INOS
cinosmovepath.h
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1//******************************************************************************
26//******************************************************************************
27#ifndef INC_CINOSMOVEPATH_H
28#define INC_CINOSMOVEPATH_H
29//------------------------------------------------------------------------------
30// defines
31//------------------------------------------------------------------------------
32//
33// --- general -----------------------------------------------------------------
34//
39#define DF_INOS_MOVEPATH_ID_DEFAULT 0xffffffff
43#define DF_INOS_MOVEPATH_TOLERANCE_DEFAULT -1.0
47#define DF_INOS_MOVEPATH_TOLERANCE_MIN 1.0e-4
51#define DF_INOS_MOVEPATH_VELOCITY_DEFAULT -1.0
55#define DF_INOS_MOVEPATH_FLAG_NO 0x00000000
59#define DF_INOS_MOVEPATH_FLAG_ABS 0x00000001
63#define DF_INOS_MOVEPATH_FLAG_INC 0x00000002
69#define DF_INOS_MOVEPATH_FLAG_NLG 0x00000004
74#define DF_INOS_MOVEPATH_FLAG_RAW 0x00000008
78#define DF_INOS_MOVEPATH_THE_END 1
79
80//------------------------------------------------------------------------------
81// Curve flags
82
86#define DF_INOS_MOVEPATH_FLAG_CURVE_OWNED 0x01000000
90#define DF_INOS_MOVEPATH_FLAG_CONTINUATION 0x02000000
94#define DF_INOS_MOVEPATH_FLAG_INCOMPLETE 0x04000000
100#define DF_INOS_MOVEPATH_FLAG_OFFSET_ZERO 0x40000000
105#define DF_INOS_MOVEPATH_FLAG_RELOCATABLE 0x80000000
106//
107
108//------------------------------------------------------------------------------
109// Segment flags
110#define DF_INOS_MOVEPATH_FLAG_SHORT 0x10000000 // segment is too short
111#define DF_INOS_MOVEPATH_FLAG_PURE_LINEAR 0x20000000 // segment is pure linear
112#define DF_INOS_MOVEPATH_FLAG_PURE_RAPID 0x40000000 // segment is pure rapid
113
117#define DF_INOS_MOVEPATH_OPTION_NONE uint32(0x00000000)
121#define DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT uint32(0x00000001)
125#define DF_INOS_MOVEPATH_OPTION_REGISTER_INCO uint32(0x00000004)
129#define DF_INOS_MOVEPATH_OPTION_ALL \
130 (DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT| \
131 DF_INOS_MOVEPATH_OPTION_REGISTER_INCO)
132
133#define DF_INOS_MOVEPATH_OPTION_DEFAULT DF_INOS_MOVEPATH_OPTION_NONE
134
135// --- helper ------------------------------------------------------------------
136//
140#define DF_INOS_MOVEPATH_HELPER_CORE_NAME "Helper.Core"
141#define DF_INOS_MOVEPATH_HELPER_CORE_DEFAULT -1
142//
146#define DF_INOS_MOVEPATH_HELPER_PRIORITY_NAME "Helper.Priority"
147#define DF_INOS_MOVEPATH_HELPER_PRIORITY_DEFAULT DF_INOS_TASK_PRIO_REALTIME_LOWEST
148
152#define DF_INOS_MOVEPATH_PREPARE_HELPER_CORE_NAME "PrepareHelper.Core"
153#define DF_INOS_MOVEPATH_PREPARE_HELPER_CORE_DEFAULT -1
154//
158#define DF_INOS_MOVEPATH_PREPARE_HELPER_PRIORITY_NAME "PrepareHelper.Priority"
159#define DF_INOS_MOVEPATH_PREPARE_HELPER_PRIORITY_DEFAULT DF_INOS_TASK_PRIO_BACKGROUND
163#define DF_INOS_MOVEPATH_RUN_HELPER_CORE_NAME "RunHelper.Core"
164#define DF_INOS_MOVEPATH_RUN_HELPER_CORE_DEFAULT -1
165//
169#define DF_INOS_MOVEPATH_RUN_HELPER_PRIORITY_NAME "RunHelper.Priority"
170#define DF_INOS_MOVEPATH_RUN_HELPER_PRIORITY_DEFAULT DF_INOS_TASK_PRIO_REALTIME_LOWEST
171//
172// --- mcrobot -----------------------------------------------------------------
173//
180#define DF_INOS_MOVEPATH_MCROBOT_PREPAREPATH_NAME "McRobot.PreparePath"
181#define DF_INOS_MOVEPATH_MCROBOT_PREPAREPATH_DEFAULT 0
182#define DF_INOS_MOVEPATH_MCROBOT_PREPAREPATH_NOTHING 0
183#define DF_INOS_MOVEPATH_MCROBOT_PREPAREPATH_ERROR 1
184//
185// --- interpolator ------------------------------------------------------------
186//
195#define DF_INOS_MOVEPATH_INTERPOLATOR_SHAPE_ON_SHRINK_NAME "Shape.OnShrink"
196#define DF_INOS_MOVEPATH_INTERPOLATOR_SHAPE_ON_SHRINK_DEFAULT 1
197#define DF_INOS_MOVEPATH_INTERPOLATOR_SHAPE_ON_SHRINK_LIMIT_AMAX 0
198#define DF_INOS_MOVEPATH_INTERPOLATOR_SHAPE_ON_SHRINK_STOP 1
199#define DF_INOS_MOVEPATH_INTERPOLATOR_SHAPE_ON_SHRINK_ERROR 2
200#define DF_INOS_MOVEPATH_INTERPOLATOR_SHAPE_ON_SHRINK_LIMIT_JMAX 3
207#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_MAX_ANGLE "Nurbs.MaxAngle"
208#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_MAX_ANGLE_DEFAULT 20.0
216#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_MAX_LENGTH "Nurbs.MaxLength"
217#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_MAX_LENGTH_DEFAULT 0.0
226#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_OVERLAP "Nurbs.Overlap"
227#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_OVERLAP_DEFAULT 0.2
233#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_VECTORIZE_FACTOR "Nurbs.Vectorize"
234#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_VECTORIZE_FACTOR_DEFAULT 0.1
240#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_INTERPOLATION_POINTS "Nurbs.InterpolationPoints"
241#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_INTERPOLATION_POINTS_DEFAULT DF_INOS_NURBSCURVE_INTERPOLATION_POINTS
248#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_D3_FACTOR "Nurbs.D3Factor"
249#define DF_INOS_MOVEPATH_INTERPOLATOR_NURBS_D3_FACTOR_DEFAULT 20.0
257#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_PURE "Clothoid.Pure"
258#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_PURE_DEFAULT 1.0
266#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_REDUCE "Clothoid.Reduce"
267#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_REDUCE_DEFAULT 1.0
275#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_R "Clothoid.R"
276#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_L "Clothoid.L"
277#define DF_INOS_MOVEPATH_INTERPOLATOR_CLOTHOID_A "Clothoid.A"
278
279// --- trajectory --------------------------------------------------------------
280//
284#define DF_INOS_MOVEPATH_TRAJECTORY_MAIN_AXIS_NAME "Trajectory.MainAxis"
285#define DF_INOS_MOVEPATH_TRAJECTORY_MAIN_AXIS_DEFAULT 0
292#define DF_INOS_MOVEPATH_TRAJECTORY_LOGGING_MASK "Trajectory.Logging.Mask"
293#define DF_INOS_MOVEPATH_TRAJECTORY_LOGGING_MASK_DEFAULT 0x00000001
294#define DF_INOS_MOVEPATH_TRAJECTORY_LOGGING_MASK_NONE 0.0
295#define DF_INOS_MOVEPATH_TRAJECTORY_LOGGING_MASK_PATHS 0x00000001
307#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_TYPE_NAME "Trajectory.Buffer.Type"
308#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_TYPE_DEFAULT "active"
309#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_TYPE_NONE "none"
310#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_TYPE_ACTIVE "active"
311#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_TYPE_PASSIVE "passive"
315#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_SIZE_NAME "Trajectory.Buffer.Size"
316#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_SIZE_DEFAULT 256
320#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_READY_NAME "Trajectory.Buffer.Ready"
321#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_READY_DEFAULT 16
322#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_READY_FULL_PATH 0xffffffff
326#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_LOW_NAME "Trajectory.Buffer.Low"
327#define DF_INOS_MOVEPATH_TRAJECTORY_BUFFER_LOW_DEFAULT 192
331#define DF_INOS_MOVEPATH_TRAJECTORY_FILTER_LENGTH_NAME "Trajectory.Filter.Length"
332#define DF_INOS_MOVEPATH_TRAJECTORY_FILTER_LENGTH_DEFAULT 0
345#define DF_INOS_MOVEPATH_TRAJECTORY_FOLLOW_ENABLE_NAME "Trajectory.Follow.Enable"
346#define DF_INOS_MOVEPATH_TRAJECTORY_FOLLOW_ENABLE_DEFAULT 0
347#define DF_INOS_MOVEPATH_TRAJECTORY_FOLLOW_INDEX_NAME "Trajectory.Follow.Index"
348#define DF_INOS_MOVEPATH_TRAJECTORY_FOLLOW_INDEX_DEFAULT 3
349#define DF_INOS_MOVEPATH_TRAJECTORY_FOLLOW_UNIT_NAME "Trajectory.Follow.Unit"
350#define DF_INOS_MOVEPATH_TRAJECTORY_FOLLOW_UNIT_DEFAULT 0
360#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY "Trajectory.Constant.CheckVelocity"
361#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY_NONE 0.0
362#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY_DEFAULT 0.0
363#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY_REDUCE 2.0
364#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY_ONLY 1.0
374#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY_OVERSAMPLING "Trajectory.Constant.CheckVelocity.Oversampling"
375#define DF_INOS_MOVEPATH_TRAJECTORY_CONSTANT_CHECK_VELOCITY_OVERSAMPLING_DEFAULT 1.0
379#define DF_INOS_MOVEPATH_TRAJECTORY_SEGMENT_CUBIC_REDUCTION_NAME "Trajectory.Segment.CubicReduction"
380#define DF_INOS_MOVEPATH_TRAJECTORY_SEGMENT_CUBIC_REDUCTION_DEFAULT 1.0
381//
382//------------------------------------------------------------------------------
383// param names
384//------------------------------------------------------------------------------
385//
389#define DF_INOS_MOVEPATH_PARAM_SPEEDSET "SpeedSet"
393#define DF_INOS_MOVEPATH_PARAM_SLOWMOTION "SlowMotion"
397#define DF_INOS_MOVEPATH_PARAM_TOLERANCE "Tolerance"
401#define DF_INOS_MOVEPATH_PARAM_VMAX "Vmax"
405#define DF_INOS_MOVEPATH_PARAM_VTRQ "Vtrq"
409#define DF_INOS_MOVEPATH_PARAM_AMAX "Amax"
413#define DF_INOS_MOVEPATH_PARAM_ATRQ "Atrq"
417#define DF_INOS_MOVEPATH_PARAM_BMAX "Bmax"
421#define DF_INOS_MOVEPATH_PARAM_BTRQ "Btrq"
425#define DF_INOS_MOVEPATH_PARAM_JMAX "Jmax"
426//
430#define DF_INOS_MOVEPATH_APPROACH_NAME "Approach"
431#define DF_INOS_MOVEPATH_APPROACH_DEFAULT 0
435#define DF_INOS_MOVEPATH_APPROACH_DISTANCE_NAME "Approach.Distance"
436#define DF_INOS_MOVEPATH_APPROACH_DISTANCE_DEFAULT 5.0
440#define DF_INOS_MOVEPATH_APPROACH_VELOCITY_NAME "Approach.Velocity"
441#define DF_INOS_MOVEPATH_APPROACH_VELOCITY_DEFAULT 1.0
442
446#define DF_INOS_MOVEPATH_RAPID_GATE_INVERT_NAME "RapidGateInverted"
447#define DF_INOS_MOVEPATH_RAPID_GATE_INVERT_DEFAULT 0.0
448
449
450//------------------------------------------------------------------------------
451// includes
452//------------------------------------------------------------------------------
453//
454// system
455#include <inos.h>
456#include <cinostaskexdef.h>
457#include <cinosvector.h>
458#include <cinosmotionframe.h>
459
460//------------------------------------------------------------------------------
461// type definitions
462//------------------------------------------------------------------------------
463//
464typedef TINOSVector<DF_INOS_MOVEPATH_MAX_AXES> TINOSMovePathVec;
465
466
467#include <cinosmovepathparam.h>
468#include <cinosmovepathevent.h>
469#include <cinosmovepathsegment.h>
470#include <cinosmovepathsegmentbase.h>
471#include <cinosmovepathsegmentnurbs.h>
472#include <cinosmovepathresource.h>
473#include <cinosmovepathresourceposaxis.h>
474#include <cinosmovepathresourcespeedaxis.h>
475#include <cinosmovepathresourcerapidgate.h>
476#include <cinosmovepathpart.h>
477#include <cinosmovepathpartlinear.h>
478#include <cinosmovepathpartlinearbay.h>
479#include <cinosmovepathpartcircle.h>
480#include <cinosmovepathpartclothoid.h>
481#include <cinosmovepathcurve.h>
482#include <cinosmovepathinterpolator.h>
483#include <cinosmovepathinterpolatorsegment.h>
484#include <cinosmovepathtrajectory.h>
485#include <cinosmovepathtrajectoryconstant.h>
486#include <cinosmovepathtrajectorysegment.h>
487#include <cinosmovepathtrajectorylookahead.h>
488
489#ifdef INOS_MOVEPATH_SKYWRITING_SUPPORT
490#include <cinosmovepathsegmentrapid.h>
491#include <cinosmovepathpartrapid.h>
492#include <cinosmovepathtrajectoryskywriting.h>
493#endif
494
495//
496// C++
497//
498// project
499//
500//------------------------------------------------------------------------------
501// trace macros
502//------------------------------------------------------------------------------
503//
504#define DF_INOS_EVENT_LOGGER_FONT_COLOR_MOVEPATH_CREATE 0x00808000
505#define DF_INOS_EVENT_LOGGER_FONT_COLOR_MOVEPATH_RUN 0x00008080
506//
507#ifdef INOS_MOVEPATH_TRACE_SUPPORT
508#define MOVEPATH_TRACE_CREATE( path, apFormat, aArgs... ) \
509 if( CINOSEventLogger::Instance().IsLevelActive(DF_INOS_EVENT_LOGGER_LEVEL_MOVEPATH_CREATE) ) {\
510 char cBuffer[256]; \
511 inos_strncpy(cBuffer, "MOVEPATH[%s] : ", sizeof(cBuffer)); \
512 inos_strcat(cBuffer, apFormat, sizeof(cBuffer)); \
513 CINOSEventLogger::Instance().EvtLog( \
514 DF_INOS_EVENT_LOGGER_LEVEL_MOVEPATH_CREATE, \
515 __PRETTY_FUNCTION__, \
516 __FILE__, \
517 __LINE__, \
518 DF_INOS_EVENT_LOGGER_FONT_COLOR_MOVEPATH_CREATE, \
519 cBuffer, path->GetName(), \
520 ##aArgs ); \
521 }
522#define MOVEPATH_TRACE_RUN( path, apFormat, aArgs... ) \
523 if( CINOSEventLogger::Instance().IsLevelActive(DF_INOS_EVENT_LOGGER_LEVEL_MOVEPATH_RUN) ) {\
524 char cBuffer[256]; \
525 inos_strncpy(cBuffer, "MOVEPATH[%s] : ", sizeof(cBuffer)); \
526 inos_strcat(cBuffer, apFormat, sizeof(cBuffer)); \
527 CINOSEventLogger::Instance().EvtLog( \
528 DF_INOS_EVENT_LOGGER_LEVEL_MOVEPATH_RUN, \
529 __PRETTY_FUNCTION__, \
530 __FILE__, \
531 __LINE__, \
532 DF_INOS_EVENT_LOGGER_FONT_COLOR_MOVEPATH_RUN, \
533 cBuffer, path->GetName(), \
534 ##aArgs ); \
535 }
536#else
537#if defined(_MSC_VER)
538#define MOVEPATH_TRACE_CREATE( path, apFormat, ... )
539#define MOVEPATH_TRACE_RUN( path, apFormat, ... )
540#else
541#define MOVEPATH_TRACE_CREATE( path, apFormat, aArgs... )
542#define MOVEPATH_TRACE_RUN( path, apFormat, aArgs... )
543#endif
544#endif
545//------------------------------------------------------------------------------
546// class definition
547//------------------------------------------------------------------------------
548//
549class CINOSMovePath
550{
551 //--- user interface ---------------------------------------------------
552
553 // public member functions
554 public :
556 enum EState {
557 eStaVirgin = 0,
558 eStaEdit = 1,
559 eStaRaw = 2,
560 eStaReady = 3,
561 eStaRunning = 4,
562 eStaStopping = 5,
563 eStaBreaking = 6,
564 eStaCanceling = 7,
565 eStaSettling = 8,
566 eStaTransient = 9,
567 eStaPaused = 10,
568 eStaDone = 11,
569 eStaLast = 12
570 };
571
574 EState GetState() const
575 {
576 // return actual state
577 return m_eState;
578 }
585 bool IsMoving() const;
586
589 uint32 GetError() const
590 {
591 // return actual error
592 return m_uError;
593 }
594
597 virtual uint32 AcceptError()
598 {
599 // save pending error
600 uint32 uError = m_uError;
601 // clear error
602 m_uError = 0;
603 // return pending error
604 return uError;
605 }
606
609 const char* GetName() const
610 {
611 // return name
612 return &m_cName[0];
613 }
614
617 uint32 GetOptions() const
618 {
619 // return options
620 return m_uOptions;
621 }
622
623 // --- creation and destruction ---------------------------------------
624
642 static uint32 Create(CINOSMovePath*& apPath,
643 uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
644
663 static uint32 Create(CINOSMovePath*& apPath, const char* apName,
664 uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
665
684 static uint32 Create(CINOSMovePath*& apPath,
685 const char* apCurveType, const char* apInterpolatorType, const char* apTrajectoryType,
686 uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
687
707 static uint32 Create(CINOSMovePath*& apPath, const char* apName,
708 const char* apCurveType, const char* apInterpolatorType, const char* apTrajectoryType,
709 uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
710
732 static uint32 Create(CINOSMovePath*& apPath, const char* apName,
733 const char* apCurveType, const char* apInterpolatorType, const char* apTrajectoryType,
734 const char* apParam, uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
735
742 static uint32 Destroy(CINOSMovePath* apPath);
743
744 // --- static global methods ------------------------------------------
745
756 static uint32 glbSetAxis(const char* apName, uint8 auIndex,
757 uint32 auFlags = DF_INOS_MOVEPATH_FLAG_NO,
758 uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
759
766 static CINOSBaseAxis* glbGetAxis(uint8 auIndex);
767
777 static uint32 glbGetActPosition(const char* apName, double& adPosition,
778 uint32 auOptions = DF_INOS_MOVEPATH_OPTION_DEFAULT);
779
780 // --- edit mode ------------------------------------------------------
781
793 virtual uint32 SetAxis(const char* apName, uint8 auIndex,
794 uint32 auFlags = DF_INOS_MOVEPATH_FLAG_NO,
795 const char* apType = "PosAxis");
796
808 virtual uint32 AddResource(const char* apName,
809 uint8& auIndex,
810 uint32 auFlags = DF_INOS_MOVEPATH_FLAG_NO,
811 const char* apType = "PosAxis");
812
830 virtual uint32 EditBegin(uint32 auFlags = DF_INOS_MOVEPATH_FLAG_INC,
831 double adTolerance = DF_INOS_MOVEPATH_TOLERANCE_DEFAULT,
832 double adVelocity = DF_INOS_MOVEPATH_VELOCITY_DEFAULT);
833
839 virtual uint32 EditEnd(bool abIncomplete = false);
840
857 virtual uint32 SegBegin(uint32 auId = DF_INOS_MOVEPATH_ID_DEFAULT,
858 uint32 auFlags = DF_INOS_MOVEPATH_FLAG_NO,
859 double adTolerance = DF_INOS_MOVEPATH_TOLERANCE_DEFAULT,
860 double adVelocity = DF_INOS_MOVEPATH_VELOCITY_DEFAULT);
861
867 virtual uint32 SegEnd();
868
880 virtual uint32 Start(uint8 auIndex, double adPosition);
881
882 // --- base curve methods ---------------------------------------------
883
895 virtual uint32 Linear(uint8 auIndex, double adPosition, uint32 auFlags = 0);
896
913 virtual uint32 LinearBay(uint8 auIndex1, uint8 auIndex2, double adPosition1,
914 double adPosition2, double adLength, uint32 auFlags = 0);
915
933 virtual uint32 CircleCW(uint8 auIndex1, uint8 auIndex2,
934 double adEnd1, double adEnd2, double adMid1, double adMid2,
935 uint32 auFlags=0);
936
954 virtual uint32 CircleCC(uint8 auIndex1, uint8 auIndex2,
955 double adEnd1, double adEnd2, double adMid1, double adMid2,
956 uint32 auFlags=0);
957
976 virtual uint32 CircleCW(uint8 auIndex1, uint8 auIndex2,
977 double adMid1, double adMid2, double adAngle, bool abAngleAbsolute,
978 uint32 auFlags=0);
979
998 virtual uint32 CircleCC(uint8 auIndex1, uint8 auIndex2,
999 double adMid1, double adMid2, double adAngle, bool abAngleAbsolute,
1000 uint32 auFlags=0);
1001
1019 virtual uint32 CircleCW(uint8 auIndex1, uint8 auIndex2,
1020 double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0);
1021
1039 virtual uint32 CircleCC(uint8 auIndex1, uint8 auIndex2,
1040 double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0);
1041
1042 // --- rapid segment methods -------------------------------------------
1043#ifdef INOS_MOVEPATH_SKYWRITING_SUPPORT
1044
1056 virtual uint32 RapidBegin(uint32 auId = DF_INOS_MOVEPATH_ID_DEFAULT,
1057 uint32 auFlags = DF_INOS_MOVEPATH_FLAG_NO);
1058
1064 virtual uint32 RapidEnd();
1065
1077 virtual uint32 Rapid(uint8 auIndex, double adPosition, uint32 auFlags = 0);
1078#endif
1079
1080 // --- nurbs curve methods -------------------------------------------
1081
1096 virtual uint32 NrbBegin(uint32 auId = DF_INOS_MOVEPATH_ID_DEFAULT,
1097 uint32 auFlags = DF_INOS_MOVEPATH_FLAG_NO,
1098 uint32 auDegree = 3,
1099 uint32 auInterpolationPoints = DF_INOS_NURBSCURVE_INTERPOLATION_POINTS,
1100 double adVelocity = DF_INOS_MOVEPATH_VELOCITY_DEFAULT);
1101
1107 virtual uint32 NrbEnd();
1108
1118 virtual uint32 NrbPoint(double adP0, double adP1, double adWeight = 1.0);
1119
1130 #if DF_INOS_MOVEPATH_MAX_AXES > 2
1131 virtual uint32 NrbPoint(double adP0, double adP1, double adP2, double adWeight);
1132 #endif
1133
1145 #if DF_INOS_MOVEPATH_MAX_AXES > 3
1146 virtual uint32 NrbPoint(double adP0, double adP1, double adP2, double adP3,
1147 double adWeight);
1148 #endif
1149
1162 #if DF_INOS_MOVEPATH_MAX_AXES > 4
1163 virtual uint32 NrbPoint(double adP0, double adP1, double adP2, double adP3,
1164 double adP4, double adWeight);
1165 #endif
1166
1177 virtual uint32 NrbKnot(double adValue, uint32 auMultiplicity = 1);
1178
1179 // --- general methods -----------------------------------------
1180
1188 virtual uint32 Reset();
1189
1190 // --- general setter/getter -----------------------------------------
1191
1199 virtual uint32 SetParam(const char* apName, double adValue);
1200
1210 virtual uint32 SetParam(uint8 auIndex, const char* apName, double adValue);
1211
1219 virtual uint32 SetParam(const char* apName, const char* apValue);
1220
1230 virtual uint32 SetParam(uint8 auIndex, const char* apName, const char* apValue);
1231
1240 virtual uint32 GetParam(const char* apName, double& adValue, double adDefault = 0.0);
1241
1251 virtual uint32 GetParam(uint8 auIndex, const char* apName, double& adValue, double adDefault = 0.0);
1252
1262 virtual uint32 GetParam(const char* apName, char* apBuffer, uint32 auSize, const char* apDefault = "");
1263
1274 virtual uint32 GetParam(uint8 auIndex, const char* apName, char* apBuffer, uint32 auSize, const char* apDefault = "");
1275
1276 // --- timing --------------------------------------------------------
1277
1283 virtual uint32 GetCycleTime(double& adCycleTime);
1284
1293 virtual uint32 GetCycleData(double& adMainCycleTime, uint8& auMainAxisIndex,
1294 inos_std::vector<uint8>& auMainCycleDownSampling, uint8& auMainOversampling);
1295
1302 virtual uint32 GetMoveTime(double& adMoveTime, double adDelta = 0.0);
1303
1310 virtual uint32 GetMoveTicks(uint64& adMoveTicks, double arDelta = 0.0);
1311
1317 virtual uint32 GetMoveLength(double& adMoveLength);
1318
1326 virtual uint32 GetMoveRemaining(double& adMoveRemaining);
1327
1338 virtual uint32 GetMaxConstantVelocity(double& adMaxConstantVelocity);
1339
1340 // --- event handling ------------------------------------------------
1341
1347 virtual uint32 AddEvent(const char* apName, double adValue, uint32 auType);
1348
1354 virtual uint32 SetEventDescriptor(struct SINOSMovePathEventDesc* apDesc);
1355
1356 // --- running -------------------------------------------------------
1357
1368 virtual CMcResult Prepare(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1369
1381 virtual CMcResult Prepare(const char* apSpeedset, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1382
1392 virtual CMcResult Run(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1393
1404 virtual CMcResult Run(const char* apSpeedset, CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1405
1414 virtual uint32 Append(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1415
1422 virtual uint32 Stop(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1423
1430 virtual uint32 Break(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1431
1438 virtual uint32 Continue(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1439
1446 virtual CMcResult Cancel(CINOSSync* apSync = DF_INOS_SYNCHRONOUS);
1447
1448 // --- misc ----------------------------------------------------------
1449
1463 virtual uint32 GetData(
1464 TINOSMovePathVec& vPos,
1465 TINOSMovePathVec& vVel,
1466 TINOSMovePathVec& vAcc,
1467 TINOSMovePathVec& vJrk)
1468 {
1469 // FIXME : ensure a valid trajectory generator
1470 ASSERT_ALWAYS(m_pTrajectory);
1471 // handle request over to trajectory generator
1472 return m_pTrajectory->GetData(vPos, vVel, vAcc, vJrk);
1473 }
1474
1489 virtual uint32 GetData(
1490 uint32& auSegmentId,
1491 TINOSMovePathVec& vPos,
1492 TINOSMovePathVec& vVel,
1493 TINOSMovePathVec& vAcc,
1494 TINOSMovePathVec& vJrk)
1495 {
1496 // FIXME : ensure a valid trajectory generator
1497 ASSERT_ALWAYS(m_pTrajectory);
1498 // handle request over to trajectory generator
1499 return m_pTrajectory->GetData(auSegmentId, vPos, vVel, vAcc, vJrk);
1500 }
1501
1502 virtual CINOSMovePathSegment* GetActSegment()
1503 {
1504 // FIXME : ensure a valid trajectory generator
1505 ASSERT_ALWAYS(m_pTrajectory);
1506 // handle request over to trajectory generator
1507 return m_pTrajectory->GetActSegment();
1508 }
1509
1510
1511
1517 virtual uint32 CancelData()
1518 {
1519 // FIXME : ensure a valid trajectory generator
1520 ASSERT_ALWAYS(m_pTrajectory);
1521 // handle request over to trajectory generator
1522 return m_pTrajectory->CancelData();
1523 }
1524
1529 virtual uint32 Fail(uint32 auError);
1530
1540 virtual uint32 GetPositionDelta(TINOSMovePathVec& vDelta);
1541
1543 virtual bool GetPosition(uint32 auIndex, TINOSMovePathVec& ovPos)
1544 {
1545 if(m_pMainCurve == nullptr) {
1546 return false;
1547 }
1548 // get it from curve
1549 return m_pMainCurve->GetPosition(auIndex, ovPos);
1550 }
1551
1553 virtual uint32 GetTorqueLimit()
1554 {
1555 return m_uTorqueLimit;
1556 }
1558 virtual double GetEpsilon()
1559 {
1560 return m_dEpsilon;
1561 }
1562
1564 virtual double GetTolerance()
1565 {
1566 return m_dTolerance;
1567 }
1568
1570 virtual uint32 GetVmax(TINOSMovePathVec& aVmax)
1571 {
1572 aVmax = vVmax;
1573 return 0;
1574 }
1576 virtual uint32 GetVtrq(TINOSMovePathVec& aVtrq)
1577 {
1578 aVtrq = vVtrq;
1579 return 0;
1580 }
1582 virtual uint32 GetAmax(TINOSMovePathVec& aAmax)
1583 {
1584 aAmax = vAmax;
1585 return 0;
1586 }
1588 virtual uint32 GetAtrq(TINOSMovePathVec& aAtrq)
1589 {
1590 aAtrq = vAtrq;
1591 return 0;
1592 }
1594 virtual uint32 GetBmax(TINOSMovePathVec& aBmax)
1595 {
1596 aBmax = vBmax;
1597 return 0;
1598 }
1600 virtual uint32 GetBtrq(TINOSMovePathVec& aBtrq)
1601 {
1602 aBtrq = vBtrq;
1603 return 0;
1604 }
1606 virtual uint32 GetJmax(TINOSMovePathVec& aJmax)
1607 {
1608 aJmax = vJmax;
1609 return 0;
1610 }
1611
1613 uint32 SetCurve(CINOSMovePathCurve* apCurve);
1614
1618
1619
1629
1630
1635 void SetTrajectory(CINOSMovePathTrajectory* apTrajectory);
1636
1638 class CINOSMovePathResourceAxis* GetAxis(uint32 auIndex)
1639 { return m_pAxis[auIndex]; };
1640
1641 class CINOSMovePathResource* GetResource(uint32 auIndex);
1642
1644 void GetActPosition(TINOSMovePathVec& ovAct);
1646 void GetPositionFirst(TINOSMovePathVec& ovFirst);
1648 void GetPositionLast(TINOSMovePathVec& ovLast);
1649
1658 bool GetBufferFillLevel(uint32& auBufferFillLevel) const;
1659
1666 uint32 SetMapping(class CINOSMatrix* apMapping);
1667
1674 uint32 GetAxesErrorMask();
1675
1681 typedef std::function<uint32(CINOSMovePath*,uint32,TINOSMovePathVec&,TINOSMovePathVec&,TINOSMovePathVec&,TINOSMovePathVec&)> tpActiveCallback;
1682
1683 void SetActiveCallback(tpActiveCallback aCallback)
1684 {
1685 m_ActiveCallback = aCallback;
1686 }
1687
1692 void GetActual(SINOSRampData& aActual)
1693 {
1694 // trajectory available ?
1695 if (nullptr != m_pTrajectory) {
1696 // yes
1697 m_pTrajectory->GetActual(aActual);
1698 }
1699 else {
1700 // not available
1701 aActual.m_rS = 0.0;
1702 aActual.m_rV = 0.0;
1703 aActual.m_rA = 0.0;
1704 aActual.m_rJ = 0.0;
1705 }
1706 }
1707
1708 //--- internals --------------------------------------------------------
1709
1710 // my friends
1711 friend class CINOSMovePathHelper;
1712 friend class CINOSMovePathInterpolator;
1713 friend class CINOSMovePathInterpolatorBlend;
1714 friend class CINOSMovePathInterpolatorClothoid;
1715 friend class CINOSMovePathInterpolatorPolynom;
1716 friend class CINOSMovePathTrajectory;
1717 template <typename CINOSMovePath> friend class CINOSTaskExMsgParam::CPtrContainer;
1718 friend class CINOSMcTargetMovePath;
1719 friend void _INI_0300_CINOSMovePath();
1720
1721 // testing friends
1722 friend class CINOSMovePathHelperTest;
1723
1724
1725 // protected methods
1726 protected :
1727
1728 // constructor / destructor
1730 CINOSMovePath (
1731 const char* apName,
1732 const char* apCurveType,
1733 const char* apInterpolatorType,
1734 const char* apTrajectoryType,
1735 uint32 auOptions);
1737 virtual ~CINOSMovePath ();
1738
1739 virtual uint32 iCircle(bool abCw, uint8 auIndex1, uint8 auIndex2,
1740 double adEnd1, double adEnd2, double adMid1, double adMid2,
1741 uint32 auFlags);
1743 virtual uint32 iCircleAngle(bool abCw, uint8 auIndex1, uint8 auIndex2,
1744 double adMid1, double adMid2, double adAngle, bool abAngleAbsolute,
1745 uint32 auFlags);
1747 virtual uint32 iCircleRadius(bool abCw, uint8 auIndex1, uint8 auIndex2,
1748 double adEnd1, double adEnd2, double adRadius, uint32 auFlags);
1749
1751 virtual uint32 iPrepare(class CINOSTaskExMsg* apMsg);
1752 virtual uint32 iPrepare(const char* apSpeedSet);
1753
1755 virtual uint32 iStartRun(class CINOSTaskExMsg* apMsg);
1756 virtual uint32 iStartRun(const char* apSpeedSet, CINOSSync* apSync);
1757
1758 virtual uint32 iRun(class CINOSTaskExMsg* apMsg);
1759 virtual uint32 iRun(const char* apSpeedSet, CINOSSync* apSync);
1760
1762 virtual uint32 iPrepareAppend(class CINOSTaskExMsg* apMsg);
1763 virtual uint32 iPrepareAppend(CINOSSync* apSync);
1764
1766 virtual uint32 iAppend(class CINOSTaskExMsg* apMsg);
1767 virtual uint32 iAppend(CINOSMovePathCurve* apCurve, CINOSSync* apSync);
1768
1770 virtual uint32 iStop(class CINOSTaskExMsg* apMsg);
1772 virtual uint32 iBreak(class CINOSTaskExMsg* apMsg);
1774 virtual uint32 iContinue(class CINOSTaskExMsg* apMsg);
1776 virtual uint32 iCancel(class CINOSTaskExMsg* apMsg);
1778 virtual uint32 iCancelData(class CINOSTaskExMsg* apMsg);
1780 virtual uint32 iSetParam(uint8 auIndex, const char* apName, double adValue);
1782 virtual uint32 iSetParam(uint8 auIndex, const char* apName, const char* apValue);
1784 virtual uint32 iGetParam(uint8 auIndex, const char* apName, double* adValue, double adDefault);
1786 virtual uint32 iGetParam(uint8 auIndex, const char* apName, char* apValue, uint32 auSize, const char* apDefault);
1787
1788
1789
1791 CMcResult PutMsg(CINOSTaskExMsg* apMsg);
1793 CMcResult PutCmd(uint32 auCommand, CINOSSync* apSync = DF_INOS_ASYNCHRONOUS);
1795 uint32 HandleCmd(uint32 auError = INOS_OK);
1797 uint32 WaitCmd(uint32 auCommand, uint32 auError = INOS_MOVEPATH_ERROR_NO_COMMAND_QUEUE);
1798
1800 CINOSTaskQueue* GetCmdQueue();
1802 uint32 DispatchCmd(CINOSTaskExMsg* apCmd);
1803
1804
1806 uint32 AddPart(CINOSMovePathPart* apPart, uint32 auFlags);
1807
1809 virtual void SetState(EState aeState)
1810 {
1811 // set actual state
1812 m_eState = aeState;
1813 }
1814
1816 virtual void SetError(uint32 auError)
1817 {
1818 // set error
1819 m_uError = auError;
1820 }
1821
1823 class TINOSMotionFrame<DF_INOS_MOVEPATH_MAX_AXES>* GetFrame()
1824 {
1825 // return frame
1826 return m_pFrame;
1827 }
1828
1830 struct SINOSMovePathEventDesc* GetEventDescriptor()
1831 {
1832 // return event descriptor
1833 return m_pEventDesc;
1834 }
1835
1837 CINCOObject* RequestRegister();
1839 void ReleaseRegister();
1840
1841 // private methods
1842 private:
1843 // ! check validity of speedset values if speedset is defined global
1844 static uint32 CheckSpeedSetValues(const char* apSpeedSet);
1845
1846 // protected members
1847 protected :
1848
1849 // commands
1850 public:
1851 enum {
1852 eCmdAttach = 256,
1853 eCmdDetach = 257,
1854 // state dependent commands
1855 eCmdFirst = 258,
1856 eCmdSetAxis,
1857 eCmdSetCurve,
1858 eCmdReset,
1859 eCmdSetMapping,
1860 eCmdGetMoveTime,
1861 eCmdGetMoveTicks,
1862 eCmdGetMoveLength,
1863 eCmdGetPositionDelta,
1864 eCmdGetMaxConstantVelocity,
1865 eCmdAddEvent,
1866 eCmdSetEventDescriptor,
1867 eCmdPrepare,
1868 eCmdStartRun,
1869 eCmdRun,
1870 eCmdPrepareAppend,
1871 eCmdAppend,
1872 eCmdBufferLow,
1873 eCmdBufferEmpty,
1874 eCmdStop,
1875 eCmdBreak,
1876 eCmdContinue,
1877 eCmdCancel,
1878 eCmdCancelData,
1879 eCmdLast
1880 };
1881
1883 enum {
1884 eParamIndexGlobalInternal = 0,
1885 eParamIndexGlobal = 0xff,
1886 eParamIndexMask = 0x0000ffff,
1887 eParamTypeNumber = 0x00010000,
1888 eParamTypeString = 0x00020000,
1889 };
1890
1892 enum {
1893 eFlgOwnerInterpolator = 0x00000001,
1894 eFlgOwnerTrajectory = 0x00000002,
1895 eFlgHasRapidSegments = 0x00000004,
1896 };
1897
1899 EState m_eState;
1901 uint32 m_uFlags;
1903 uint32 m_uOptions;
1905 uint32 m_uError;
1906
1908 uint32 m_uActInvolved;
1909
1911 CINOSMutex m_MainMutex;
1912
1914 CINOSMovePathCurve* m_pEditCurve;
1916 CINOSMovePathCurve* m_pRawCurve;
1918 CINOSMovePathCurve* m_pAppendCurve;
1919
1921 CINOSMovePathCurve* m_pPrepareCurve;
1923 CINOSMovePathCurve* m_pRunCurve;
1924
1926 CINOSMovePathCurve* m_pMainCurve;
1927
1929 CINOSMovePathTrajectory* m_pTrajectory;
1931 class CINOSMovePathHelper* m_pPrepareHelper;
1933 class CINOSMovePathHelper* m_pRunHelper;
1934
1936 uint32 m_uLengthMask;
1937
1938 private:
1939
1941 uint32 m_uId;
1942
1944 char m_cName[256];
1945
1947 char m_cInterpolatorType[32];
1948
1950 CINOSTaskQueue* m_pCmdQueue;
1951
1953 class TINOSMotionFrame<DF_INOS_MOVEPATH_MAX_AXES>* m_pFrame;
1955 class TINOSMotionFrame<DF_INOS_MOVEPATH_MAX_AXES>* m_pFrame_1;
1956
1957
1959 inos_std::vector<
1960 TINOSNameBalancedBinaryTree<SINOSMovePathParam>*> m_vParams;
1961
1963 CINOSMovePathResourceAxis* m_pAxis[DF_INOS_MOVEPATH_MAX_AXES];
1965 inos_std::vector<CINOSMovePathResource*> m_vAdditionalResources;
1966
1967 // misc properties
1968
1970 double m_dTolerance;
1972 double m_dEpsilon;
1973
1974 // max vectors
1975
1977 uint32 m_uTorqueLimit;
1979 TINOSMovePathVec vVmax;
1981 TINOSMovePathVec vVtrq;
1983 TINOSMovePathVec vAmax;
1985 TINOSMovePathVec vAtrq;
1987 TINOSMovePathVec vBmax;
1989 TINOSMovePathVec vBtrq;
1991 TINOSMovePathVec vJmax;
1992
1993 // edit helpers
1994
1996 CINOSMovePathSegmentBase* m_pActSegmentBase;
1998 CINOSMovePathSegmentNurbs* m_pActSegmentNurbs;
2000 TINOSMovePathVec m_vEditBegPos;
2001
2002 // internals
2003
2005 // used for run helper if core id is -1.
2006 int8 m_iCallerCore = -1;
2007
2008
2009
2010 // event handling
2011
2013 struct SINOSMovePathEventDesc* m_pEventDesc;
2015 CINOSMovePathEvent* m_pFstEvent;
2016
2017 // active callback
2018
2020 tpActiveCallback m_ActiveCallback;
2021
2022 // inco registration
2023
2025 uint32 m_uRegisterCnt = 0;
2027 CINCOObject* m_pRegister = nullptr;
2028
2029 // static members
2030
2032 static uint32 m_PathId;
2034 static const char* m_pCurveType;
2036 static const char* m_pInterpolatorType;
2038 static const char* m_pTrajectoryType;
2040 static uint32 m_uGlbLengthMask;
2042 static class CINOSBaseAxis* m_pGlbAxis[DF_INOS_MOVEPATH_MAX_AXES];
2043
2044 // dynamic
2045 DECLARE_DYNAMIC(CINOSMovePath);
2046};
2047
2048//------------------------------------------------------------------------------
2049// end of file
2050//------------------------------------------------------------------------------
2051
2052#endif // INC_CINOSMOVEPATH_H
DF_INOS_MOVEPATH_VELOCITY_DEFAULT
#define DF_INOS_MOVEPATH_VELOCITY_DEFAULT
Definition cinosmovepath.h:51
DF_INOS_MOVEPATH_FLAG_NO
#define DF_INOS_MOVEPATH_FLAG_NO
Definition cinosmovepath.h:55
DF_INOS_MOVEPATH_FLAG_INC
#define DF_INOS_MOVEPATH_FLAG_INC
Definition cinosmovepath.h:63
DF_INOS_MOVEPATH_ID_DEFAULT
#define DF_INOS_MOVEPATH_ID_DEFAULT
Definition cinosmovepath.h:39
DF_INOS_MOVEPATH_TOLERANCE_DEFAULT
#define DF_INOS_MOVEPATH_TOLERANCE_DEFAULT
Definition cinosmovepath.h:43
cinosmovepathcurve.h
The CINOSMovePath class.
cinosmovepathinterpolator.h
The CINOSMovePathInterpolator class.
cinosmovepathpart.h
The CINOSMovePathPart class.
cinosmovepathpartcircle.h
The CINOSMovePathPartCircle class.
cinosmovepathpartclothoid.h
The CINOSMovePathPartClothoid class.
cinosmovepathpartlinear.h
The CINOSMovePathPartLinear class.
cinosmovepathpartlinearbay.h
The CINOSMovePathPartLinearBay class.
cinosmovepathsegment.h
The CINOSMovePathSegment class.
cinosmovepathsegmentbase.h
The CINOSMovePathSegment class.
cinosmovepathsegmentnurbs.h
The CINOSMovePathSegmentNurbs class.
cinosmovepathtrajectory.h
The CINOSMovePathTrajectors class.
cinosmovepathtrajectoryconstant.h
The CINOSMovePathTrajectoryConstant class.
cinosmovepathtrajectorysegment.h
The CINOSMovePathTrajectorySegment class.
DECLARE_DYNAMIC
#define DECLARE_DYNAMIC(aClass)
Definition cinospartitionmemory.h:328
CINOSBaseAxis
Provides axis functionality.
Definition cinosbaseaxis.h:676
CINOSMovePathCurve
Definition cinosmovepathcurve.h:56
CINOSMovePathCurve::GetPosition
bool GetPosition(uint32 auIndex, TINOSMovePathVec &ovPos)
get position vector auIndex
CINOSMovePathInterpolatorBlend
Definition cinosmovepathinterpolatorblend.h:71
CINOSMovePathInterpolatorClothoid
Definition cinosmovepathinterpolatorclothoid.h:50
CINOSMovePathInterpolator
Definition cinosmovepathinterpolator.h:82
CINOSMovePathPart
Definition cinosmovepathpart.h:45
CINOSMovePathSegmentBase
Definition cinosmovepathsegmentbase.h:48
CINOSMovePathSegmentNurbs
Definition cinosmovepathsegmentnurbs.h:47
CINOSMovePathSegment
Definition cinosmovepathsegment.h:45
CINOSMovePathTrajectory
Definition cinosmovepathtrajectory.h:81
CINOSMovePathTrajectory::GetActual
void GetActual(SINOSRampData &aActual)
Get actual path s,v,a,j.
Definition cinosmovepathtrajectory.h:200
CINOSMovePathTrajectory::GetData
virtual uint32 GetData(TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
get data from trajectory buffer
CINOSMovePathTrajectory::CancelData
virtual uint32 CancelData()
cancel trajectory buffer data
CINOSMovePath
Definition cinosmovepath.h:550
CINOSMovePath::m_pMainCurve
CINOSMovePathCurve * m_pMainCurve
pointer to main curve
Definition cinosmovepath.h:1926
CINOSMovePath::iCancelData
virtual uint32 iCancelData(class CINOSTaskExMsg *apMsg)
internal cancel data
CINOSMovePath::Create
static uint32 Create(CINOSMovePath *&apPath, uint32 auOptions=uint32(0x00000000))
Create a movepath instance.
CINOSMovePath::PutCmd
CMcResult PutCmd(uint32 auCommand, CINOSSync *apSync=DF_INOS_ASYNCHRONOUS)
put command to queue
CINOSMovePath::m_pRunCurve
CINOSMovePathCurve * m_pRunCurve
pointer to run curve
Definition cinosmovepath.h:1923
CINOSMovePath::CancelData
virtual uint32 CancelData()
Cancel data from running path (inform trajectory generator, that we don't need data anymore.
Definition cinosmovepath.h:1517
CINOSMovePath::GetAtrq
virtual uint32 GetAtrq(TINOSMovePathVec &aAtrq)
get Atrq vector
Definition cinosmovepath.h:1588
CINOSMovePath::iContinue
virtual uint32 iContinue(class CINOSTaskExMsg *apMsg)
internal continue
CINOSMovePath::GetAmax
virtual uint32 GetAmax(TINOSMovePathVec &aAmax)
get Amax vector
Definition cinosmovepath.h:1582
CINOSMovePath::CINOSMovePath
CINOSMovePath(const char *apName, const char *apCurveType, const char *apInterpolatorType, const char *apTrajectoryType, uint32 auOptions)
constructor (application should use CINOSMovePath::Create)
CINOSMovePath::GetPrepareCurve
CINOSMovePathCurve * GetPrepareCurve()
get pointer to path prepare curve
Definition cinosmovepath.h:1624
CINOSMovePath::CircleCW
virtual uint32 CircleCW(uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
Add a clock wise circle part to the current segment.
CINOSMovePath::Linear
virtual uint32 Linear(uint8 auIndex, double adPosition, uint32 auFlags=0)
Add a linear part to the current segment.
CINOSMovePath::Break
virtual uint32 Break(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Break the running path.
CINOSMovePath::Reset
virtual uint32 Reset()
Reset the path, resets curves, interpolators and trajectories does not reset parameters of the movepa...
CINOSMovePath::Append
virtual uint32 Append(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Appends curves that have been edited to the path.
CINOSMovePath::m_MainMutex
CINOSMutex m_MainMutex
the main mutex
Definition cinosmovepath.h:1911
CINOSMovePath::m_pRawCurve
CINOSMovePathCurve * m_pRawCurve
pointer to raw curve
Definition cinosmovepath.h:1916
CINOSMovePath::CircleCC
virtual uint32 CircleCC(uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
Add a counter clock wise circle part to the current segment.
CINOSMovePath::SetTrajectory
void SetTrajectory(CINOSMovePathTrajectory *apTrajectory)
set pointer to path trajectory
CINOSMovePath::Run
virtual CMcResult Run(const char *apSpeedset, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Run the path.
CINOSMovePath::SetState
virtual void SetState(EState aeState)
set move path state
Definition cinosmovepath.h:1809
CINOSMovePath::GetCycleTime
virtual uint32 GetCycleTime(double &adCycleTime)
Return the path cycle time [sec].
CINOSMovePath::EditBegin
virtual uint32 EditBegin(uint32 auFlags=0x00000002, double adTolerance=-1.0, double adVelocity=-1.0)
Enter into edit mode.
CINOSMovePath::m_uFlags
uint32 m_uFlags
flags
Definition cinosmovepath.h:1901
CINOSMovePath::WaitCmd
uint32 WaitCmd(uint32 auCommand, uint32 auError=INOS_MOVEPATH_ERROR_NO_COMMAND_QUEUE)
wait for auCommand or eCmdAbort (return auError if no command queue available)
CINOSMovePath::GetName
const char * GetName() const
Get move path name.
Definition cinosmovepath.h:609
CINOSMovePath::SetError
virtual void SetError(uint32 auError)
set move path error
Definition cinosmovepath.h:1816
CINOSMovePath::GetFrame
class TINOSMotionFrame< DF_INOS_MOVEPATH_MAX_AXES > * GetFrame()
get currently selected frame
Definition cinosmovepath.h:1823
CINOSMovePath::SetParam
virtual uint32 SetParam(uint8 auIndex, const char *apName, const char *apValue)
Set axis specific movepath parameter to given value.
CINOSMovePath::PutMsg
CMcResult PutMsg(CINOSTaskExMsg *apMsg)
put message into helpers queue
CINOSMovePath::NrbEnd
virtual uint32 NrbEnd()
End of nurbs curve segment.
CINOSMovePath::GetEditCurve
CINOSMovePathCurve * GetEditCurve()
get pointer to path edit curve
Definition cinosmovepath.h:1621
CINOSMovePath::AddEvent
virtual uint32 AddEvent(const char *apName, double adValue, uint32 auType)
Return the path cycle time [sec].
CINOSMovePath::GetAxesErrorMask
uint32 GetAxesErrorMask()
Get axes error mask. Returns an axis on error pattern (bit set means, the corresponding axis is on er...
CINOSMovePath::GetData
virtual uint32 GetData(TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
Get actual path data.
Definition cinosmovepath.h:1463
CINOSMovePath::~CINOSMovePath
virtual ~CINOSMovePath()
destructor (application should use CINOSMovePath::Destroy)
CINOSMovePath::Run
virtual CMcResult Run(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Run the path.
CINOSMovePath::NrbBegin
virtual uint32 NrbBegin(uint32 auId=0xffffffff, uint32 auFlags=0x00000000, uint32 auDegree=3, uint32 auInterpolationPoints=DF_INOS_NURBSCURVE_INTERPOLATION_POINTS, double adVelocity=-1.0)
Mark the begin of a nurbs curve segment.
CINOSMovePath::GetParam
virtual uint32 GetParam(uint8 auIndex, const char *apName, double &adValue, double adDefault=0.0)
Get axis specific movepath parameter.
CINOSMovePath::RequestRegister
CINCOObject * RequestRegister()
return inco registration of path
CINOSMovePath::CircleCC
virtual uint32 CircleCC(uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
Add a counter clock wise circle part to the current segment.
CINOSMovePath::glbGetAxis
static CINOSBaseAxis * glbGetAxis(uint8 auIndex)
Get pointer to globally mapped axis with given index.
CINOSMovePath::GetOptions
uint32 GetOptions() const
Get move path options.
Definition cinosmovepath.h:617
CINOSMovePath::Prepare
virtual CMcResult Prepare(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Precalculate the path.
CINOSMovePath::AcceptError
virtual uint32 AcceptError()
Accept pending error and return its code, see also INOS_MOVEPATH_ERROR_GENERAL.
Definition cinosmovepath.h:597
CINOSMovePath::glbGetActPosition
static uint32 glbGetActPosition(const char *apName, double &adPosition, uint32 auOptions=uint32(0x00000000))
Get actual commanded position of given axis.
CINOSMovePath::iBreak
virtual uint32 iBreak(class CINOSTaskExMsg *apMsg)
internal break
CINOSMovePath::GetEventDescriptor
struct SINOSMovePathEventDesc * GetEventDescriptor()
get event receiver
Definition cinosmovepath.h:1830
CINOSMovePath::HandleCmd
uint32 HandleCmd(uint32 auError=INOS_OK)
check command queue (return auError if no command queue available)
CINOSMovePath::NrbPoint
virtual uint32 NrbPoint(double adP0, double adP1, double adWeight=1.0)
Add a control point to the nurbs curve.
CINOSMovePath::GetPosition
virtual bool GetPosition(uint32 auIndex, TINOSMovePathVec &ovPos)
get position vector at index auIndex
Definition cinosmovepath.h:1543
CINOSMovePath::GetActual
void GetActual(SINOSRampData &aActual)
Get actual path s,v,a,j.
Definition cinosmovepath.h:1692
CINOSMovePath::GetData
virtual uint32 GetData(uint32 &auSegmentId, TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
Get actual path data.
Definition cinosmovepath.h:1489
CINOSMovePath::AddResource
virtual uint32 AddResource(const char *apName, uint8 &auIndex, uint32 auFlags=0x00000000, const char *apType="PosAxis")
Add recource with given recource name and type.
CINOSMovePath::SetMapping
uint32 SetMapping(class CINOSMatrix *apMapping)
Set a virtual to physical axis mapping.
CINOSMovePath::GetPositionFirst
void GetPositionFirst(TINOSMovePathVec &ovFirst)
get first path position vector
CINOSMovePath::GetMoveRemaining
virtual uint32 GetMoveRemaining(double &adMoveRemaining)
Return the remaining path length [path units]. It can be used to ask for the actual remaining length ...
CINOSMovePath::GetMoveTime
virtual uint32 GetMoveTime(double &adMoveTime, double adDelta=0.0)
Return time [sec] the path needs until End - Delta.
CINOSMovePath::SetParam
virtual uint32 SetParam(const char *apName, double adValue)
Set movepath parameter to given value.
CINOSMovePath::iCircleAngle
virtual uint32 iCircleAngle(bool abCw, uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags)
internal circle angle
CINOSMovePath::m_pEditCurve
CINOSMovePathCurve * m_pEditCurve
pointer to edit curve
Definition cinosmovepath.h:1914
CINOSMovePath::Create
static uint32 Create(CINOSMovePath *&apPath, const char *apName, uint32 auOptions=uint32(0x00000000))
Create a movepath instance with given name.
CINOSMovePath::GetTrajectory
CINOSMovePathTrajectory * GetTrajectory()
get pointer to path trajectory
Definition cinosmovepath.h:1632
CINOSMovePath::Fail
virtual uint32 Fail(uint32 auError)
Cancel running path with a given error.
CINOSMovePath::iCircleRadius
virtual uint32 iCircleRadius(bool abCw, uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags)
internal circle radius
CINOSMovePath::GetTolerance
virtual double GetTolerance()
get path tolerance
Definition cinosmovepath.h:1564
CINOSMovePath::SetCurve
uint32 SetCurve(CINOSMovePathCurve *apCurve)
set pointer to path curve (deprecated)
CINOSMovePath::GetActPosition
void GetActPosition(TINOSMovePathVec &ovAct)
get actual axes position vector
CINOSMovePath::DispatchCmd
uint32 DispatchCmd(CINOSTaskExMsg *apCmd)
dispatch command
CINOSMovePath::iAppend
virtual uint32 iAppend(class CINOSTaskExMsg *apMsg)
internal append
CINOSMovePath::GetBtrq
virtual uint32 GetBtrq(TINOSMovePathVec &aBtrq)
get Btrq vector
Definition cinosmovepath.h:1600
CINOSMovePath::GetCurve
CINOSMovePathCurve * GetCurve()
get pointer to maincurve
Definition cinosmovepath.h:1616
CINOSMovePath::iSetParam
virtual uint32 iSetParam(uint8 auIndex, const char *apName, double adValue)
internal set param
CINOSMovePath::iCancel
virtual uint32 iCancel(class CINOSTaskExMsg *apMsg)
internal cancel
CINOSMovePath::GetJmax
virtual uint32 GetJmax(TINOSMovePathVec &aJmax)
get Jmax vector
Definition cinosmovepath.h:1606
CINOSMovePath::GetParam
virtual uint32 GetParam(const char *apName, double &adValue, double adDefault=0.0)
Get movepath parameter.
CINOSMovePath::Create
static uint32 Create(CINOSMovePath *&apPath, const char *apName, const char *apCurveType, const char *apInterpolatorType, const char *apTrajectoryType, uint32 auOptions=uint32(0x00000000))
Create a movepath instance with given name.
CINOSMovePath::m_eState
EState m_eState
state
Definition cinosmovepath.h:1899
CINOSMovePath::CircleCW
virtual uint32 CircleCW(uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
Add a clock wise circle part to the current segment.
CINOSMovePath::m_uError
uint32 m_uError
error
Definition cinosmovepath.h:1905
CINOSMovePath::EditEnd
virtual uint32 EditEnd(bool abIncomplete=false)
Exit edit mode.
CINOSMovePath::GetMaxConstantVelocity
virtual uint32 GetMaxConstantVelocity(double &adMaxConstantVelocity)
Return the max. allowed constant velocity the path can be run with without violating any axes limits ...
CINOSMovePath::GetVtrq
virtual uint32 GetVtrq(TINOSMovePathVec &aVtrq)
get Vtrq vector
Definition cinosmovepath.h:1576
CINOSMovePath::iStop
virtual uint32 iStop(class CINOSTaskExMsg *apMsg)
internal stop
CINOSMovePath::LinearBay
virtual uint32 LinearBay(uint8 auIndex1, uint8 auIndex2, double adPosition1, double adPosition2, double adLength, uint32 auFlags=0)
Add a linear bay part to the current segment.
CINOSMovePath::iGetParam
virtual uint32 iGetParam(uint8 auIndex, const char *apName, char *apValue, uint32 auSize, const char *apDefault)
internal get param
CINOSMovePath::CircleCW
virtual uint32 CircleCW(uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
Add a clock wise circle part to the current segment.
CINOSMovePath::GetError
uint32 GetError() const
Return current pending movepath error, see also INOS_MOVEPATH_ERROR_GENERAL.
Definition cinosmovepath.h:589
CINOSMovePath::GetMoveTicks
virtual uint32 GetMoveTicks(uint64 &adMoveTicks, double arDelta=0.0)
Return bus ticks the path needs until End - Delta.
CINOSMovePath::NrbKnot
virtual uint32 NrbKnot(double adValue, uint32 auMultiplicity=1)
Add a control point to the nurbs curve.
CINOSMovePath::GetMoveLength
virtual uint32 GetMoveLength(double &adMoveLength)
Return the path length [path units].
CINOSMovePath::GetTorqueLimit
virtual uint32 GetTorqueLimit()
get torque limit
Definition cinosmovepath.h:1553
CINOSMovePath::IsMoving
bool IsMoving() const
CINOSMovePath::SetParam
virtual uint32 SetParam(const char *apName, const char *apValue)
Set movepath parameter to given value.
CINOSMovePath::iStartRun
virtual uint32 iStartRun(class CINOSTaskExMsg *apMsg)
internal run
CINOSMovePath::Prepare
virtual CMcResult Prepare(const char *apSpeedset, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Precalculate the path.
CINOSMovePath::Stop
virtual uint32 Stop(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Stop the running path.
CINOSMovePath::SetAxis
virtual uint32 SetAxis(const char *apName, uint8 auIndex, uint32 auFlags=0x00000000, const char *apType="PosAxis")
Map given axis name to given index.
CINOSMovePath::m_pPrepareHelper
class CINOSMovePathHelper * m_pPrepareHelper
pointer to prepare helper thread
Definition cinosmovepath.h:1931
CINOSMovePath::GetBmax
virtual uint32 GetBmax(TINOSMovePathVec &aBmax)
get Bmax vector
Definition cinosmovepath.h:1594
CINOSMovePath::CircleCC
virtual uint32 CircleCC(uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
Add a counter clock wise circle part to the current segment.
CINOSMovePath::GetAxis
class CINOSMovePathResourceAxis * GetAxis(uint32 auIndex)
get pointer to axis
Definition cinosmovepath.h:1638
CINOSMovePath::iSetParam
virtual uint32 iSetParam(uint8 auIndex, const char *apName, const char *apValue)
internal set param
CINOSMovePath::iPrepareAppend
virtual uint32 iPrepareAppend(class CINOSTaskExMsg *apMsg)
internal prepare append
CINOSMovePath::GetState
EState GetState() const
Get move path state.
Definition cinosmovepath.h:574
CINOSMovePath::m_uLengthMask
uint32 m_uLengthMask
axes flags
Definition cinosmovepath.h:1936
CINOSMovePath::m_pTrajectory
CINOSMovePathTrajectory * m_pTrajectory
pointer to trajectory
Definition cinosmovepath.h:1929
CINOSMovePath::m_uActInvolved
uint32 m_uActInvolved
temporary segment involved
Definition cinosmovepath.h:1908
CINOSMovePath::GetRunCurve
CINOSMovePathCurve * GetRunCurve()
get pointer to path run curve
Definition cinosmovepath.h:1627
CINOSMovePath::GetPositionDelta
virtual uint32 GetPositionDelta(TINOSMovePathVec &vDelta)
Get position delta between end and start of path.
CINOSMovePath::GetParam
virtual uint32 GetParam(uint8 auIndex, const char *apName, char *apBuffer, uint32 auSize, const char *apDefault="")
Get axis specific movepath parameter.
CINOSMovePath::GetCycleData
virtual uint32 GetCycleData(double &adMainCycleTime, uint8 &auMainAxisIndex, inos_std::vector< uint8 > &auMainCycleDownSampling, uint8 &auMainOversampling)
Return path cycle data.
CINOSMovePath::tpActiveCallback
std::function< uint32(CINOSMovePath *, uint32, TINOSMovePathVec &, TINOSMovePathVec &, TINOSMovePathVec &, TINOSMovePathVec &)> tpActiveCallback
Set callback method used for active trajectory handling. This callback is called on every sample and ...
Definition cinosmovepath.h:1681
CINOSMovePath::GetCmdQueue
CINOSTaskQueue * GetCmdQueue()
get pointer to command queue
CINOSMovePath::GetVmax
virtual uint32 GetVmax(TINOSMovePathVec &aVmax)
get Vmax vector
Definition cinosmovepath.h:1570
CINOSMovePath::SegBegin
virtual uint32 SegBegin(uint32 auId=0xffffffff, uint32 auFlags=0x00000000, double adTolerance=-1.0, double adVelocity=-1.0)
Mark the begin of a movepath segment.
CINOSMovePath::Create
static uint32 Create(CINOSMovePath *&apPath, const char *apCurveType, const char *apInterpolatorType, const char *apTrajectoryType, uint32 auOptions=uint32(0x00000000))
Create a movepath instance.
CINOSMovePath::m_uOptions
uint32 m_uOptions
options
Definition cinosmovepath.h:1903
CINOSMovePath::Destroy
static uint32 Destroy(CINOSMovePath *apPath)
Destroy given movepath.
CINOSMovePath::m_pPrepareCurve
CINOSMovePathCurve * m_pPrepareCurve
pointer to prepare curve
Definition cinosmovepath.h:1921
CINOSMovePath::Create
static uint32 Create(CINOSMovePath *&apPath, const char *apName, const char *apCurveType, const char *apInterpolatorType, const char *apTrajectoryType, const char *apParam, uint32 auOptions=uint32(0x00000000))
Create a movepath instance with given name.
CINOSMovePath::glbSetAxis
static uint32 glbSetAxis(const char *apName, uint8 auIndex, uint32 auFlags=0x00000000, uint32 auOptions=uint32(0x00000000))
Globally map given axis name to given index.
CINOSMovePath::GetParam
virtual uint32 GetParam(const char *apName, char *apBuffer, uint32 auSize, const char *apDefault="")
Get movepath parameter.
CINOSMovePath::SetParam
virtual uint32 SetParam(uint8 auIndex, const char *apName, double adValue)
Set axis specific movepath parameter to given value.
CINOSMovePath::AddPart
uint32 AddPart(CINOSMovePathPart *apPart, uint32 auFlags)
add part to actual segment
CINOSMovePath::GetEpsilon
virtual double GetEpsilon()
get path epsilon
Definition cinosmovepath.h:1558
CINOSMovePath::m_pRunHelper
class CINOSMovePathHelper * m_pRunHelper
pointer to run helper thread
Definition cinosmovepath.h:1933
CINOSMovePath::EState
EState
move path states
Definition cinosmovepath.h:556
CINOSMovePath::ReleaseRegister
void ReleaseRegister()
release inco registration of path
CINOSMovePath::Start
virtual uint32 Start(uint8 auIndex, double adPosition)
Set curve start position of given axis.
CINOSMovePath::m_pAppendCurve
CINOSMovePathCurve * m_pAppendCurve
pointer to curve to append
Definition cinosmovepath.h:1918
CINOSMovePath::GetPositionLast
void GetPositionLast(TINOSMovePathVec &ovLast)
get last path position vector
CINOSMovePath::GetBufferFillLevel
bool GetBufferFillLevel(uint32 &auBufferFillLevel) const
CINOSMovePath::SegEnd
virtual uint32 SegEnd()
Exit segment mode.
CINOSMovePath::iPrepare
virtual uint32 iPrepare(class CINOSTaskExMsg *apMsg)
internal prepare
CINOSMovePath::Continue
virtual uint32 Continue(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Continue paused path.
CINOSMovePath::iGetParam
virtual uint32 iGetParam(uint8 auIndex, const char *apName, double *adValue, double adDefault)
internal get param
CINOSMovePath::Cancel
virtual CMcResult Cancel(CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
Cancel the running path.
CINOSMovePath::SetEventDescriptor
virtual uint32 SetEventDescriptor(struct SINOSMovePathEventDesc *apDesc)
Set event receiver.
CINOSMutex
Definition cinosmutex.h:36
CINOSSync
Definition inos_syn.h:67
CINOSTaskExMsg
Definition cinostaskex.h:396
DF_INOS_NURBSCURVE_INTERPOLATION_POINTS
#define DF_INOS_NURBSCURVE_INTERPOLATION_POINTS
Definition inosdefault.h:188
DF_INOS_MOVEPATH_MAX_AXES
#define DF_INOS_MOVEPATH_MAX_AXES
Definition inosdefault.h:144
INOS_OK
uint32 INOS_OK
Definition inoserror.h:1680
INOS_MOVEPATH_ERROR_NO_COMMAND_QUEUE
uint32 INOS_MOVEPATH_ERROR_NO_COMMAND_QUEUE
Definition inoserror.h:1680
DF_INOS_ASYNCHRONOUS
#define DF_INOS_ASYNCHRONOUS
Definition inosmacro.h:337
DF_INOS_SYNCHRONOUS
#define DF_INOS_SYNCHRONOUS
Definition inosmacro.h:332
ASSERT_ALWAYS
#define ASSERT_ALWAYS(f)
Definition inosmacro.h:696
SINOSRampData
ramp data
Definition cinosbaseramp.h:602
SINOSRampData::m_rJ
real64 m_rJ
jerk
Definition cinosbaseramp.h:610
SINOSRampData::m_rS
real64 m_rS
position
Definition cinosbaseramp.h:604
SINOSRampData::m_rV
real64 m_rV
velocity
Definition cinosbaseramp.h:606
SINOSRampData::m_rA
real64 m_rA
acceleration
Definition cinosbaseramp.h:608