param's rounded to a integral V value
Definition cinosmcrobot.h:1924
CINOSMcRobotAxis::GetInitEdge
uint32 GetInitEdge() const
get init edge
Definition cinosmcrobot.h:1562
CINOSMcRobotAxis::GetRampParam
SINOSRampParam * GetRampParam(const char *apParam, SINOSRampParam *apResult=NULL)
get ramp param (handles also names like e.g. Rapid[V=2.0 a=100.0])
CINOSMcRobotAxis::m_pLimitPos
CINOSBit * m_pLimitPos
pointer to zero input
Definition cinosmcrobot.h:1904
CINOSMcRobotAxis::m_pJoyPos
CINOSBit * m_pJoyPos
pointer to joypos input
Definition cinosmcrobot.h:1908
CINOSMcRobotAxis::GetMaxPositionOn
real64 GetMaxPositionOn() const
get maxposition at on
Definition cinosmcrobot.h:1484
CINOSMcRobotAxis::m_pJoyNegRes
CINOSMcModuleRes * m_pJoyNegRes
pointer to joyneg resource
Definition cinosmcrobot.h:1914
CINOSMcRobotAxis::GetInitZeroLeave
real64 GetInitZeroLeave() const
get zero leave distance
Definition cinosmcrobot.h:1604
CINOSMcRobotAxis::SetState
void SetState(uint32 auState)
set state
CINOSMcRobotAxis::HasBrake
bool HasBrake() const
return true if axis has brake
Definition cinosmcrobot.h:1655
CINOSMcRobotAxis::m_uMonitorType
nvuint32 m_uMonitorType
monitor enable request [0-no,1-error,2-warning,3-error/warning]
Definition cinosmcrobot.h:2056
CINOSMcRobotAxis::GetOption
bool GetOption(const char *apOption) const
get option
Definition cinosmcrobot.h:1469
CINOSMcRobotAxis::GetModule
CINOSMcModule * GetModule()
get pointer to my module
Definition cinosmcrobot.h:1834
CINOSMcRobotAxis::GetBrakeWaitOn
int32 GetBrakeWaitOn() const
get brake wait on
Definition cinosmcrobot.h:1658
CINOSMcRobotAxis::CheckLimitNeg
bool CheckLimitNeg() const
check neg limit
CINOSMcRobotAxis::GetZero
CINOSBit * GetZero()
get pointer zero input
Definition cinosmcrobot.h:1508
CINOSMcRobotAxis::GetJoyDeltaInc
uint32 GetJoyDeltaInc() const
get joy delta inc
Definition cinosmcrobot.h:1681
CINOSMcRobotAxis::m_pLimitNeg
CINOSBit * m_pLimitNeg
pointer to zero input
Definition cinosmcrobot.h:1906
CINOSMcRobotAxis::m_sCalibParam
SINOSRampParam m_sCalibParam
calib param's rounded to a integral V value
Definition cinosmcrobot.h:1926
CINOSMcRobotAxis::GetMonitorType
uint32 GetMonitorType() const
get monitor type
Definition cinosmcrobot.h:1723
CINOSMcRobotAxis::m_pAxis
CINOSPhysicalAxis * m_pAxis
pointer to axis
Definition cinosmcrobot.h:1896
CINOSMcRobotAxis::m_bLimitPos
bool m_bLimitPos
pos limit reached
Definition cinosmcrobot.h:1947
CINOSMcRobotAxis::GetInitRange
real64 GetInitRange() const
get init range
Definition cinosmcrobot.h:1613
CINOSMcRobotAxis::GetBrakeWaitOff
int32 GetBrakeWaitOff() const
get brake wait off
Definition cinosmcrobot.h:1661
CINOSMcRobotAxis::m_uJoyType
nvuint32 m_uJoyType
joystick type
Definition cinosmcrobot.h:2028
CINOSMcRobotAxis::GetCalibTolerance
real64 GetCalibTolerance() const
get calib tolerance
Definition cinosmcrobot.h:1643
CINOSMcRobotAxis::GetInitMaxCurrent
real64 GetInitMaxCurrent() const
get init max current
Definition cinosmcrobot.h:1595
CINOSMcRobotAxis::m_rMinPositionOn
nvreal64 m_rMinPositionOn
min. allowed position at 'on'
Definition cinosmcrobot.h:1935
CINOSMcRobotAxis::m_uMonitorPending
uint32 m_uMonitorPending
monitor pending
Definition cinosmcrobot.h:2054
CINOSMcRobotAxis::m_pBrakeReleaseHnd
CINOSxmsHandler * m_pBrakeReleaseHnd
brake release handler
Definition cinosmcrobot.h:2023
CINOSMcRobotAxis::GetLimitPos
CINOSBit * GetLimitPos() const
get pointer limit pos input
Definition cinosmcrobot.h:1519
CINOSMcRobotAxis::m_pJoyAdc
CINOSAdcChannel * m_pJoyAdc
pointer to joyadc channel
Definition cinosmcrobot.h:1916
CINOSMcRobotAxis::GetMonitorActionError
uint32 GetMonitorActionError() const
get monitor action
Definition cinosmcrobot.h:1726
CINOSMcRobotAxis::GetJoyWait
uint32 GetJoyWait() const
get joy wait
Definition cinosmcrobot.h:1678
CINOSMcRobotAxis::SetWarningMsgId
void SetWarningMsgId(tMsgId aId)
set warning message id
Definition cinosmcrobot.h:1732
CINOSMcRobotAxis::m_rCalibTolerance
nvreal64 m_rCalibTolerance
calib tolerance
Definition cinosmcrobot.h:2010
CINOSMcRobotAxis::m_LimitPosMsgId
tMsgId m_LimitPosMsgId
limit message id
Definition cinosmcrobot.h:1951
CINOSMcRobotAxis::m_rInitReferenceSearchTol
nvreal64 m_rInitReferenceSearchTol
init reference search tolerance
Definition cinosmcrobot.h:1977
CINOSMcRobotAxis::m_rInitMaxCurrent
nvreal64 m_rInitMaxCurrent
init max init current
Definition cinosmcrobot.h:1983
CINOSMcRobotAxis::GetInitReference
uint32 GetInitReference() const
get init reference support
Definition cinosmcrobot.h:1571
CINOSMcRobotAxis::m_cInitParam
nvstring m_cInitParam
init param
Definition cinosmcrobot.h:1997
CINOSMcRobotAxis::m_uMonitorActionWarning
nvuint32 m_uMonitorActionWarning
monitor action warning [0-no,1-stop,2-stop parent]
Definition cinosmcrobot.h:2060
CINOSMcRobotAxis::m_uBrakeReleaseRequest
uint32 m_uBrakeReleaseRequest
brake release request
Definition cinosmcrobot.h:2021
CINOSMcRobotAxis::m_rInitReferencePos
nvreal64 m_rInitReferencePos
init reference position
Definition cinosmcrobot.h:1971
CINOSMcRobotAxis::m_cZero
inosResName m_cZero
zero input name
Definition cinosmcrobot.h:1876
CINOSMcRobotAxis::m_uSimLevel
nvuint32 m_uSimLevel
sim level
Definition cinosmcrobot.h:1929
CINOSMcRobotAxis::m_iBrakeWaitOff
nvint32 m_iBrakeWaitOff
brake wait off [ms]
Definition cinosmcrobot.h:2019
CINOSMcRobotAxis::m_cJoyPos
inosResName m_cJoyPos
joystick pos name
Definition cinosmcrobot.h:1884
CINOSMcRobotAxis::SetBrakeReleaseRequest
void SetBrakeReleaseRequest(int32 aiMs)
set brake release request
CINOSMcRobotAxis::SetInitMovePos
void SetInitMovePos(real64 arInitMovePos)
set init move
Definition cinosmcrobot.h:1631
CINOSMcRobotAxis::GetWheelFilterLength
uint32 GetWheelFilterLength() const
get wheel filter length
Definition cinosmcrobot.h:1702
CINOSMcRobotAxis::DisableMonitor
void DisableMonitor(uint32 auType)
disable monitor
Definition cinosmcrobot.h:1717
CINOSMcRobotAxis::GetInitMoveParam
const char * GetInitMoveParam() const
get init move param
Definition cinosmcrobot.h:1634
CINOSMcRobotAxis::m_rInitPos
nvreal64 m_rInitPos
initial position
Definition cinosmcrobot.h:1991
CINOSMcRobotAxis::m_pRegister
CINCOObject * m_pRegister
pointer to axis properties folder
Definition cinosmcrobot.h:1892
CINOSMcRobotAxis::GetAdjCalibParam
SINOSRampParam * GetAdjCalibParam()
get adjusted calib params
Definition cinosmcrobot.h:1649
CINOSMcRobotAxis::m_rPowerTimeout
nvreal64 m_rPowerTimeout
power timeout
Definition cinosmcrobot.h:1939
CINOSMcRobotAxis::m_cName
inosResName m_cName
axis name
Definition cinosmcrobot.h:1874
CINOSMcRobotAxis::m_WarningMsgId
tMsgId m_WarningMsgId
warning message id
Definition cinosmcrobot.h:2062
CINOSMcRobotAxis::EnableMonitor
void EnableMonitor(uint32 auType)
enable monitor
Definition cinosmcrobot.h:1714
CINOSMcRobotAxis::GetInitMove
uint32 GetInitMove() const
get init reference support
Definition cinosmcrobot.h:1625
CINOSMcRobotAxis::GetInitType
uint32 GetInitType() const
get init type
Definition cinosmcrobot.h:1553
CINOSMcRobotAxis::GetMonitorActionWarning
uint32 GetMonitorActionWarning() const
get monitor warning
Definition cinosmcrobot.h:1729
CINOSMcRobotAxis::m_rInitReferenceSearchBack
nvreal64 m_rInitReferenceSearchBack
init reference search back
Definition cinosmcrobot.h:1979
CINOSMcRobotAxis::m_pModule
CINOSMcRobot * m_pModule
pointer to my module
Definition cinosmcrobot.h:1866
CINOSMcRobotAxis::m_uInitCommutation
nvuint32 m_uInitCommutation
init post commutation support
Definition cinosmcrobot.h:1965
CINOSMcRobotAxis::GetInitBorderLimit
real64 GetInitBorderLimit() const
get init border limit
Definition cinosmcrobot.h:1598
CINOSMcRobotAxis::m_cWheelParam
nvstring m_cWheelParam
wheel param
Definition cinosmcrobot.h:2047
CINOSMcRobotAxis::CheckLimit
uint32 CheckLimit(real64 arPosition)
do limitcheck
CINOSMcRobotAxis::m_uMonitorEnabled
uint32 m_uMonitorEnabled
monitor enabled
Definition cinosmcrobot.h:2052
CINOSMcRobotAxis::m_rInitSlaveBack
nvreal64 m_rInitSlaveBack
init slave backward
Definition cinosmcrobot.h:1995
CINOSMcRobotAxis::m_uInitReference
nvuint32 m_uInitReference
init reference support
Definition cinosmcrobot.h:1969
CINOSMcRobotAxis::m_uInitEdge
nvuint32 m_uInitEdge
init input edge
Definition cinosmcrobot.h:1963
CINOSMcRobotAxis::m_pJoyNeg
CINOSBit * m_pJoyNeg
pointer to joyneg input
Definition cinosmcrobot.h:1912
CINOSMcRobotAxis::GetSimLevel
uint32 GetSimLevel() const
get simlevel
Definition cinosmcrobot.h:1472
CINOSMcRobotAxis::DoBrakeRelease
void DoBrakeRelease()
brake release
Definition cinosmcrobot.h:1669
CINOSMcRobotAxis::Monitor
void Monitor()
monitor
CINOSMcRobotAxis::GetLimitNeg
CINOSBit * GetLimitNeg() const
get pointer limit neg input
Definition cinosmcrobot.h:1524
CINOSMcRobotAxis::m_cWheel
inosResName m_cWheel
wheel pos channel name
Definition cinosmcrobot.h:1890
CINOSMcRobotAxis::SetName
void SetName(const char *apName)
set axis name
Definition cinosmcrobot.h:1493
CINOSMcRobotAxis::m_uJoyDeltaInc
nvuint32 m_uJoyDeltaInc
joystick delta [inc]
Definition cinosmcrobot.h:2032
CINOSMcRobotAxis::GetInitReferenceTol
real64 GetInitReferenceTol() const
get init reference tolerance
Definition cinosmcrobot.h:1589
CINOSMcRobotAxis::GetJoyType
uint32 GetJoyType() const
get joy type
Definition cinosmcrobot.h:1675
CINOSMcRobotAxis::m_cLimitNeg
inosResName m_cLimitNeg
zero input name
Definition cinosmcrobot.h:1882
CINOSMcRobotAxis::GetNumber
uint32 GetNumber() const
get axis number
Definition cinosmcrobot.h:1499
CINOSMcRobotAxis::m_rSlowMotion
nvreal64 m_rSlowMotion
slowmotion factor
Definition cinosmcrobot.h:1931
CINOSMcRobotAxis::m_uStateCount
uint32 m_uStateCount
state count
Definition cinosmcrobot.h:1862
CINOSMcRobotAxis::GetRegister
CINCOObject * GetRegister(CINCOObject *apParent=0)
get inco registration
CINOSMcRobotAxis::m_pBrake
CINOSBit * m_pBrake
pointer to brake output
Definition cinosmcrobot.h:1902
CINOSMcRobotAxis::GetAdjInitParam
SINOSRampParam * GetAdjInitParam()
get adjusted init params
Definition cinosmcrobot.h:1622
CINOSMcRobotAxis::DoBrake
void DoBrake()
brake
Definition cinosmcrobot.h:1666
CINOSMcRobotAxis::GetState
uint32 GetState()
get state
Definition cinosmcrobot.h:1453
CINOSMcRobotAxis::GetJoyParam
const char * GetJoyParam() const
get joy param
Definition cinosmcrobot.h:1687
CINOSMcRobotAxis::GetInitZeroSlow
real64 GetInitZeroSlow() const
get zero slowmotion
Definition cinosmcrobot.h:1601
CINOSMcRobotAxis::CheckConfig
uint32 CheckConfig()
check axis config
CINOSMcRobotAxis::m_rMaxPosition
real64 m_rMaxPosition
max. position
Definition cinosmcrobot.h:1944
CINOSMcRobotAxis::m_uWheelType
nvuint32 m_uWheelType
wheel type
Definition cinosmcrobot.h:2041
CINOSMcRobotAxis::m_pNext
CINOSMcRobotAxis * m_pNext
pointer to next axis in list
Definition cinosmcrobot.h:2065
CINOSMcRobotAxis::SetInitPos
void SetInitPos(real64 arInitPos)
set init position
Definition cinosmcrobot.h:1610
CINOSMcRobotAxis::m_cInitGeneric
char m_cInitGeneric[256]
init generic parameter
Definition cinosmcrobot.h:1959
CINOSMcRobotAxis::m_cJoyNeg
inosResName m_cJoyNeg
joystick neg name
Definition cinosmcrobot.h:1886
CINOSMcRobotAxis::GetMonitorEnabled
uint32 GetMonitorEnabled(uint32 auType)
get monitoring enabled
Definition cinosmcrobot.h:1720
CINOSMcRobotAxis::m_cAlias
inosName64 m_cAlias
axis name
Definition cinosmcrobot.h:1870
CINOSMcRobotAxis::m_cBrake
inosResName m_cBrake
brake output name
Definition cinosmcrobot.h:1878
CINOSMcRobotAxis::GetInitCurrentLimit
uint32 GetInitCurrentLimit() const
get init currentlimit support
Definition cinosmcrobot.h:1592
CINOSMcRobotAxis::GetJoyDeltaUnit
real64 GetJoyDeltaUnit() const
get joy delta unit
Definition cinosmcrobot.h:1684
CINOSMcRobotAxis::GetInitSlaveBack
real64 GetInitSlaveBack() const
get init slave backward
Definition cinosmcrobot.h:1616
CINOSMcRobotAxis::CheckLimitPos
bool CheckLimitPos() const
check pos limit
CINOSMcRobotAxis::UpdateResource
void UpdateResource(const char *apName)
update given axis resource
CINOSMcRobotAxis::GetInitReferenceSearchBack
real64 GetInitReferenceSearchBack() const
get init reference search back
Definition cinosmcrobot.h:1580
CINOSMcRobotAxis::GetWheelType
uint32 GetWheelType() const
get wheel type
Definition cinosmcrobot.h:1693
CINOSMcRobotAxis::GetFlag
bool GetFlag(uint32 auFlag) const
get flag
Definition cinosmcrobot.h:1460
CINOSMcRobotAxis::m_iBrakeWaitOn
nvint32 m_iBrakeWaitOn
brake wait on [ms]
Definition cinosmcrobot.h:2017
CINOSMcRobotAxis::GetInitBorder
uint32 GetInitBorder() const
get init border support
Definition cinosmcrobot.h:1568
CINOSMcRobotAxis::m_rWheelFactor
nvreal64 m_rWheelFactor
wheel factor [*]
Definition cinosmcrobot.h:2043
CINOSMcRobotAxis::m_pAxisRes
CINOSMcModuleRes * m_pAxisRes
pointer to axis resource
Definition cinosmcrobot.h:1898
CINOSMcRobotAxis::GetWheelName
const char * GetWheelName() const
get wheel name
Definition cinosmcrobot.h:1709
CINOSMcRobotAxis::GetCalibParam
const char * GetCalibParam() const
get calib params
Definition cinosmcrobot.h:1646
CINOSMcRobotAxis::GetCalibType
uint32 GetCalibType() const
get calib type
Definition cinosmcrobot.h:1640
CINOSMcRobotAxis::m_uState
uint32 m_uState
axis state
Definition cinosmcrobot.h:1860
CINOSMcRobotAxis::m_cCalibParam
nvstring m_cCalibParam
calib param
Definition cinosmcrobot.h:2012
CINOSMcRobotAxis::GetInitCommutation
uint32 GetInitCommutation() const
get init post commutation support
Definition cinosmcrobot.h:1565
CINOSMcRobotAxis::m_pJoyPosRes
CINOSMcModuleRes * m_pJoyPosRes
pointer to joypos resource
Definition cinosmcrobot.h:1910
CINOSMcRobotAxis::GetPowerTimeout
real64 GetPowerTimeout() const
get power timeout
Definition cinosmcrobot.h:1487
CINOSMcRobotAxis::m_cInitMoveParam
nvstring m_cInitMoveParam
init move param
Definition cinosmcrobot.h:2003
CINOSMcRobotAxis::GetWheelFactor
real64 GetWheelFactor() const
get wheel factor
Definition cinosmcrobot.h:1696
CINOSMcRobotAxis::m_rInitBorderLimit
nvreal64 m_rInitBorderLimit
init borderlimit
Definition cinosmcrobot.h:1985
CINOSMcRobotAxis::m_uInitReferenceSearchType
nvuint32 m_uInitReferenceSearchType
init reference search type
Definition cinosmcrobot.h:1975
CINOSMcRobotAxis::m_cLimitPos
inosResName m_cLimitPos
zero input name
Definition cinosmcrobot.h:1880
CINOSMcRobotAxis::SetInitReferencePos
void SetInitReferencePos(real64 arReferencePos)
set init reference position
Definition cinosmcrobot.h:1586
CINOSMcRobotAxis::m_uNumber
uint32 m_uNumber
axis number
Definition cinosmcrobot.h:1868
CINOSMcRobotAxis::m_cParam
char m_cParam[32]
axis param
Definition cinosmcrobot.h:1872
CINOSMcRobotAxis::m_uInitMove
nvuint32 m_uInitMove
init move support
Definition cinosmcrobot.h:1999
CINOSMcRobotAxis::GetInitReferencePos
real64 GetInitReferencePos() const
get init reference position
Definition cinosmcrobot.h:1583
CINOSMcRobotAxis::DECLARE_DYNAMIC
DECLARE_DYNAMIC(CINOSMcRobotAxis)
dynamic object handling
CINOSMcRobotAxis::GetName
const char * GetName() const
get axis name
Definition cinosmcrobot.h:1490
CINOSMcRobotAxis::CheckError
uint32 CheckError(bool abPostMessage=true)
CINOSMcRobotAxis::GetInitDirection
uint32 GetInitDirection() const
get init direction
Definition cinosmcrobot.h:1559
CINOSMcRobotAxis::SetFlag
void SetFlag(uint32 auFlag)
set flag
Definition cinosmcrobot.h:1463
CINOSMcRobotAxis::m_rInitZeroLeave
nvreal64 m_rInitZeroLeave
init zero leave distance
Definition cinosmcrobot.h:1989
CINOSMcRobotAxis::GetAxis
CINOSPhysicalAxis * GetAxis() const
get pointer axis
Definition cinosmcrobot.h:1502
CINOSMcRobotAxis::m_uOrder
uint32 m_uOrder
prop order
Definition cinosmcrobot.h:1894
CINOSMcRobotAxis::GetInitParam
const char * GetInitParam() const
get init params
Definition cinosmcrobot.h:1619
CINOSMcRobotAxis::m_uCalibType
nvuint32 m_uCalibType
calib type
Definition cinosmcrobot.h:2008
CINOSMcRobotAxis::SetSlowMotion
void SetSlowMotion(real64 arSlowMotion)
set slowmotion factor
Definition cinosmcrobot.h:1478
CINOSMcRobotAxis::m_uJoyWait
nvuint32 m_uJoyWait
joystick wait [ms]
Definition cinosmcrobot.h:2030
CINOSMcRobotCmdCalib
Definition cinosmcrobot.h:3770
CINOSMcRobotCmdCalib::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdCalib::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdCalib::m_rNegBorder
real64 m_rNegBorder
negative border position found
Definition cinosmcrobot.h:3842
CINOSMcRobotCmdCalib::EmgStopCalib
void EmgStopCalib(SINOSMcRobotCmdCalibPart *apPart)
emergency stop calib
CINOSMcRobotCmdCalib::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdCalib::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdCalib::StopCalib
void StopCalib(SINOSMcRobotCmdCalibPart *apPart)
stop calib
CINOSMcRobotCmdCalib::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion (not supported)
Definition cinosmcrobot.h:3797
CINOSMcRobotCmdCalib::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdCalib::CINOSMcRobotCmdCalib
CINOSMcRobotCmdCalib(CINOSTaskExMsg *apMsg, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdCalib::PreCalib
void PreCalib(SINOSMcRobotCmdCalibPart *apPart)
pre calib
CINOSMcRobotCmdCalib::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdCalib::AddCalib
void AddCalib(tMcAxisName apAxis)
add calib to command
CINOSMcRobotCmdCalib::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdCalib::m_rPosBorder
real64 m_rPosBorder
positive border position found
Definition cinosmcrobot.h:3844
CINOSMcRobotCmdCalib::m_pFstPart
SINOSMcRobotCmdCalibPart * m_pFstPart
pointer to first calib part
Definition cinosmcrobot.h:3836
CINOSMcRobotCmdCalib::m_rInitPos
real64 m_rInitPos
reference position found
Definition cinosmcrobot.h:3840
CINOSMcRobotCmdCalib::m_pLstPart
SINOSMcRobotCmdCalibPart * m_pLstPart
pointer to last calib part
Definition cinosmcrobot.h:3838
CINOSMcRobotCmdCalib::Standard
void Standard(SINOSMcRobotCmdCalibPart *apPart)
standard calib
CINOSMcRobotCmdCalib::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdCalib::~CINOSMcRobotCmdCalib
virtual ~CINOSMcRobotCmdCalib()
destructor
CINOSMcRobotCmdCalib::m_bExceptionPending
bool m_bExceptionPending
exception pending
Definition cinosmcrobot.h:3834
CINOSMcRobotCmdCalib::eFlags
eFlags
validity
Definition cinosmcrobot.h:3826
CINOSMcRobotCmdCalib::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdCalib::DECLARE_DYNAMIC
DECLARE_DYNAMIC(CINOSMcRobotCmdCalib)
dynamic object handling
CINOSMcRobotCmdCalib::PostCalib
void PostCalib(SINOSMcRobotCmdCalibPart *apPart, uint32 auResult=0)
post calib
CINOSMcRobotCmdEndless
INOS McRobot command to move one axis endlessly towards a certain direction with a specific speed set...
Definition cinosmcrobot.h:2561
CINOSMcRobotCmdEndless::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdEndless::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdEndless::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdEndless::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdEndless::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdEndless::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdEndless::CINOSMcRobotCmdEndless
CINOSMcRobotCmdEndless(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, bool abPositive, const char *apParam, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
CINOSMcRobotCmdEndless::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdEndless::CINOSMcRobotCmdEndless
CINOSMcRobotCmdEndless(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, bool abPositive, const char *apParam, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
constructor
CINOSMcRobotCmdEndless::~CINOSMcRobotCmdEndless
virtual ~CINOSMcRobotCmdEndless()
destructor
CINOSMcRobotCmdEndless::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdEndless::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdEndless::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdInit
Definition cinosmcrobot.h:3644
CINOSMcRobotCmdInit::m_bExceptionPending
bool m_bExceptionPending
exception pending
Definition cinosmcrobot.h:3753
CINOSMcRobotCmdInit::AddInit
void AddInit(tMcAxisName apAxis)
add init to command
CINOSMcRobotCmdInit::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdInit::EmgStopInit
void EmgStopInit(SINOSMcRobotCmdInitPart *apPart)
emergency stop init
CINOSMcRobotCmdInit::m_uActOrder
uint32 m_uActOrder
actual init order
Definition cinosmcrobot.h:3747
CINOSMcRobotCmdInit::Shared
void Shared(SINOSMcRobotCmdInitPart *apPart)
Shared init.
CINOSMcRobotCmdInit::Stall
void Stall(SINOSMcRobotCmdInitPart *apPart)
stall init
CINOSMcRobotCmdInit::m_pFstPart
SINOSMcRobotCmdInitPart * m_pFstPart
pointer to first init part
Definition cinosmcrobot.h:3755
CINOSMcRobotCmdInit::Custom
void Custom(SINOSMcRobotCmdInitPart *apPart)
Custom init.
CINOSMcRobotCmdInit::Standard
void Standard(SINOSMcRobotCmdInitPart *apPart)
standard init
CINOSMcRobotCmdInit::ResolverAbsolute
void ResolverAbsolute(SINOSMcRobotCmdInitPart *apPart)
Resolver absolute init.
CINOSMcRobotCmdInit::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion (not supported)
Definition cinosmcrobot.h:3671
CINOSMcRobotCmdInit::CINOSMcRobotCmdInit
CINOSMcRobotCmdInit(CINOSTaskExMsg *apMsg, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdInit::Position
void Position(SINOSMcRobotCmdInitPart *apPart)
Position init.
CINOSMcRobotCmdInit::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdInit::StopInit
void StopInit(SINOSMcRobotCmdInitPart *apPart)
stop init
CINOSMcRobotCmdInit::EOrder
EOrder
init order
Definition cinosmcrobot.h:3732
CINOSMcRobotCmdInit::Border
void Border(SINOSMcRobotCmdInitPart *apPart)
border init
CINOSMcRobotCmdInit::None
void None(SINOSMcRobotCmdInitPart *apPart)
None init.
CINOSMcRobotCmdInit::~CINOSMcRobotCmdInit
virtual ~CINOSMcRobotCmdInit()
destructor
CINOSMcRobotCmdInit::EFlags
EFlags
validity
Definition cinosmcrobot.h:3726
CINOSMcRobotCmdInit::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdInit::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdInit::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdInit::m_pLstPart
SINOSMcRobotCmdInitPart * m_pLstPart
pointer to last init part
Definition cinosmcrobot.h:3757
CINOSMcRobotCmdInit::PostInit
void PostInit(SINOSMcRobotCmdInitPart *apPart, uint32 auResult=0)
post init
CINOSMcRobotCmdInit::AbsoluteEncoder
void AbsoluteEncoder(SINOSMcRobotCmdInitPart *apPart)
Absolute encoder.
CINOSMcRobotCmdInit::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdInit::HandleReferenceCnt
uint32 HandleReferenceCnt(SINOSMcRobotCmdInitPart *apPart)
handle reference count
CINOSMcRobotCmdInit::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdInit::PreInit
void PreInit(SINOSMcRobotCmdInitPart *apPart)
pre init
CINOSMcRobotCmdInit::ApplyAbsoluteEncoderPos
uint32 ApplyAbsoluteEncoderPos(CINOSMcRobotAxis *mcra)
update actual position from absolute encoder
CINOSMcRobotCmdInit::CheckBlockedReference
uint32 CheckBlockedReference(SINOSMcRobotCmdInitPart *apPart)
check blocked reference
CINOSMcRobotCmdInit::StallTolerance
void StallTolerance(SINOSMcRobotCmdInitPart *apPart)
stall tolerance init
CINOSMcRobotCmdInit::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdInit::m_uFlags
uint32 m_uFlags
flags
Definition cinosmcrobot.h:3751
CINOSMcRobotCmdInit::m_uActCount
uint32 m_uActCount
actual init count
Definition cinosmcrobot.h:3749
CINOSMcRobotCmdInit::DECLARE_DYNAMIC
DECLARE_DYNAMIC(CINOSMcRobotCmdInit)
dynamic object handling
CINOSMcRobotCmdInit::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdLinear
Definition cinosmcrobot.h:2434
CINOSMcRobotCmdLinear::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdLinear::CINOSMcRobotCmdLinear
CINOSMcRobotCmdLinear(CINOSTaskExMsg *apMsg, const char *apParam, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
CINOSMcRobotCmdLinear::SetMoveDep
virtual void SetMoveDep(real64 arDepPos, real64 arDepVel)
set depart param
CINOSMcRobotCmdLinear::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdLinear::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdLinear::~CINOSMcRobotCmdLinear
virtual ~CINOSMcRobotCmdLinear()
destructor
CINOSMcRobotCmdLinear::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdLinear::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdLinear::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdLinear::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdLinear::SetMoveApp
virtual void SetMoveApp(real64 arAppPos, real64 arAppVel)
set approach param
CINOSMcRobotCmdLinear::AddEvent
virtual void AddEvent(const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0)
add event to command
CINOSMcRobotCmdLinear::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdLinear::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdLinear::CINOSMcRobotCmdLinear
CINOSMcRobotCmdLinear(CINOSTaskExMsg *apMsg, const char *apParam, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
constructor
CINOSMcRobotCmdLinear::AddLinear
void AddLinear(tMcAxisName apAxis, real64 arPosition, eMoveType aeMoveType=eTypAbsolute, bool abLength=true)
add linear to command
CINOSMcRobotCmdLinear::GetEventTicks
virtual bool GetEventTicks(const char *apName, uint64 &auBusTicks, uint8 &auBusId)
get event ticks
CINOSMcRobotCmdLinear::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveCarefully
Definition cinosmcrobot.h:3209
CINOSMcRobotCmdMoveCarefully::~CINOSMcRobotCmdMoveCarefully
virtual ~CINOSMcRobotCmdMoveCarefully()
destructor
CINOSMcRobotCmdMoveCarefully::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveCarefully::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveCarefully::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveCarefully::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveCarefully::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMoveCarefully::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveCarefully::CINOSMcRobotCmdMoveCarefully
CINOSMcRobotCmdMoveCarefully(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, real64 arPosition, real64 arPosError, real64 arCurLimit, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdMoveCarefully::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveCarefully::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveCarefully::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveCarefully::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveEx
Definition cinosmcrobot.h:3279
CINOSMcRobotCmdMoveEx::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveEx::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveEx::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveEx::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMoveEx::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveEx::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveEx::~CINOSMcRobotCmdMoveEx
virtual ~CINOSMcRobotCmdMoveEx()
destructor
CINOSMcRobotCmdMoveEx::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveEx::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveEx::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveEx::CINOSMcRobotCmdMoveEx
CINOSMcRobotCmdMoveEx(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, real64 arPosition, real64 arTrgPosition, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdMoveEx::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveSafe
Definition cinosmcrobot.h:2635
CINOSMcRobotCmdMoveSafe::CINOSMcRobotCmdMoveSafe
CINOSMcRobotCmdMoveSafe(CINOSTaskExMsg *apMsg, tMcAxisName apAxis1, real64 arPosition1, real64 arSafe1, real64 arSafe2, const char *apParam1, tMcAxisName apAxisP, real64 arPositionP, const char *apParamP, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructors with one speedset for safe moves
CINOSMcRobotCmdMoveSafe::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveSafe::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveSafe::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveSafe::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveSafe::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveSafe::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMoveSafe::GetEventTicks
virtual bool GetEventTicks(const char *apName, uint64 &auBusTicks, uint8 &auBusId)
get event ticks
CINOSMcRobotCmdMoveSafe::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveSafe::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveSafe::~CINOSMcRobotCmdMoveSafe
virtual ~CINOSMcRobotCmdMoveSafe()
destructor
CINOSMcRobotCmdMoveSafe::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveSafe::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveSafe::CINOSMcRobotCmdMoveSafe
CINOSMcRobotCmdMoveSafe(CINOSTaskExMsg *apMsg, tMcAxisName apAxis1, real64 arPosition1, real64 arSafe1, real64 arSafe2, const char *apParam1, const char *apParam2, tMcAxisName apAxisP, real64 arPositionP, const char *apParamP, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructors with two speedset for safe moves
CINOSMcRobotCmdMoveToAnalogSensor
Definition cinosmcrobot.h:3118
CINOSMcRobotCmdMoveToAnalogSensor::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMoveToAnalogSensor::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveToAnalogSensor::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveToAnalogSensor::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveToAnalogSensor::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveToAnalogSensor::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveToAnalogSensor::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveToAnalogSensor::CINOSMcRobotCmdMoveToAnalogSensor
CINOSMcRobotCmdMoveToAnalogSensor(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arLevel, bool abGreater, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdMoveToAnalogSensor::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveToAnalogSensor::~CINOSMcRobotCmdMoveToAnalogSensor
virtual ~CINOSMcRobotCmdMoveToAnalogSensor()
destructor
CINOSMcRobotCmdMoveToAnalogSensor::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveToAnalogSensor::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveToBorderApp
Definition cinosmcrobot.h:2822
CINOSMcRobotCmdMoveToBorderApp::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveToBorderApp::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveToBorderApp::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveToBorderApp::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveToBorderApp::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveToBorderApp::CINOSMcRobotCmdMoveToBorderApp
CINOSMcRobotCmdMoveToBorderApp(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdMoveToBorderApp::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveToBorderApp::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMoveToBorderApp::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveToBorderApp::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveToBorderApp::~CINOSMcRobotCmdMoveToBorderApp
virtual ~CINOSMcRobotCmdMoveToBorderApp()
destructor
CINOSMcRobotCmdMoveToBorderApp::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveToBorder
Definition cinosmcrobot.h:2750
CINOSMcRobotCmdMoveToBorder::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveToBorder::CINOSMcRobotCmdMoveToBorder
CINOSMcRobotCmdMoveToBorder(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, real64 arPosition, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmdMoveToBorder::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveToBorder::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveToBorder::~CINOSMcRobotCmdMoveToBorder
virtual ~CINOSMcRobotCmdMoveToBorder()
destructor
CINOSMcRobotCmdMoveToBorder::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMoveToBorder::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveToBorder::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveToBorder::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveToBorder::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveToBorder::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveToBorder::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveToDigitalSensor
Move one axis towards a certain direction to search for a sensor. The axis stops when either the sens...
Definition cinosmcrobot.h:2925
CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor
CINOSMcRobotCmdMoveToDigitalSensor(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, const char *apName, real64 arPosition, bool abSet, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
Default constructor.
CINOSMcRobotCmdMoveToDigitalSensor::~CINOSMcRobotCmdMoveToDigitalSensor
virtual ~CINOSMcRobotCmdMoveToDigitalSensor()
destructor
CINOSMcRobotCmdMoveToDigitalSensor::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdMoveToDigitalSensor::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdMoveToDigitalSensor::AddEvent
virtual void AddEvent(const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0)
add event to command
CINOSMcRobotCmdMoveToDigitalSensor::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmdMoveToDigitalSensor::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor
CINOSMcRobotCmdMoveToDigitalSensor(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, real64 arPositionVel, real64 arVelocity, const char *apName, real64 arPosition, bool abSet, real64 &arResult, uint32 auFlags, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
CINOSMcRobotCmdMoveToDigitalSensor::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdMoveToDigitalSensor::GetEventTicks
virtual bool GetEventTicks(const char *apName, uint64 &auBusTicks, uint8 &auBusId)
get event ticks
CINOSMcRobotCmdMoveToDigitalSensor::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor
CINOSMcRobotCmdMoveToDigitalSensor(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, const char *apName, real64 arPosition, bool abSet, real64 &arResult, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
Use this overloaded version if you're interested in the position at which the sensor has been found,...
CINOSMcRobotCmdMoveToDigitalSensor::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor
CINOSMcRobotCmdMoveToDigitalSensor(CINOSTaskExMsg *apMsg, tMcAxisName apAxis, const char *apName, real64 arPosition, bool abSet, real64 &arResult, uint32 auFlags, const char *apParam, void *apCallBack=NULL, void *apCallBackObject=NULL)
Use this overloaded version if you're interested in the position at which the sensor has been found,...
CINOSMcRobotCmdMoveToDigitalSensor::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdMoveToDigitalSensor::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdMoveToDigitalSensor::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdMove
Definition cinosmcrobot.h:2294
CINOSMcRobotCmdMove::GetEventTicks
virtual bool GetEventTicks(const char *apName, uint64 &auBusTicks, uint8 &auBusId) override
get event ticks
CINOSMcRobotCmdMove::m_pLstPart
SINOSMcRobotCmdMovePart * m_pLstPart
pointer to last move part
Definition cinosmcrobot.h:2420
CINOSMcRobotCmdMove::~CINOSMcRobotCmdMove
virtual ~CINOSMcRobotCmdMove()
destructor
CINOSMcRobotCmdMove::DECLARE_DYNAMIC
DECLARE_DYNAMIC(CINOSMcRobotCmdMove)
dynamic object handling
CINOSMcRobotCmdMove::AddMoveApp
void AddMoveApp(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, eMoveType aeMoveType=eTypAbsolute)
add moveapp to command
CINOSMcRobotCmdMove::GetSlowMotion
virtual void GetSlowMotion(real64 &arSlowMotion)
get slowmotion
Definition cinosmcrobot.h:2361
CINOSMcRobotCmdMove::m_pFstPart
SINOSMcRobotCmdMovePart * m_pFstPart
pointer to first move part
Definition cinosmcrobot.h:2418
CINOSMcRobotCmdMove::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity) override
get act velocity
CINOSMcRobotCmdMove::m_rDepPosBgn
real64 m_rDepPosBgn
pos begin (used by movefromborderdep)
Definition cinosmcrobot.h:2412
CINOSMcRobotCmdMove::m_rMoveTime
real64 m_rMoveTime
moving time [ms]
Definition cinosmcrobot.h:2406
CINOSMcRobotCmdMove::CINOSMcRobotCmdMove
CINOSMcRobotCmdMove(CINOSTaskExMsg *apMsg, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
CINOSMcRobotCmdMove::GetActPosition
virtual void GetActPosition(real64 &arPosition) override
get act position
CINOSMcRobotCmdMove::Check
virtual uint32 Check() override
check command
CINOSMcRobotCmdMove::Done
virtual void Done(uintid auPartId) override
done command
CINOSMcRobotCmdMove::m_rSlowMotion
real64 m_rSlowMotion
requested slowmotion factor
Definition cinosmcrobot.h:2408
CINOSMcRobotCmdMove::GetMultipleEventWithMaxTicks
virtual struct SINOSMcRobotCmdMoveEvent * GetMultipleEventWithMaxTicks()
get event with max ticks
CINOSMcRobotCmdMove::AddMove
void AddMove(tMcAxisName apAxis, real64 arPosition, const char *apParam, real64 arSlowMotion, eMoveType aeMoveType=eTypAbsolute)
add move to command
CINOSMcRobotCmdMove::EmgStop
virtual uint32 EmgStop() override
emergency stop command
CINOSMcRobotCmdMove::GetCmdPosition
virtual void GetCmdPosition(tMcAxisName apAxis, real64 &arPosition)
get cmd position of apAxis
CINOSMcRobotCmdMove::m_rDepPosVel
real64 m_rDepPosVel
pos vel (used by movefromborderdep)
Definition cinosmcrobot.h:2414
CINOSMcRobotCmdMove::AddMove
void AddMove(tMcAxisName apAxis, real64 arPosition, const char *apParam, eMoveType aeMoveType=eTypAbsolute)
add move to command
CINOSMcRobotCmdMove::Stop
virtual uint32 Stop(uint32 auReply) override
stop command
CINOSMcRobotCmdMove::Run
virtual uint32 Run() override
run command
CINOSMcRobotCmdMove::Trigger
virtual uint32 Trigger() override
prepare command
CINOSMcRobotCmdMove::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition) override
get cmd position
CINOSMcRobotCmdMove::AddEvent
virtual void AddEvent(const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0) override
add event to command
CINOSMcRobotCmdMove::GetCmdVelocity
virtual void GetCmdVelocity(real64 &arVelocity)
get cmd velocity
CINOSMcRobotCmdMove::m_bDepCurLim
bool m_bDepCurLim
cur limit (used by movefromborderdep)
Definition cinosmcrobot.h:2416
CINOSMcRobotCmdMove::AddMoveDep
void AddMoveDep(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, eMoveType aeMoveType=eTypAbsolute)
add movedep to command
CINOSMcRobotCmdMove::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion) override
set slowmotion
CINOSMcRobotCmdMove::m_rSlowMotionOverwrite
real64 m_rSlowMotionOverwrite
requested slowmotion factor overwrite
Definition cinosmcrobot.h:2410
CINOSMcRobotCmdMove::AddMove
void AddMove(tMcAxisName apAxis, real64 arPosition, SINOSRampParam *apParam, eMoveType aeMoveType=eTypAbsolute)
add move to command
CINOSMcRobotCmdMove::GetEventMultiple
virtual uint32 GetEventMultiple(const char *apName)
get event multiple flag
CINOSMcRobotCmdMove::CINOSMcRobotCmdMove
CINOSMcRobotCmdMove(CINOSTaskExMsg *apMsg, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
constructor
CINOSMcRobotCmdMove::AddMoveDep
void AddMoveDep(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam, eMoveType aeMoveType=eTypAbsolute)
add movedep to command
CINOSMcRobotCmdMove::AddMoveApp
void AddMoveApp(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam, eMoveType aeMoveType=eTypAbsolute)
add moveapp to command
CINOSMcRobotCmdMove::m_uFlags
uint32 m_uFlags
flags
Definition cinosmcrobot.h:2404
CINOSMcRobotCmdShape
Definition cinosmcrobot.h:3373
CINOSMcRobotCmdShape::CircleCC
virtual void CircleCC(tMcAxisName apAxis1, tMcAxisName apAxis2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
add counter clock wise circle part with axes 'apAxis1' and 'apAxis2'
CINOSMcRobotCmdShape::GetSlowMotion
virtual void GetSlowMotion(real64 &arSlowMotion)
get slowmotion
Definition cinosmcrobot.h:3506
CINOSMcRobotCmdShape::SetTolerance
virtual void SetTolerance(real64 arTolerance)
set global shape tolerance
CINOSMcRobotCmdShape::CINOSMcRobotCmdShape
CINOSMcRobotCmdShape(CINOSTaskExMsg *apMsg, CINOSShape *apShape, const char *apParam, uint32 auPoints, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
CINOSMcRobotCmdShape::m_rSlowMotion
real64 m_rSlowMotion
requested slowmotion factor
Definition cinosmcrobot.h:3548
CINOSMcRobotCmdShape::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)
get act velocity
CINOSMcRobotCmdShape::SetEnd
virtual void SetEnd()
add set end
CINOSMcRobotCmdShape::CircleCW
virtual void CircleCW(tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
add clock wise circle part with axes 'apAxis1' and 'apAxis2'
CINOSMcRobotCmdShape::GetEvent
virtual SINOSMcRobotCmdShapeEvent * GetEvent(const char *apName)
add event to command
CINOSMcRobotCmdShape::m_uShapeFlags
uint32 m_uShapeFlags
shape flags
Definition cinosmcrobot.h:3544
CINOSMcRobotCmdShape::Run
virtual uint32 Run()
run command
CINOSMcRobotCmdShape::Rapid
virtual void Rapid(tMcAxisName apAxis, double adPosition, uint32 auFlags=0)
add rapid part of 'apAxis' to 'adPosition'
CINOSMcRobotCmdShape::m_pFstEvent
SINOSMcRobotCmdShapeEvent * m_pFstEvent
pointer to first event
Definition cinosmcrobot.h:3560
CINOSMcRobotCmdShape::SetSpeedReductionConservative
virtual void SetSpeedReductionConservative()
set 'speed reduction conservative' flag
Definition cinosmcrobot.h:3431
CINOSMcRobotCmdShape::Continue
virtual uint32 Continue()
continue command
CINOSMcRobotCmdShape::DECLARE_DYNAMIC
DECLARE_DYNAMIC(CINOSMcRobotCmdShape)
dynamic object handling
CINOSMcRobotCmdShape::Linear
virtual void Linear(tMcAxisName apAxis, double adPosition, uint32 auFlags=0)
add linear part of 'apAxis' to 'adPosition'
CINOSMcRobotCmdShape::SetCalcSync
virtual void SetCalcSync()
set 'calc synchronous' flag
Definition cinosmcrobot.h:3422
CINOSMcRobotCmdShape::GetActPosition
virtual void GetActPosition(real64 &arPosition)
get act position
CINOSMcRobotCmdShape::m_cShapeName
inosName64 m_cShapeName
shape name
Definition cinosmcrobot.h:3540
CINOSMcRobotCmdShape::CINOSMcRobotCmdShape
CINOSMcRobotCmdShape(CINOSTaskExMsg *apMsg, const char *apParam, uint32 auPoints, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
CINOSMcRobotCmdShape::SetShapeFlags
virtual void SetShapeFlags(uint32 auFlags)
set shape flags
Definition cinosmcrobot.h:3419
CINOSMcRobotCmdShape::GetShape
virtual CINOSShape * GetShape()
get shape
Definition cinosmcrobot.h:3483
CINOSMcRobotCmdShape::m_rTolerance
real64 m_rTolerance
requested shape tolerance
Definition cinosmcrobot.h:3550
CINOSMcRobotCmdShape::EmgStop
virtual uint32 EmgStop()
emergency stop command
CINOSMcRobotCmdShape::CINOSMcRobotCmdShape
CINOSMcRobotCmdShape(CINOSTaskExMsg *apMsg, CINOSShape *apShape, const char *apParam, uint32 auPoints=0, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
constructor
CINOSMcRobotCmdShape::GetSets
virtual uint32 GetSets()
get number of sets
CINOSMcRobotCmdShape::CircleCC
virtual void CircleCC(tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
add counter clock wise circle part with axes 'apAxis1' and 'apAxis2'
CINOSMcRobotCmdShape::Pause
virtual void Pause(double adTime)
set dwell time
CINOSMcRobotCmdShape::Velocity
virtual void Velocity(double adVelocity=DF_INOS_SHAPE_SET_NO_VELOCITY)
set or reset (DF_INOS_SHAPE_SET_NO_VELOCITY) velocity
CINOSMcRobotCmdShape::AddEvent
virtual void AddEvent(const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0)
add event to command
CINOSMcRobotCmdShape::CircleCW
virtual void CircleCW(tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
add clock wise circle part with axes 'apAxis1' and 'apAxis2'
CINOSMcRobotCmdShape::m_uPoints
uint32 m_uPoints
requested number of precalc points
Definition cinosmcrobot.h:3546
CINOSMcRobotCmdShape::SetDryRun
virtual void SetDryRun()
set 'dry run' flag
Definition cinosmcrobot.h:3428
CINOSMcRobotCmdShape::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)
get cmd position
CINOSMcRobotCmdShape::Stop
virtual uint32 Stop(uint32 auReply)
stop command
CINOSMcRobotCmdShape::Trigger
virtual uint32 Trigger()
prepare command
CINOSMcRobotCmdShape::SetupParam
void SetupParam(const char *apParam)
create param
CINOSMcRobotCmdShape::Done
virtual void Done(uintid auPartId)
done command
CINOSMcRobotCmdShape::GetEventTicks
virtual bool GetEventTicks(const char *apName, uint64 &auBusTicks, uint8 &auBusId)
get event ticks
CINOSMcRobotCmdShape::CINOSMcRobotCmdShape
CINOSMcRobotCmdShape(CINOSTaskExMsg *apMsg, const char *apName, const char *apParam, uint32 auPoints=0, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
constructor
CINOSMcRobotCmdShape::SetBegin
virtual void SetBegin(uint32 auSetNumber=DF_INOS_SHAPE_SET_NO_NUMBER)
add set begin
CINOSMcRobotCmdShape::m_pShape
CINOSShape * m_pShape
THE shape.
Definition cinosmcrobot.h:3554
CINOSMcRobotCmdShape::m_bShapeCreated
bool m_bShapeCreated
shape created flag
Definition cinosmcrobot.h:3556
CINOSMcRobotCmdShape::Absolute
virtual void Absolute(tMcAxisName apAxis="")
switches the requested axis to absolute mode (apAxis=="" -> all)
CINOSMcRobotCmdShape::m_cParam
inosName64 m_cParam
paramset
Definition cinosmcrobot.h:3542
CINOSMcRobotCmdShape::CINOSMcRobotCmdShape
CINOSMcRobotCmdShape(CINOSTaskExMsg *apMsg, const char *apName, const char *apParam, uint32 auPoints, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
CINOSMcRobotCmdShape::CircleCW
virtual void CircleCW(tMcAxisName apAxis1, tMcAxisName apAxis2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
add clock wise circle part with axes 'apAxis1' and 'apAxis2'
CINOSMcRobotCmdShape::CircleCC
virtual void CircleCC(tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
add counter clock wise circle part with axes 'apAxis1' and 'apAxis2'
CINOSMcRobotCmdShape::~CINOSMcRobotCmdShape
virtual ~CINOSMcRobotCmdShape()
destructor
CINOSMcRobotCmdShape::Check
virtual uint32 Check()
check command
CINOSMcRobotCmdShape::Linear
virtual void Linear(tMcAxisName apAxis, double adPosition, double adTolerance, uint32 auFlags=0)
add linear part of 'apAxis' to 'adPosition'
CINOSMcRobotCmdShape::CINOSMcRobotCmdShape
CINOSMcRobotCmdShape(CINOSTaskExMsg *apMsg, const char *apParam, uint32 auPoints=0, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
constructor
CINOSMcRobotCmdShape::GetCmdVelocity
virtual void GetCmdVelocity(real64 &arVelocity)
get cmd velocity
CINOSMcRobotCmdShape::Incremental
virtual void Incremental(tMcAxisName apAxis="")
switches the requested axis to incremental mode (apAxis=="" -> all)
CINOSMcRobotCmdShape::Break
virtual uint32 Break()
break command
CINOSMcRobotCmdShape::m_pLstEvent
SINOSMcRobotCmdShapeEvent * m_pLstEvent
pointer to last event
Definition cinosmcrobot.h:3562
CINOSMcRobotCmdShape::GetMoveTime
virtual real64 GetMoveTime()
get move time of shape
CINOSMcRobotCmdShape::m_pParam
SINOSRampParam * m_pParam
param overwrite
Definition cinosmcrobot.h:3558
CINOSMcRobotCmdShape::GetActSet
virtual uint32 GetActSet()
get act set
CINOSMcRobotCmdShape::ClrCalcSync
virtual void ClrCalcSync()
clear 'calc synchronous' flag
Definition cinosmcrobot.h:3425
CINOSMcRobotCmdShape::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)
set slowmotion
CINOSMcRobotCmd
Definition cinosmcrobot.h:2079
CINOSMcRobotCmd::~CINOSMcRobotCmd
virtual ~CINOSMcRobotCmd()
destructor
CINOSMcRobotCmd::m_uId
tMsgId m_uId
command id overwrite
Definition cinosmcrobot.h:2257
CINOSMcRobotCmd::GetResult
uint32 GetResult() const
get command result
Definition cinosmcrobot.h:2155
CINOSMcRobotCmd::GetReply
uint32 GetReply() const
get command reply
Definition cinosmcrobot.h:2149
CINOSMcRobotCmd::GetSender
CINOSTask * GetSender()
get command sender
Definition cinosmcrobot.h:2164
CINOSMcRobotCmd::m_pCallBack
void * m_pCallBack
pointer to callback method if any
Definition cinosmcrobot.h:2265
CINOSMcRobotCmd::RemoveHandler
void RemoveHandler()
remove cyclic handler
CINOSMcRobotCmd::Break
virtual uint32 Break()
break command
Definition cinosmcrobot.h:2128
CINOSMcRobotCmd::Done
virtual void Done(uintid auPartId)=0
done command
CINOSMcRobotCmd::Handle
virtual void Handle()
command handler
Definition cinosmcrobot.h:2230
CINOSMcRobotCmd::Continue
virtual uint32 Continue()
continue command
Definition cinosmcrobot.h:2131
CINOSMcRobotCmd::SetReply
uint32 SetReply(uint32 auReply)
set command reply
Definition cinosmcrobot.h:2152
CINOSMcRobotCmd::SetId
void SetId(tMsgId auId)
set command id
Definition cinosmcrobot.h:2167
CINOSMcRobotCmd::m_uReplySave
uint32 m_uReplySave
saved command reply
Definition cinosmcrobot.h:2253
CINOSMcRobotCmd::m_pNext
CINOSMcRobotCmd * m_pNext
pointer to next command in list
Definition cinosmcrobot.h:2281
CINOSMcRobotCmd::GetBusTicks
int32 GetBusTicks(uint8 auBusId, real64 arMs)
get bus ticks
CINOSMcRobotCmd::Stop
virtual uint32 Stop(uint32 auReply)=0
stop command
CINOSMcRobotCmd::GetCmdPosition
virtual void GetCmdPosition(real64 &arPosition)=0
get cmd position
CINOSMcRobotCmd::m_bEndEvent
bool m_bEndEvent
command has 'eEvtEndCmd' event
Definition cinosmcrobot.h:2259
CINOSMcRobotCmd::m_pCallBackObject
void * m_pCallBackObject
pointer to callback object if any
Definition cinosmcrobot.h:2267
CINOSMcRobotCmd::EmgStop
virtual uint32 EmgStop()=0
emergency stop command
CINOSMcRobotCmd::SetSlowMotion
virtual void SetSlowMotion(real64 arSlowMotion)=0
set slowmotion
CINOSMcRobotCmd::m_pMsg
CINOSTaskExMsg * m_pMsg
pointer to according message
Definition cinosmcrobot.h:2269
CINOSMcRobotCmd::m_bCyclicHandling
bool m_bCyclicHandling
command needs cyclic handling
Definition cinosmcrobot.h:2261
CINOSMcRobotCmd::GetId
tMsgId GetId()
get command id
Definition cinosmcrobot.h:2170
CINOSMcRobotCmd::m_uResult
uint32 m_uResult
command result
Definition cinosmcrobot.h:2255
CINOSMcRobotCmd::eEventType
eEventType
event types
Definition cinosmcrobot.h:2106
CINOSMcRobotCmd::SetResult
uint32 SetResult(uint32 auResult)
set command result
Definition cinosmcrobot.h:2158
CINOSMcRobotCmd::GetActPosition
virtual void GetActPosition(real64 &arPosition)=0
get act position
CINOSMcRobotCmd::m_uReply
uint32 m_uReply
command reply
Definition cinosmcrobot.h:2251
CINOSMcRobotCmd::Check
virtual uint32 Check()=0
check command
CINOSMcRobotCmd::GetModule
CINOSMcRobot * GetModule()
get pointer to module this command belongs to
Definition cinosmcrobot.h:2145
CINOSMcRobotCmd::Trigger
virtual uint32 Trigger()=0
trigger command
CINOSMcRobotCmd::GetCallBack
void * GetCallBack()
get callback
Definition cinosmcrobot.h:2215
CINOSMcRobotCmd::GetEventTicks
virtual bool GetEventTicks(const char *apName, uint64 &auBusTicks, uint8 &auBusId)
get event ticks
Definition cinosmcrobot.h:2177
CINOSMcRobotCmd::m_cEndEvent
char m_cEndEvent[32]
end event name
Definition cinosmcrobot.h:2263
CINOSMcRobotCmd::GetState
eCmdState GetState() const
get command state
Definition cinosmcrobot.h:2139
CINOSMcRobotCmd::SetCallBack
void SetCallBack(void *apCallBack)
set callback
Definition cinosmcrobot.h:2182
CINOSMcRobotCmd::Run
virtual uint32 Run()=0
run command
CINOSMcRobotCmd::AddEvent
virtual void AddEvent(const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0)
add event to command
Definition cinosmcrobot.h:2174
CINOSMcRobotCmd::eFlags
eFlags
validity
Definition cinosmcrobot.h:2233
CINOSMcRobotCmd::GetCallBackObject
void * GetCallBackObject()
Definition cinosmcrobot.h:2221
CINOSMcRobotCmd::InstallHandler
void InstallHandler()
install cyclic handler
CINOSMcRobotCmd::eCmdState
eCmdState
command states
Definition cinosmcrobot.h:2091
CINOSMcRobotCmd::eStaIdle
@ eStaIdle
idle
Definition cinosmcrobot.h:2092
CINOSMcRobotCmd::eStaReady
@ eStaReady
ready (to run)
Definition cinosmcrobot.h:2093
CINOSMcRobotCmd::eStaRunning
@ eStaRunning
running
Definition cinosmcrobot.h:2094
CINOSMcRobotCmd::eStaDone
@ eStaDone
done (successfully)
Definition cinosmcrobot.h:2095
CINOSMcRobotCmd::eStaError
@ eStaError
error
Definition cinosmcrobot.h:2096
CINOSMcRobotCmd::eMoveType
eMoveType
move types
Definition cinosmcrobot.h:2100
CINOSMcRobotCmd::GetName
const char * GetName()
get command name
CINOSMcRobotCmd::CINOSMcRobotCmd
CINOSMcRobotCmd(CINOSTaskExMsg *apMsg, void *apCallBack=NULL, void *apCallBackObject=NULL)
constructor
CINOSMcRobotCmd::GetMsg
CINOSTaskExMsg * GetMsg()
get command message
Definition cinosmcrobot.h:2161
CINOSMcRobotCmd::GetActVelocity
virtual void GetActVelocity(real64 &arVelocity)=0
get act velocity
CINOSMcRobotCmd::m_pModule
CINOSMcRobot * m_pModule
pointer to my module
Definition cinosmcrobot.h:2271
CINOSMcRobotCmd::m_eState
eCmdState m_eState
command state
Definition cinosmcrobot.h:2249
CINOSMcRobotCmd::DECLARE_DYNAMIC
DECLARE_DYNAMIC(CINOSMcRobotCmd)
dynamic object handling
CINOSMcRobotInitSync
Definition cinosmcrobot.h:3609
CINOSMcRobotInitSync::SignalEx
virtual void SignalEx(CINOSTaskExMsg *apMsg, uint32 auRplId, uint32 auAppError)
overloaded signal
CINOSMcRobotInitSync::CINOSMcRobotInitSync
CINOSMcRobotInitSync(CINOSMcRobot *apModule, CINOSMcRobotCmdInit *apInitCmd, SINOSMcRobotCmdInitPart *apPart)
constructor
CINOSMcRobotSync
Definition cinosmcrobot.h:3573
CINOSMcRobotSync::CINOSMcRobotSync
CINOSMcRobotSync(tMsgId aCmdId, uintid auPartId=-1)
constructor
CINOSMcRobotSync::Signal
virtual void Signal()
overloaded signal
CINOSMcRobot
Definition cinosmcrobot.h:206
CINOSMcRobot::iRecover
virtual void iRecover(CINOSTaskExMsg *apMsg) override
internal recover station
CINOSMcRobot::JoyAdc
virtual CMcResult JoyAdc(real64 arSlow, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Update joystick move. If the module has multiple axes, the first axis is taken, see also Joystick.
CINOSMcRobot::eMoveRel
CMcResult eMoveRel(tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
move axis relative
CINOSMcRobot::CINOSMcRobot
CINOSMcRobot(const char *apName, const char *apParam)
constructor
CINOSMcRobot::GetSpeedset
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char * > GetSpeedset
Get speedset of McRobot axis.
Definition cinosmcrobot.h:335
CINOSMcRobot::iCancel
virtual void iCancel(CINOSTaskExMsg *apMsg) override
internal cancel
CINOSMcRobot::iMoveCarefully
virtual void iMoveCarefully(CINOSTaskExMsg *apMsg)
internal move carefully to position
CINOSMcRobot::iCalib
virtual void iCalib(CINOSTaskExMsg *apMsg)
internal calib
CINOSMcRobot::iClrModeSetup
virtual void iClrModeSetup(CINOSTaskExMsg *apMsg) override
internal clear mode setup
CINOSMcRobot::eMoveAbs
CMcResult eMoveAbs(tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
move axis absolute
CINOSMcRobot::iMoveFromBorder
virtual void iMoveFromBorder(CINOSTaskExMsg *apMsg)
internal move from border
CINOSMcRobot::GetRealPosition
virtual real64 GetRealPosition(tMcAxisName apAxis, const char *apBase)
get real position of apAxis based on apBase
CINOSMcRobot::iLimitSet
virtual void iLimitSet(CINOSTaskExMsg *apMsg)
limit set
CINOSMcRobot::GetAxis
CINOSMcRobotAxis * GetAxis(tMcAxisName apAxis) const
get pointer to axis 'apName'
CINOSMcRobot::iSetBit
virtual void iSetBit(CINOSTaskExMsg *apMsg)
internal setbit
CINOSMcRobot::SaveLifetimeDistance
virtual void SaveLifetimeDistance(tMcAxisName apAxis=NULL)
save lifetime distance of apAxis (or all axes if apAxes == NULL) in nvram
CINOSMcRobot::eMoveRel
CMcResult eMoveRel(real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
move axis relative
CINOSMcRobot::MoveToBorder
virtual CMcResult MoveToBorder(tMcAxisName apAxis, real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search border till arPosition and stop if found.
CINOSMcRobot::iJoyEnb
virtual void iJoyEnb(CINOSTaskExMsg *apMsg)
internal enable joystick mode
CINOSMcRobot::iJoyDisAxisStopped
virtual void iJoyDisAxisStopped(CINOSTaskExMsg *apUsrMsg)
CINOSMcRobot::MoveFromBorderDep
virtual CMcResult MoveFromBorderDep(real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Depart from border.
CINOSMcRobot::JoyNeg
virtual CMcResult JoyNeg(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Start a joystick move in negative direction. If the module has multiple axes, the first axis is taken...
CINOSMcRobot::WheelDis
virtual CMcResult WheelDis(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
disable wheel mode
CINOSMcRobot::GetStateText
virtual const char * GetStateText() override
return actual state text
CINOSMcRobot::eJoyDis
CMcResult eJoyDis(tMcAxisName apAxis)
disable joystick mode
CINOSMcRobot::GetDistanceCodedPosition
virtual uint32 GetDistanceCodedPosition(const char *apName, real64 arDistance, real64 &arPosition)
Definition cinosmcrobot.h:1166
CINOSMcRobot::MoveToBorder
virtual CMcResult MoveToBorder(real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiat...
CINOSMcRobot::WheelEnb
virtual CMcResult WheelEnb(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
enable wheel mode
CINOSMcRobot::iShutdown
virtual void iShutdown(CINOSTaskExMsg *apMsg) override
internal shutdown task
CINOSMcRobot::iStartup
virtual void iStartup(real64 arStage) override
internal startup task
CINOSMcRobot::JoyDis
virtual CMcResult JoyDis(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Disable joystick mode, see also Joystick.
CINOSMcRobot::eMoveToAnalogSensor
CMcResult eMoveToAnalogSensor(const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam)
move to analog sensor
CINOSMcRobot::iWaitForPower
virtual uint32 iWaitForPower(tMcAxisName apAxis)
wait for power
CINOSMcRobot::eWheelDis
CMcResult eWheelDis()
disable wheel mode
CINOSMcRobot::iIsIdle
virtual bool iIsIdle() const
return true if currently no command running
CINOSMcRobot::GetRealAxisName
const char * GetRealAxisName(tMcAxisName apAxis) const
get real axis name
CINOSMcRobot::eJoyPos
CMcResult eJoyPos(tMcAxisName apAxis)
start joystick move into pos direction
CINOSMcRobot::SetLifetimeDistance
virtual void SetLifetimeDistance(tMcAxisName apAxis, real64 arDistance)
set lifetime distance of apAxis
CINOSMcRobot::eMoveCarefully
CMcResult eMoveCarefully(tMcAxisName apAxis, real64 arPosition, real64 arPosError, real64 arCurrent, const char *apParam)
move carefully to position
CINOSMcRobot::eMoveToBorderApp
CMcResult eMoveToBorderApp(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
move to border
CINOSMcRobot::iStepSkipped
virtual void iStepSkipped(CINOSTaskExMsg *apMsg) override
step command skipped
CINOSMcRobot::iSetModeSetup
virtual void iSetModeSetup(CINOSTaskExMsg *apMsg) override
internal set mode setup
CINOSMcRobot::Calib
virtual CMcResult Calib(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
calib axis
CINOSMcRobot::MoveCarefully
virtual CMcResult MoveCarefully(tMcAxisName apAxis, real64 arPosition, real64 arPosError, real64 arCurrent, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
CINOSMcRobot::iClrFlag
virtual void iClrFlag(tMcAxisName apAxis, uint32 auFlag)
clear axis flag
CINOSMcRobot::eWheelEnb
CMcResult eWheelEnb()
enable wheel mode
CINOSMcRobot::ForceSelect
virtual CMcResult ForceSelect(tMcAxisName apAxis, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Select given param set.
CINOSMcRobot::iJoyDis
virtual void iJoyDis(CINOSTaskExMsg *apMsg)
internal disable joystick mode
CINOSMcRobot::ForceCheck
virtual CMcResult ForceCheck(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Check current force state. Returns the following async results : 'State' : the current force control ...
CINOSMcRobot::ForceMove
virtual CMcResult ForceMove(tMcAxisName apAxis, double adForce, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Ramp the commanded force to the requested value [N] with the given param set.
CINOSMcRobot::MoveFromBorder
virtual CMcResult MoveFromBorder(tMcAxisName apAxis, real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Move away from border.
CINOSMcRobot::eMoveToBorderApp
CMcResult eMoveToBorderApp(real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
move to border app
CINOSMcRobot::MoveToBorderApp
virtual CMcResult MoveToBorderApp(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search border till arPosition and stop if found. The current limitation is switched on at the reduced...
CINOSMcRobot::eMoveToDigitalSensor
CMcResult eMoveToDigitalSensor(const char *apName, real64 arPosition, real64 arSet, const char *apParam)
move to digital sensor
CINOSMcRobot::GetLastCmd
static constexpr int GetLastCmd()
return last mcrobot command id
Definition cinosmcrobot.h:885
CINOSMcRobot::On
virtual CMcResult On(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Axis "On".
CINOSMcRobot::eJoyEnb
CMcResult eJoyEnb(tMcAxisName apAxis)
enable joystick mode
CINOSMcRobot::iWheelEnb
virtual void iWheelEnb(CINOSTaskExMsg *apMsg)
internal enable wheel mode
CINOSMcRobot::iCalibDone
virtual void iCalibDone(CINOSMcRobotCmd *apCmd)
internal calib done
Definition cinosmcrobot.h:968
CINOSMcRobot::CreateMcRobotAxis
virtual CINOSMcRobotAxis * CreateMcRobotAxis(const char *apAlias, const char *apParam)
Creates and adds a new McRobot axis to this module.
CINOSMcRobot::iClrBit
virtual void iClrBit(CINOSTaskExMsg *apMsg)
internal clrbit
CINOSMcRobot::MoveRel
virtual CMcResult MoveRel(tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Move relative the requested delta and emit an OnExit and OnEnter event if requested.
CINOSMcRobot::iMonitorError
virtual void iMonitorError(CINOSTaskExMsg *apMsg)
monitor error
CINOSMcRobot::iInit
virtual void iInit(tMcAxisName apAxisName, CINOSTaskExMsg *apMsg)
CINOSMcRobot::WheelEnb
virtual CMcResult WheelEnb(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
enable wheel mode
CINOSMcRobot::eWheelFactor
CMcResult eWheelFactor(tMcAxisName apAxis, real64 arFactor)
set wheel mode factor
CINOSMcRobot::iInitOk
virtual bool iInitOk() const
return true if all axes are successfully inited
CINOSMcRobot::MoveToAnalogSensor
virtual CMcResult MoveToAnalogSensor(tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search analog sensor till arPosition and stop if found.
CINOSMcRobot::iJoyAdc
virtual void iJoyAdc(CINOSTaskExMsg *apMsg)
internal update joystick move
CINOSMcRobot::iStop
virtual void iStop(CINOSTaskExMsg *apMsg) override
internal stop
CINOSMcRobot::iLimitPosSet
virtual void iLimitPosSet(CINOSTaskExMsg *apMsg)
limit pos set
CINOSMcRobot::PostAxisMessage
virtual CMcResult PostAxisMessage(tMcAxisName apAxis, uint32 auType, uint32 auCode, uint32 auFlags)
postmessage
CINOSMcRobot::eJoyNeg
CMcResult eJoyNeg(tMcAxisName apAxis)
start joystick move into neg direction
CINOSMcRobot::iInit
virtual void iInit(CINOSTaskExMsg *apMsg) override
internal init station
CINOSMcRobot::JoyAdc
virtual CMcResult JoyAdc(tMcAxisName apAxis, real64 arSlow, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Update joystick move, see also Joystick.
CINOSMcRobot::~CINOSMcRobot
virtual ~CINOSMcRobot()
destructor
CINOSMcRobot::iInitDone
virtual void iInitDone(CINOSMcRobotCmd *apCmd)
internal init done
Definition cinosmcrobot.h:964
CINOSMcRobot::MoveAbs
virtual CMcResult MoveAbs(tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Move to the requested absolute position and emit an OnExit and OnEnter event if requested.
CINOSMcRobot::eJoyAdc
CMcResult eJoyAdc(tMcAxisName apAxis, real64 arSlow)
update joystick move
CINOSMcRobot::SetActPosition
virtual void SetActPosition(tMcAxisName apAxis, const char *apBase, real64 arPosition)
get actual (current commanded) position of apAxis based on apBase
CINOSMcRobot::iLimitClr
virtual void iLimitClr(CINOSTaskExMsg *apMsg)
limit clr
CINOSMcRobot::iGetSlowMotion
virtual real64 iGetSlowMotion(tMcAxisName apAxis)
get slowmotion of apAxis
CINOSMcRobot::iMoveToAnalogSensor
virtual void iMoveToAnalogSensor(CINOSTaskExMsg *apMsg)
internal move to analog sensor
CINOSMcRobot::JoyStop
virtual CMcResult JoyStop(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Stop running joystick move. If the module has multiple axes, the first axis is taken,...
CINOSMcRobot::eMoveFromBorder
CMcResult eMoveFromBorder(tMcAxisName apAxis, real64 arPosition, const char *apParam)
move from border
CINOSMcRobot::MoveFromBorder
virtual CMcResult MoveFromBorder(real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Move away from border.
CINOSMcRobot::eJoyStop
CMcResult eJoyStop(tMcAxisName apAxis)
stop joystick move
CINOSMcRobot::eJoyAdc
CMcResult eJoyAdc(real64 arslow)
update joystick move
CINOSMcRobot::iJoyStop
virtual void iJoyStop(CINOSTaskExMsg *apMsg)
internal stop joystick move
CINOSMcRobot::iOnSimLevelChanged
virtual void iOnSimLevelChanged(uint32 auOldLevel, uint32 auNewLevel) override
event handler 'iOnSimLevelChanged'
CINOSMcRobot::iStepCanceled
virtual void iStepCanceled(CINOSTaskExMsg *apMsg) override
step command canceled
CINOSMcRobot::JoyPos
virtual CMcResult JoyPos(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Start a joystick move into positive direction, see also Joystick.
CINOSMcRobot::iGetFlag
virtual bool iGetFlag(tMcAxisName apAxis, uint32 auFlag)
get axis flag
CINOSMcRobot::GetAxisCount
uint32 GetAxisCount() const
get number of axis this module handles
Definition cinosmcrobot.h:759
CINOSMcRobot::eWheelFactor
CMcResult eWheelFactor(real64 arFactor)
set wheel mode factor
CINOSMcRobot::ForceApproach
virtual CMcResult ForceApproach(tMcAxisName apAxis, double adPosition, double adPositionVel, double adVelocity, double adForce, double adForceLimit, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search requested force [N], stop if found and switch to force mode. In case of success return the asy...
CINOSMcRobot::eJoyPos
CMcResult eJoyPos()
start joystick move into pos direction
CINOSMcRobot::eMoveToDigitalSensor
CMcResult eMoveToDigitalSensor(tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arSet, const char *apParam)
move to digital sensor
CINOSMcRobot::iMoveEx
virtual void iMoveEx(CINOSTaskExMsg *apMsg)
internal move ex
CINOSMcRobot::eWheelEnb
CMcResult eWheelEnb(tMcAxisName apAxis)
enable wheel mode
CINOSMcRobot::iCmdAdd
virtual void iCmdAdd(CINOSMcRobotCmd *apCmd)
internal command add
CINOSMcRobot::GetLifetimeDistance
virtual real64 GetLifetimeDistance(tMcAxisName apAxis)
get lifetime distance of apAxis
CINOSMcRobot::iMsgRejected
virtual void iMsgRejected(CINOSTaskExMsg *apMsg) override
message rejected
CINOSMcRobot::iLimitNegSet
virtual void iLimitNegSet(CINOSTaskExMsg *apMsg)
limit neg set
CINOSMcRobot::MoveToBorderApp
virtual CMcResult MoveToBorderApp(real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search border till arPosition and stop if found. The current limitation is switched on at the reduced...
CINOSMcRobot::iMoveToDigitalSensor
virtual void iMoveToDigitalSensor(CINOSTaskExMsg *apMsg)
internal move to digital sensor
CINOSMcRobot::iCmdDone
virtual void iCmdDone(CINOSTaskExMsg *apMsg)
internal command done
CINOSMcRobot::iOff
virtual uint32 iOff(tMcAxisName apAxis)
switch off apAxis
CINOSMcRobot::iOn
virtual uint32 iOn(tMcAxisName apAxis)
switch on apAxis
CINOSMcRobot::MsgDone
virtual void MsgDone(CINOSTaskExMsg *apMsg, ERplId aRplId, uint32 auResult=0) override
message done
CINOSMcRobot::DispatchUser
virtual bool DispatchUser(CINOSTaskExMsg *apMsg) override
dispatch user message
CINOSMcRobot::WheelFactor
virtual CMcResult WheelFactor(real64 arFactor, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
set wheel mode factor
CINOSMcRobot::iLimitPosClr
virtual void iLimitPosClr(CINOSTaskExMsg *apMsg)
limit pos clr
CINOSMcRobot::DispatchReply
virtual bool DispatchReply(CINOSTaskExMsg *apMsg) override
dispatch reply message
CINOSMcRobot::iSetFlag
virtual void iSetFlag(tMcAxisName apAxis, uint32 auFlag)
set axis flag
CINOSMcRobot::eJoyDis
CMcResult eJoyDis()
disable joystick mode
CINOSMcRobot::ForceActivate
virtual CMcResult ForceActivate(tMcAxisName apAxis, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Switch from position to force mode.
CINOSMcRobot::eJoyStop
CMcResult eJoyStop()
stop joystick move
CINOSMcRobot::eMoveAbs
CMcResult eMoveAbs(real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
move axis absolute
CINOSMcRobot::eJoyEnb
CMcResult eJoyEnb()
enable joystick mode
CINOSMcRobot::iStepStopped
virtual void iStepStopped(CINOSTaskExMsg *apMsg) override
step command stopped
CINOSMcRobot::iCheckSetupMode
virtual bool iCheckSetupMode() override
internal check setup mode
CINOSMcRobot::iJoyNeg
virtual void iJoyNeg(CINOSTaskExMsg *apMsg)
internal start joystick move into neg direction
CINOSMcRobot::eJoyNeg
CMcResult eJoyNeg()
start joystick move into neg direction
CINOSMcRobot::ForceBreak
virtual CMcResult ForceBreak(tMcAxisName apAxis, double adForce, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Ramp the commanded force to the requested value [N] with the given param set. Expect a collapse befor...
CINOSMcRobot::DispatchTmd
virtual bool DispatchTmd(CINOSTaskExMsg *apMsg) override
dispatch triggered command message
CINOSMcRobot::JoyStop
virtual CMcResult JoyStop(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Stop running joystick move, see also Joystick.
CINOSMcRobot::iMoveAbs
virtual void iMoveAbs(CINOSTaskExMsg *apMsg)
internal move axis absolute
CINOSMcRobot::MoveToDigitalSensor
virtual CMcResult MoveToDigitalSensor(const char *apName, real64 arPosition, real64 arSet, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search digital sensor till arPosition and stop if found.
CINOSMcRobot::iOnSlowMotionChanged
virtual void iOnSlowMotionChanged(CINOSTaskExMsg *apMsg) override
event handler 'iOnSlowMotionChanged'
CINOSMcRobot::DispatchCmd
virtual bool DispatchCmd(CINOSTaskExMsg *apMsg) override
dispatch command message
CINOSMcRobot::iCancelDeferred
virtual void iCancelDeferred() override
overridden because we need to cancel all pending commands
CINOSMcRobot::JoyNeg
virtual CMcResult JoyNeg(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Start a joystick move into negative direction, see also Joystick.
CINOSMcRobot::CmdFailed
virtual void CmdFailed(CINOSTaskExMsg *apMsg, uint32 auError)
CINOSMcRobot::eMoveFromBorder
CMcResult eMoveFromBorder(real64 arPosition, const char *apParam)
move from border
CINOSMcRobot::Init
virtual CMcResult Init(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
CINOSMcRobot::eMoveFromBorderDep
CMcResult eMoveFromBorderDep(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
move from border dep
CINOSMcRobot::MoveFromBorderDep
virtual CMcResult MoveFromBorderDep(tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Depart from border.
CINOSMcRobot::MoveEx
virtual CMcResult MoveEx(tMcAxisName apAxis, real64 arPosition, real64 arTrgPosition, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
CINOSMcRobot::MoveAbs
virtual CMcResult MoveAbs(real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Move to the requested absolute position and emit an OnExit and OnEnter event if requested....
CINOSMcRobot::iOn
virtual void iOn(CINOSTaskExMsg *apMsg) override
internal on station
CINOSMcRobot::WheelDis
virtual CMcResult WheelDis(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
disable wheel mode
CINOSMcRobot::MoveRel
virtual CMcResult MoveRel(real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Move relative the requested delta and emit an OnExit and OnEnter event if requested....
CINOSMcRobot::MsgDone
virtual void MsgDone(CINOSTaskExMsg *apMsg, uint32 auResult=0) override
message done
CINOSMcRobot::ForceInactivate
virtual CMcResult ForceInactivate(tMcAxisName apAxis, double adLimit, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Switch from force to position mode with optional active force limitation.
CINOSMcRobot::WheelFactor
virtual CMcResult WheelFactor(tMcAxisName apAxis, real64 arFactor, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
set wheel mode factor
CINOSMcRobot::Off
virtual CMcResult Off(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
CINOSMcRobot::eWheelDis
CMcResult eWheelDis(tMcAxisName apAxis)
disable wheel mode
CINOSMcRobot::ForceDepart
virtual CMcResult ForceDepart(tMcAxisName apAxis, double adPosition, double adPositionVel, double adVelocity, double adForceLimit, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Switch to position mode and depart from force point.
CINOSMcRobot::GetAxis
CINOSMcRobotAxis * GetAxis(uint32 auIndex) const
CINOSMcRobot::iMoveToBorderApp
virtual void iMoveToBorderApp(CINOSTaskExMsg *apMsg)
internal move to border app
CINOSMcRobot::iMonitorWarning
virtual void iMonitorWarning(CINOSTaskExMsg *apMsg)
monitor warning
CINOSMcRobot::iMoveRel
virtual void iMoveRel(CINOSTaskExMsg *apMsg)
internal move axis relative
CINOSMcRobot::iWheelDis
virtual void iWheelDis(CINOSTaskExMsg *apMsg)
internal disable wheel mode
CINOSMcRobot::iCmdRemove
virtual void iCmdRemove(CINOSMcRobotCmd *apCmd)
internal command remove
CINOSMcRobot::eMoveToBorder
CMcResult eMoveToBorder(tMcAxisName apAxis, real64 arPosition, const char *apParam)
move to border
CINOSMcRobot::DestroySpeedset
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char * > DestroySpeedset
Definition cinosmcrobot.h:281
CINOSMcRobot::eMoveFromBorderDep
CMcResult eMoveFromBorderDep(real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
move from border dep
CINOSMcRobot::SetSpeedset
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char *, const char * > SetSpeedset
Set/modify the parameters of an existing speedset.
Definition cinosmcrobot.h:303
CINOSMcRobot::iLinkDown
virtual void iLinkDown(CINOSTaskExMsg *apMsg) override
link down
CINOSMcRobot::MoveToDigitalSensor
virtual CMcResult MoveToDigitalSensor(tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arSet, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search digital sensor till arPosition and stop if found.
CINOSMcRobot::iWheelFactor
virtual void iWheelFactor(CINOSTaskExMsg *apMsg)
internal set wheel mode factor
CINOSMcRobot::CmdStop
virtual void CmdStop(tMsgId auId, uint32 auReply=CINOSTaskEx::eRplStopped)
internal command stop
CINOSMcRobot::iStartup
virtual void iStartup(CINOSTaskExMsg *apMsg) override
internal startup task
CINOSMcRobot::GetAxisIndex
int32 GetAxisIndex(tMcAxisName apAxis) const
get index of axis 'apName' (-1 if not found)
CINOSMcRobot::JoyDis
virtual CMcResult JoyDis(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Disable joystick mode. If the module has multiple axes, the first axis is taken, see also Joystick.
CINOSMcRobot::ForceMoveStop
virtual CMcResult ForceMoveStop(tMcAxisName apAxis, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Stop the actual ForceMove with the given param set.
CINOSMcRobot::eMoveToBorder
CMcResult eMoveToBorder(real64 arPosition, const char *apParam)
move to border
CINOSMcRobot::GetActPosition
virtual real64 GetActPosition(tMcAxisName apAxis, const char *apBase)
get actual (current commanded) position of apAxis based on apBase
CINOSMcRobot::JoyEnb
virtual CMcResult JoyEnb(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Enable joystick mode. If the module has multiple axes, the first axis is taken, see also Joystick.
CINOSMcRobot::iCmdGet
virtual CINOSMcRobotCmd * iCmdGet(tMsgId auId)
internal command get
CINOSMcRobot::iMoveFromBorderDep
virtual void iMoveFromBorderDep(CINOSTaskExMsg *apMsg)
internal move from border depart
CINOSMcRobot::iRecover
virtual uint32 iRecover(tMcAxisName apAxis)
recover apAxis
CINOSMcRobot::CINOSMcRobot
CINOSMcRobot(const char *apName, const char *apType, const char *apParam)
constructor
CINOSMcRobot::ForceTara
virtual CMcResult ForceTara(tMcAxisName apAxis, double adForce, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Set current force [N] to given value.
CINOSMcRobot::JoyEnb
virtual CMcResult JoyEnb(tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Enable joystick mode, see also Joystick.
CINOSMcRobot::MoveToAnalogSensor
virtual CMcResult MoveToAnalogSensor(const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Search analog sensor till arPosition and stop if found.
CINOSMcRobot::GetLastUsr
static constexpr int GetLastUsr()
return last mcrobot user id
Definition cinosmcrobot.h:889
CINOSMcRobot::JoyPos
virtual CMcResult JoyPos(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Start a joystick move in positive direction. If the module has multiple axes, the first axis is taken...
CINOSMcRobot::iOff
virtual void iOff(CINOSTaskExMsg *apMsg) override
internal off station
CINOSMcRobot::iJoyPos
virtual void iJoyPos(CINOSTaskExMsg *apMsg)
internal start joystick move into pos direction
CINOSMcRobot::CreateSpeedset
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char *, const char * > CreateSpeedset
Create a new speedset for the McRobot axis. In case that apInitialValue is non-empty,...
Definition cinosmcrobot.h:258
CINOSMcRobot::iGetSimLevel
virtual uint32 iGetSimLevel(tMcAxisName apAxis)
get simelevel of apAxis
CINOSMcRobot::GetAxisSourceId
uint32 GetAxisSourceId(tMcAxisName apAxis) const
get source id of axis 'apName'
CINOSMcRobot::iLimitNegClr
virtual void iLimitNegClr(CINOSTaskExMsg *apMsg)
limit neg clr
CINOSMcRobot::GetVirtAxisName
const char * GetVirtAxisName(const char *apName) const
get virtual axis name
CINOSMcRobot::eMoveToAnalogSensor
CMcResult eMoveToAnalogSensor(tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam)
move to analog sensor
CINOSMcRobot::iCmdGetFirst
virtual CINOSMcRobotCmd * iCmdGetFirst() const
internal command get first
Definition cinosmcrobot.h:1101
CINOSMcRobot::iMoveToBorder
virtual void iMoveToBorder(CINOSTaskExMsg *apMsg)
internal move to border
CINOSMcRobot::RegisterCheckLimitHook
virtual void RegisterCheckLimitHook()
register hook for limit switch handler
CINOSMovePath
Definition cinosmovepath.h:566
CINOSMutex
Definition cinosmutex.h:36
CINOSPhysicalAxis
Provides physical aka real axis functionality.
Definition cinosphysicalaxis.h:286
CINOSPosChannel
Definition cinosposchannel.h:59
CINOSSync
Definition inos_syn.h:67
CINOSTaskExMsgParam
Definition cinostaskexdef.h:129
CINOSTaskExMsg
Definition cinostaskex.h:396
CINOSTaskExMsg::GetId
tMsgId GetId() const
get message id
Definition cinostaskex.h:588
CINOSTaskExMsg::GetSender
CINOSTask * GetSender() const
get pointer to sender
Definition cinostaskex.h:617
CINOSTaskEx
Definition cinostaskex.h:966
CINOSTaskEx::ERplId
ERplId
reply id's
Definition cinostaskex.h:1409
CINOSTask
Definition cinostask.h:52
CINOSxmsHandler
Definition inos_1ms.h:143
INOS_MCMSG_CODE_ROBOT_DIST_CODED_IMPL_MISSING
uint32 INOS_MCMSG_CODE_ROBOT_DIST_CODED_IMPL_MISSING
Definition inoserror.h:1677
INOS_OR
#define INOS_OR(variable, mask)
Definition inosmacro.h:201
DF_INOS_SYNCHRONOUS
#define DF_INOS_SYNCHRONOUS
Definition inosmacro.h:332
INOS_AND
#define INOS_AND(variable, mask)
Definition inosmacro.h:210
SINOSMcRobotCmdShapeEvent
Definition cinosmcrobot.h:3346
SINOSMcRobotCmdShapeEvent::m_eType
CINOSMcRobotCmdMove::eEventType m_eType
type
Definition cinosmcrobot.h:3351
SINOSMcRobotCmdShapeEvent::m_cName
inosName64 m_cName
name
Definition cinosmcrobot.h:3353
SINOSMcRobotCmdShapeEvent::m_uBusTicks
uint64 m_uBusTicks
bus ticks
Definition cinosmcrobot.h:3361
SINOSMcRobotCmdShapeEvent::m_rMoveTime
real64 m_rMoveTime
movetime
Definition cinosmcrobot.h:3357
SINOSMcRobotCmdShapeEvent::DECLARE_DYNAMIC
DECLARE_DYNAMIC(SINOSMcRobotCmdShapeEvent)
dynamic object handling
SINOSMcRobotCmdShapeEvent::m_pNext
SINOSMcRobotCmdShapeEvent * m_pNext
pointer to next event
Definition cinosmcrobot.h:3364
SINOSMcRobotCmdShapeEvent::m_rValue
real64 m_rValue
value
Definition cinosmcrobot.h:3355
SINOSMcRobotCmdShapeEvent::m_uFlags
uint32 m_uFlags
valid
Definition cinosmcrobot.h:3348
SINOSRampParam
ramp parameters
Definition cinosbaseramp.h:503