Inheritance diagram for CINOSMcModule:

[legend]

Public Types
enum	{ eCmdINOSMcModuleFirst = eCmdINOSTaskExLast+1 , eCmdOn , eCmdOff , eCmdSafe , eCmdInit , eCmdHome , eCmdRecover , eCmdStart , eCmdStop , eCmdPause , eCmdResume , eCmdCancel , eCmdRetry , eCmdConfirm , eCmdManual , eCmdPrepare , eCmdBackup , eCmdRestore , eCmdCreateSubModule , eCmdDestroySubModule , eCmdCreateData , eCmdDestroyData , eCmdMoveData , eCmdMoveDataInt , eCmdCreateJob , eCmdDestroyJob , eCmdCreateScript , eCmdDestroyScript , eCmdRunJob , eCmdRunScript , eCmdRunRegisteredLuaFunction , eCmdSetMode , eCmdSetModeAuto , eCmdSetModeStep , eCmdSetModeSetup , eCmdClrModeSetup , eCmdSetOut , eCmdGetIO , eCmdWaitBitEx , eCmdWaitInp , eCmdWaitAdc , eCmdWaitPos , eCmdWaitAxis , eCmdSetCounter , eCmdCntInc , eCmdCntDec , eCmdCntAdj , eCmdCronEnable , eCmdCronDisable , eCmdCronTouch , eCmdCronCount , eCmdCanLoad , eCmdValveActivate , eCmdValveRelease , eCmdAddInpResource , eCmdAddOutResource , eCmdAddAdcResource , eCmdAddDacResource , eCmdINOSMcModuleLast }

enum	{ eUsrINOSMcModuleFirst = eUsrINOSTaskExLast+1 , eUsrEmgSet , eUsrEmgClr , eUsrSTOSet , eUsrSTOClr , eUsrMsgSet , eUsrMsgAck , eUsrSlowMotionChanged , eUsrSimLevelChanged , eUsrLinkDown , eUsrSTOConfirmSet , eUsrSTOConfirmClr , eUsrSafetyConfigUpdate , eUsrINOSMcModuleLast }

enum	{ eIntINOSMcModuleFirst = eIntINOSTaskExLast + 1 , eIntGetResource , eIntWaitTimeout , eIntINOSMcModuleLast }

enum	{ eStaINOSMcModuleFirst = eStaINOSTaskExLast+1 , eStaINOSMcModuleLast }

enum	{ eModAuto , eModSequential , eModStep , eModLast }

enum	{ eSimNo , eSimSemi , eSimFull }

enum	{ eStaJobNone , eStaJobRunning , eStaJobCompleted , eStaJobStopped , eStaJobCanceled , eStaJobFailed , eStaJobError , eStaJobFatal , eStaJobRejected , eStaJobIgnored , eStaJobInComplete , eStaJobPaused }

enum	{ eOptCoord = 0x00000100 , eOptMode = 0x00000200 , eOptGuard = 0x00000400 , eOptConc = 0x00000800 , eOptCron = 0x00001000 , eOptSafety = 0x00002000 , eOptResMcM4 = 0x00004000 , eOptResMcM5 = 0x00008000 }

enum	EFlags : uint64 { eFlgResource = 0x00000100 , eFlgOn = 0x00000200 , eFlgInit = 0x00000400 , eFlgSetup = 0x00000800 , eFlgJob = 0x00001000 , eFlgBackup = 0x00002000 , eFlgPaused = 0x00004000 , eFlgSafe = 0x00008000 , eFlgCreated = 0x0000010000000000LL }

enum	{ eReqOff = 0x00000100 , eReqStop = 0x00000200 , eReqCancel = 0x00000400 , eReqStep = 0x00000800 , eReqStart = 0x00001000 , eReqPause = 0x00002000 , eReqSafe = 0x00004000 , eReqSetup = 0x00008000 }

enum	{ eCrtWaitObj = 0x00000100 , eCrtResMcM1 = 0x00000200 , eCrtResMcM2 = 0x00000400 , eCrtResMcM3 = 0x00000800 , eCrtResMcM4 = 0x00001000 , eCrtResMcM5 = 0x00002000 , eCrtResMcM6 = 0x00004000 , eCrtResMcM7 = 0x00008000 }

enum	ETypWait { eTypWaitGt =0 , eTypWaitGte =1 , eTypWaitLt =2 , eTypWaitLte =3 , eTypWaitEq =4 , eTypWaitNe =5 }

Public Types inherited from CINOSTaskEx
enum	{ eSourceIdMsg = 255 , eSourceIdLua = 254 , eSourceIdFastLoad = 253 }
	predefined source id's

enum	{ eMsgCmd =CINOSTaskExDef::eMsgCmd , eMsgCall =CINOSTaskExDef::eMsgCall , eMsgEvent =CINOSTaskExDef::eMsgEvent , eMsgReply =CINOSTaskExDef::eMsgReply , eMsgUser =CINOSTaskExDef::eMsgUser , eMsgSub =CINOSTaskExDef::eMsgSub , eMsgInternal =CINOSTaskExDef::eMsgInternal , eMsgMessage =CINOSTaskExDef::eMsgMessage }
	message types

enum	ERplId { eRplOk =CINOSTaskExDef::eRplOk , eRplSkipped =CINOSTaskExDef::eRplSkipped , eRplInComplete =CINOSTaskExDef::eRplInComplete , eRplIgnored =CINOSTaskExDef::eRplIgnored , eRplPaused =CINOSTaskExDef::eRplPaused , eRplStopped =CINOSTaskExDef::eRplStopped , eRplCanceled =CINOSTaskExDef::eRplCanceled , eRplRejected =CINOSTaskExDef::eRplRejected , eRplFailed =CINOSTaskExDef::eRplFailed , eRplError =CINOSTaskExDef::eRplError , eRplFatal =CINOSTaskExDef::eRplFatal , eRplTimeout =CINOSTaskExDef::eRplTimeout }
	reply id's

enum	{ eCmdINOSTaskExFirst , eCmdFailure , eCmdStartup , eCmdShutdown , eCmdShutdownRequest , eCmdSwitchCore , eCmdSetFlag , eCmdClrFlag , eCmdStopMsg , eCmdSetIdleTimeout , eCmdINOSTaskExLast }

enum	{ eUsrINOSTaskExFirst , eUsrMsgDone , eUsrNvUpdate , eUsrIdleTimeout , eUsrINOSTaskExLast }

enum	{ eIntINOSTaskExFirst , eIntAddCommand , eIntRemCommand , eIntDeleteCommand , eIntGetCommands , eIntGetProp , eIntSetProp , eIntAddProp , eIntGetActual , eIntSetActual , eIntAddActual , eIntINOSTaskExLast }

enum	{ eMessageAdd , eMessageRemove , eMessageModify , eMessageAcknowledge }

enum	{ eEvtTicks , eEvtNs }

enum	{ eStaStartup = DEF_eStaStartup , eStaOff = DEF_eStaOff , eStaWait = DEF_eStaWait , eStaOn = DEF_eStaOn , eStaReady = DEF_eStaReady , eStaBusy = DEF_eStaBusy , eStaError = DEF_eStaError , eStaINOSTaskExLast }

enum	{ eOptOwner = 0x00000001 , eOptStat = 0x00000002 , eOptMsg = 0x00000004 , eOptNvR = 0x00000008 , eOptOvld = 0x0000010 , eOptCaS = 0x0000020 , eOptResTsk2 = 0x0000040 , eOptResTsk3 = 0x0000080 }

enum	{ eFlgError = 0x00000001 , eFlgFatal = 0x00000002 , eFlgEmergency =0x00000004 , eFlgSTO = 0x00000008 , eFlgResTsk4 = 0x00000010 , eFlgResTsk5 = 0x00000020 , eFlgResTsk6 = 0x00000040 , eFlgResTsk7 = 0x00000080 }

enum	{ eReqResTsk0 = 0x00000001 , eReqResTsk1 = 0x00000002 , eReqResTsk2 = 0x00000004 , eReqResTsk3 = 0x00000008 , eReqResTsk4 = 0x00000010 , eReqResTsk5 = 0x00000020 , eReqResTsk6 = 0x00000040 , eReqResTsk7 = 0x00000080 }

enum	{ eCrtSendMsg = 0x00000001 , eCrtResTsk1 = 0x00000002 , eCrtResTsk2 = 0x00000004 , eCrtResTsk3 = 0x00000008 , eCrtResTsk4 = 0x00000010 , eCrtResTsk5 = 0x00000020 , eCrtResTsk6 = 0x00000040 , eCrtResTsk7 = 0x00000080 }

enum	{ eDispFlagINCOSync = 0x00000001 }

enum	eTaskExMsgFlags { eMsgFlagNone = 0x00000000 , eMsgFlagNoWait = 0x00000001 }

enum	EDispatchStyle { eDispatchNone , eDispatchNormal , eDispatchInternal , eDispatchPre }

Public Types inherited from CINOSTask
enum	ETskType { eTskTypeBoot = 0 , eTskTypeResource = 1 , eTskTypeSystem = 2 , eTskTypeApplication = 3 , eTskTypeCommunication = 4 , eTskTypeRealtime = 5 , eTskTypeInterrupt = 6 , eTskTypeBackground = 7 , eTskTypeLua = 8 , eTskTypeTest = 9 , eTskTypeReserved0 = 10 , eTskTypeReserved1 = 11 , eTskTypeUser0 = 12 , eTskTypeUser1 = 13 , eTskTypeUser2 = 14 , eTskTypeUser3 = 15 }
	Task types.

Public Member Functions
virtual CMcResult	On (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch module on.

virtual CMcResult	Off (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch module off.

virtual CMcResult	Safe (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Put module into a safe state.

virtual CMcResult	Init (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Init module. After a successful init the module is in state ready.

virtual CMcResult	Home (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Bring module into home position.

virtual CMcResult	Recover (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Recover module from a pending error.

virtual CMcResult	Start (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Depending on the current module state this method has different meanings. If the module is in state off -> On is called, if it is in state on -> Init is called, if it is in state ready->a production job is started.

virtual CMcResult	Stop ()
	Stop a running production job.

virtual CMcResult	Stop (CINOSSync *apSync)
	Stop a running production job.

virtual CMcResult	Stop (const char *apParam)
	Stop a running production job.

virtual CMcResult	Pause (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Pause a running production job.

virtual CMcResult	Resume (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_RESUME This method is used to go further in single step mode.

virtual CMcResult	Cancel ()
	Cancel everything.

virtual CMcResult	Cancel (CINOSSync *apSync)
	Cancel everything.

virtual CMcResult	Cancel (const char *apParam)
	Cancel everything.

virtual CMcResult	Retry (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_RETRY.

virtual CMcResult	Confirm (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_CONFIRM.

virtual CMcResult	Manual (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_MANUAL (obsolete)

virtual CMcResult	Prepare (real64 arStage, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Prepare module for given stage. This method only makes sense if its internal implementation is overwritten by the user module.

virtual CMcResult	Backup (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Backup current state and call backup of all my chidren.

virtual CMcResult	Restore (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Restore backuped state call restore of all my chidren.

virtual CMcResult	CreateSubModule (const char apName, const char apType, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Create a sub module, see also Creation.

virtual CMcResult	DestroySubModule (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Destroy requested sub module.

virtual CMcResult	CreateData (const char apName, const char apType, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	create data (container)

virtual CMcResult	DestroyData (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	destroy data (container)

virtual CMcResult	MoveData (const char apSrcName, const char apDstModule, const char apDstName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	move data (container)

virtual CMcResult	CreateJob (const char apName, const char apType, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	create job

virtual CMcResult	DestroyJob (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	destroy Job

virtual CMcResult	CreateScript (const char apName, const char apType, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	create script

virtual CMcResult	DestroyScript (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	destroy script

virtual CMcResult	RunJob (const char apName, const char apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	run job

virtual CMcResult	RunScript (const char apName, const char apData, const char apParam, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	run script

virtual CMcResult	SetMode (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	switch module to mode 'apName'

virtual CMcResult	SetModeAuto (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	switch module to auto mode

virtual CMcResult	SetModeStep (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	switch module to step mode

virtual CMcResult	SetModeSetup (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	switch setup mode on

virtual CMcResult	ClrModeSetup (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	switch setup mode off

virtual CMcResult	SetOut (const char apName, real64 arValue, CINOSSync apSync=DF_INOS_SYNCHRONOUS)

virtual CMcResult	GetIO (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)

virtual CMcResult	WaitBitEx (const char apName, real64 arValue, real64 arTimeout, real64 arErrorType, real64 arErrorCode, real64 arErrorFlags, const char apErrorText, real64 arErrorSend, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	waitbit

virtual CMcResult	WaitInp (const char apName, real64 arValue, real64 arTimeout, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	waitbit non blocking

virtual CMcResult	WaitAdcNB (const char apName, uint32 auSlope, real64 arValue, real64 arTimeout, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	waitadc non blocking

virtual CMcResult	WaitPosNB (const char apName, uint32 auSlope, real64 arValue, real64 arTimeout, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	waitpos non blocking

virtual CMcResult	WaitAxis (const char apName, uint32 auSlope, real64 arValue, real64 arTimeout, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	waitaxis non blocking

virtual CMcResult	WaitAxisEx (const char apName, uint32 auSlope, real64 arValue, real64 arTimeout, uint32 auFlags, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	waitaxis non blocking

virtual CMcResult	CntInc (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	increment actual counter 0

virtual CMcResult	CntDec (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	decrement actual counter 0

virtual CMcResult	CntAdj (int32 aiValue, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	adjust actual counter 0 by aiValue

virtual CMcResult	SetCounter (uint32 auType, uint32 auNbr, uint32 auValue, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	set counter

virtual CMcResult	CronEnable (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	enable cron job apName

virtual CMcResult	CronDisable (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	disable cron job apName

virtual CMcResult	CronTouch (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	touch cron job apName

virtual CMcResult	CronCount (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	count cron job apName

virtual CMcResult	IsActionAllowed (const char apScriptName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	get fastload clearance

virtual CMcResult	ValveActivate (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	activate a valve

virtual CMcResult	ValveRelease (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	release a valve

CINOSMcModule *	GetParent () const
	get pointer to parent

virtual CINOSMcModule *	GetModule (uint32 auIndex)
	get pointer to child module auIndex

virtual CINOSMcModule *	GetModule (const char *apName)
	get pointer to child module apName

virtual CINOSMcModule *	FindSubModule (const char *apName)
	get pointer to child or sub-module apName (this may be expensive).

virtual CINOSMcGuardian *	GetGuardian () const
	get pointer to guardian

virtual CINOSMcBaseJob *	GetJob (const char *apName)
	get pointer to coordinator

virtual CINOSMcBaseScript *	GetScript (uint32 auNr)
	get pointer to script auNr

virtual CINOSMcBaseScript *	GetScript (const char *apName)
	get pointer to script apName

virtual void	RemScript (const char *apName)
	remove script apName

virtual CINOSMcData *	GetData (uint32 auNr)
	get pointer to data auNr

virtual CINOSMcData *	GetData (const char *apName)
	get pointer to data apName

virtual CINOSMcData *	GetData (const char *apPrefix, uint32 auNr)
	get pointer to data apPrefix (allows to iterate through a subfolder)

virtual CINOSMcData *	GetData (const char apPrefix, const char apName)
	get pointer to data apPrefix.apName

virtual bool	GetEmergency ()
	get emergency

virtual uint32	GetEmergencyDelay ()
	get emergency delay [ms]

virtual void	EmergencyOnPurposeFollows ()
	set emergency on purpose

virtual CINOSBit *	GetEmergencyInput ()
	get pointer to emergency input

virtual bool	DoPostEmergencyMessage ()
	return true if emergency postmessage requested

virtual bool	DoPostSTOMessage ()
	return true if STO postmessage requested

virtual uint32	GetSimLevel ()
	get simlevel

virtual void	SetSimLevel (uint32 auSimLevel, bool abNonVolatile)
	set simlevel

virtual real64	GetSlowMotion ()
	get slowmotion factor

virtual void	SetSlowMotion (real64 arSlowMotion, bool abNonVolatile)
	set slowmotion factor

virtual real64	GetProp (const char apName, real64 arDefValue, CINOSTaskExMsg apMsg)
	get module property

virtual void	GetProp (const char apName, char apBuffer, uint32 auLength, CINOSTaskExMsg *apMsg)
	get module property

virtual real64	GetProp (const char apName, real64 arDefValue, CINOSMcData apData)
	get data property

virtual void	GetProp (const char apName, const char apDefault, char apBuffer, uint32 auLength, CINOSMcData apData)
	get data property

template<class T >
T *	GetResource (const char *apName)

CINOSBit *	GetInpResource (const char *apName)

CINOSBit *	GetOutResource (const char *apName)

CINOSBit *	GetFlgResource (const char *apName)

CINOSAdcChannel *	GetAdcResource (const char *apName)

CINOSDacChannel *	GetDacResource (const char *apName)

CINOSPosChannel *	GetPosResource (const char *apName)

virtual CINOSPhysicalAxis *	GetAxisResource (const char *apName)

tMsgId	AddInpResource (const char apResName, const char apImageName, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)

tMsgId	AddOutResource (const char apResName, const char apImageName, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)

tMsgId	AddAdcResource (const char apResName, const char apImageName, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)

tMsgId	AddDacResource (const char apResName, const char apImageName, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)

uint32	RegisterHook (uintid &aoHookId, const char apResName, void apHandler, void *apObject, int32 aiOrder)
	Register a hook with the given parameters running in the context of the given resource handler.

uint32	UnRegisterHook (uintid aoHookId, const char *apResName)
	Unregister a hook.

virtual CINCOObject *	GetResObj ()
	get pointer to 'Res' inco folder

virtual uint32	GetMode ()
	get actual mode

virtual uint32	GetCntValue (uint32 auType, uint32 auNbr)
	get counter Value

virtual const char *	GetModuleName ()
	get module name

virtual void	AddCommand (const char apName, uint32 auCode, CINCOProcedure apProc) override
	add inco command

virtual void	AddCommand (CINOSTaskExMsg *apMsg, uint64 aChar, uint16 aKeyLevel, bool abRegisterInco=true) override
	add inco command

virtual void	AddCommand (const char *apName, uint32 auCode, uint32 auType=eMsgCmd) override
	add internal command

virtual void	RemCommand (const char *apName) override
	remove internal command

virtual void	AddChildCommand (const char apModuleName, const char apFunctionName, CINOSTaskExMsg *apCmdMsg, bool abRegisterInco=true) override
	add child command

virtual void	RemChildCommand (const char apModuleName, const char apFunctionName) override
	remove child command

virtual void	AddChildModule (const char *apModuleName) override
	add child module

virtual void	RemChildModule (const char *apModuleName) override
	remove child module

	CINOSMcModule (const char apName, const char apParam)
	module constructor

	CINOSMcModule (const char apName, const char apType, const char *apParam)
	module constructor

virtual	~CINOSMcModule ()
	module destructor

virtual void	PostCreate (void *apParent) override
	called after creation

virtual bool	PreDestroy (bool &bDeleteSelf) override
	called before destruction (return false if destruction not allowed)

virtual CINOSMcModuleRes *	AddResource (const char apName, uint32 auType, uint32 auFlags=CINOSMcModuleRes::eResFlgMandatory, CINCOObject apObj=0)
	add resource

virtual CINOSMcModuleRes *	AddResource (const char apName, inosResName apValue, uint32 auType, uint32 auFlags=CINOSMcModuleRes::eResFlgMandatory, CINCOObject *apObj=0)

virtual CINOSMcModuleRes *	AddResource (const char apName, void apPtr, uint32 auType, uint32 auFlags=CINOSMcModuleRes::eResFlgMandatory, CINCOObject *apObj=0)

virtual CINOSMcModuleRes *	AddResource (const char apName, inosResName apValue, void apPtr, uint32 auType, uint32 auFlags=CINOSMcModuleRes::eResFlgMandatory, CINCOObject apObj=0)

virtual CINOSMcModuleRes *	iGetResource (const char *apName)

virtual CINOSMcModuleRes *	iGetResource (uint32 auNumber)

template<typename F >
void	iForEachResource (F &&f)

virtual void	EnbResource (char *apName)

virtual void	DisResource (char *apName)

virtual CMcResult	PutMsg (CINOSTaskExMsg *apMsg, tMsgId aMsgId=0) override
	put message to queue and return command id

template<class T >
CINOSTaskEx::ERplId	WaitVar (T *apVal, ETypWait aeTypWait, real64 arValue, real64 arTimeout, real64 &arUsed)

Public Member Functions inherited from CINOSTaskEx
uint32	GetState ()
	get state

virtual void	SetState (uint32 auState)
	set state

bool	IsCmdBusy (uintptr auCmdCode)
	return true if task is actual command 'auCmdCode' busy

bool	IsCmdDeferred (uint32 auCmdCode)
	return true if task has a deferred command 'auCmdCode'

virtual bool	IsCmdAllowed (CINOSTaskExMsg *apMsg)

const char *	GetParam () const
	get pointer to param

const char *	GetType () const
	get pointer to type

const char *	GetAliasName () const
	get pointer to alias name

void	SetAliasName (const char *apAlias)
	set alias name

virtual const char *	GetIncoName ()
	get requested inco folder name

virtual const char *	GetTreeName ()
	get requested binary tree name

uint32	GetSourceId ()
	get source id

CINOSTaskEx *	GetParent () const
	get parent

virtual CMcResult	Startup (real64 arStage)
	startup task (always asynchronous)

bool	GetCommand (const char *apName) const
	return true if command 'aName' is requested in params

bool	GetOption (const char *apName) const
	return true if option 'aName' is requested in params

bool	GetOption (const char apBase, const char apName) const
	return true if option 'apBase=aName' is requested in params

bool	GetOption (const char apParams, const char apBase, const char *apName) const
	return true if option 'apBase=aName' is requested in apParams

bool	GetOptionEx (const char *apBase) const

bool	GetOptionStr (const char apBase, char apResult, uint32 auSize) const
	return option string belonging to apBase 'apBase=optionstring'

bool	GetOptionStr (const char apParams, const char apBase, char *apResult, uint32 auSize) const
	return option string belonging to apBase 'apBase=optionstring'

bool	GetOptionNbr (const char *apBase, uintnbr &auNumber) const
	return option number belonging to apBase 'apBase=number'

bool	GetOptionNbr (const char apParams, const char apBase, uintnbr &auNumber) const
	return option number belonging to apBase 'apBase=number'

bool	GetOption (uint32 auOption) const
	return true if option available

bool	GetFlag (const char *apName) const
	return true if flag 'aName' is requested in params

bool	GetFlag (uint64 auFlag) const
	return true if flag available

uint64	GetFlags () const
	return all flags

bool	GetRequest (uint32 auRequest) const
	return true if request set

bool	GetCritical (uint32 auCritical) const
	return true if critical set

virtual CMcResult	SetFlag (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	set flag apName

virtual CMcResult	ClrFlag (const char apName, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	clear flag apName

virtual CMcResult	StopMsg (tMsgId atMsgId, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	stop message

virtual CMcResult	SetIdleTimeout (uint32 auIdleTimeout, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)

uint32	GetIdleTimeout () const

void	SetDispatchFlag (uint32 auFlag)

void	ClrDispatchFlag (uint32 auFlag)
	clr dispatch flag. see SetDispatchFlag for further information

uint32	GetDispatchFlag () const
	set dispatch flag. see SetDispatchFlag for further information

virtual uint32	Shutdown (CINOSSync *apSync=DF_INOS_SYNCHRONOUS) override
	shutdown task

virtual tMsgId	PutCmd (uint32 auCommand)
	put command to queue and return command id

virtual CMcResult	PutMsgEx (CINOSTaskExMsg *apMsg, uint32 auFlags, tMsgId aMsgId=0)
	Put a message with flags to adjust behaviour.

virtual void	PutReply (CINOSTaskExMsg *apMsg, tMsgId aMsgId)
	put reply message to queue

virtual CINOSTaskQueue *	GetMsgQueue ()
	get pointer to message queue

CINOSTaskExMsg *	GetActMsg ()
	get pointer to actually handled message

virtual const CINOSTaskExMsg *	GetCommandMsg (const char *apName)
	get pointer to command apName or NULL if not found

virtual CINOSTaskExMsg *	CreateMsgFromCommand (const char apName, CINOSSync apSync=DF_INOS_ASYNCHRONOUS)
	create a new message from command name or NULL if command not found. To call a command directly the template method CallCommand shlould be used instead.

template<typename... ParamType>
CMcResult	CallCommand (const char apName, ParamType... aParams, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	calls a command given the command name. The function can be called using less than defined parameters, it then uses default parameters unless the parameter is defined to be mandatory. If the command is not found or called with wrong parameters a CMcResult with the according error is returned.

virtual const CINOSTaskExCmdHookBase *	GetCommandHook (const char *apName)
	get pointer to command hook apName or NULL if not found

virtual CINCOObject *	GetRegister (CINCOObject *apObject=0)
	get pointer to inco registration

virtual CINCOObject *	SetCmdObj (CINCOObject *apCmd)
	set pointer to 'Cmd' inco folder and return old one

virtual CINCOObject *	GetCmdObj ()
	get pointer to 'Cmd' inco folder

virtual CINCOObject *	GetPropObj ()
	get pointer to 'Prop' inco folder

virtual CINCOObject *	GetOptionsObj ()
	get pointer to 'Options' inco folder

virtual CINCOObject *	GetFlagsObj ()
	get pointer to 'Flags' inco folder

virtual CINCOObject *	GetRequestsObj ()
	get pointer to 'Requests' inco folder

virtual CINCOObject *	GetCriticalsObj ()
	get pointer to 'Criticals' inco folder

virtual CINCOObject *	GetActObj ()
	get pointer to 'Act' inco folder

virtual CINCOObject *	GetStatObj ()
	get pointer to 'Stat' inco folder

virtual void	AddProp (CINCOItem *apItem)
	add property to the 'Prop' folder

virtual void	AddProp (const char *apName)
	add object property to the 'Prop' folder

virtual void	AddProp ()
	add object property to the 'Prop' folder

virtual void	AddProp (const char apName, nvreal64 &aMember, real64 arDefault, real64 arMin, real64 arMax, const char apUnit, uint32 auDigits, uint32 auCharactristics=defCharShowFix)
	add nvreal property to the 'Prop' folder

virtual void	AddProp (const char apName, nvuint32 &aMember, uint32 auDefault, uint32 auMin, uint32 auMax, const char apUnit, uint32 auCharacteristics=defCharShowDec)
	add nvuint32 property to the 'Prop' folder

virtual void	AddProp (const char apName, nvstring &aMember, const char apDefault="", const char *apComboData=NULL)
	add nvstring property to the 'Prop' folder

virtual void	AddProp (const char apName, nvlstring &aMember, const char apDefault="")
	add nvlstring property to the 'Prop' folder

virtual void	AddProp (const char *apName, nvbool &aMember, bool abDefault, uint32 auCharactristics=defCharShowDec)
	add nvbool property to the 'Prop' folder and register it as checkbox.

virtual void	RemProp (const char *apName)
	remove object property apName

virtual void	AddActual (CINCOItem *apItem)
	add actual to the 'Act' folder

virtual void	AddActual (const char *apName)
	add object property to the 'Act' folder

virtual void	AddActual ()
	add object property to the 'Act' folder

virtual void	AddActual (const char apName, nvreal64 &aMember, real64 arDefault, real64 arMin, real64 arMax, const char apUnit, uint32 auDigits)
	add nvreal to the 'Act' folder

virtual void	AddActual (const char apName, nvuint32 &aMember, uint32 auDefault, uint32 auMin, uint32 auMax, const char apUnit, uint32 auCharacteristics=defCharShowDec)
	add nvuint32 to the 'Act' folder

virtual void	AddActual (const char apName, nvstring &aMember, const char apDefault=nullptr, const char *apComboData=nullptr)
	add nvstring to the 'Act' folder

virtual void	AddActual (const char apName, nvlstring &aMember, const char apDefault=nullptr)
	add nvlstring to the 'Act' folder

virtual void	AddActual (const char *apName, nvbool &aMember, bool abDefault, uint32 auCharactristics=defCharShowDec)
	add nvbool property to the 'Act' folder and register it as checkbox.

virtual void	RemActual (const char *apName)
	remove object actual apName

virtual CINOSTaskExMsg *	CreateMsg (CINOSTaskExMsg apMsg, CINOSMcDataInst apData, const char *apAlias)
	create message from apMsg

CINOSMcMessage *	GetMessageHndEx ()
	get message handler

void	SetMessageHnd (CINOSMcMessage *apMessageHnd)
	set message handler

virtual CMcResult	PostMessage (uint32 auMsgType, uint32 auMsgCode, uint32 auFlags, CINOSMcData *apInfo=0)
	post message

virtual CMcResult	PostMessage (uint32 auMsgType, uint32 auMsgCode, uint32 auFlags, const char apText, CINOSMcData apInfo=0)
	post message

virtual CMcResult	ModifyMessage (tMsgId aiId, uint32 auMsgType, uint32 auMsgCode, uint32 auFlags, CINOSMcData apInfo=0, const char apText=nullptr)
	modify message

	CINOSTaskEx (const char apName, const char apParam=0, uint32 aStackSize=defDefaultStackSize, uint32 aPriority=defLowestPriority, bool aFloatingPoint=true, uint32 aTimeSlice=defDefaultTimeSlice, bool aInterruptsDisabled=false)
	constructor

	CINOSTaskEx (const char apName, const char apType, const char *apParam=0, uint32 aStackSize=defDefaultStackSize, uint32 aPriority=defLowestPriority, bool aFloatingPoint=true, uint32 aTimeSlice=defDefaultTimeSlice, bool aInterruptsDisabled=false)
	constructor

virtual	~CINOSTaskEx ()
	destructor

int	operator< (CINOSTaskEx &aTaskEx)
	binary tree operators

int	operator== (CINOSTaskEx &aTaskEx)

int	operator< (const char *aName)

int	operator== (const char *aName)

virtual void	MsgDonePnd (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message done (and set 'pending' flag)

virtual void	MsgDonePnd (CINOSTaskExMsg *apMsg, ERplId aRplId, tMcAppError aAppError=0)
	message done (and set 'pending' flag)

virtual void	MsgInComplete (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message incomplete

virtual void	MsgIgnored (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message ignored

virtual void	MsgPaused (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message paused. Deprecated!

virtual void	MsgStopped (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message stopped

virtual void	MsgCanceled (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message canceled

virtual void	MsgRejected (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message rejected

virtual void	MsgFailed (CINOSTaskExMsg *apMsg, tMcAppError aAppError=0)
	message failed

virtual void	MsgError (CINOSTaskExMsg *apMsg, tMcAppError aAppError)
	message error

virtual void	MsgFatal (CINOSTaskExMsg *apMsg, tMcAppError aAppError)
	message fatal error

virtual tMsgId	MsgDefer (CINOSTaskExMsg apMsg, void apHandler=0, void *apObject=0, bool abHandlesCommands=false)
	defer message and return according MsgId

virtual tMsgId	MsgDefer (CINOSTaskExMsg apMsg, tMsgId aMsgId, void apHandler=0, void *apObject=0, bool abHandlesCommands=false)

virtual void	AddCommand (CINOSTaskExMsg apMsg, CINCOObject apMsgCmdObj)
	add inco command

virtual void	AddParam (const char apName, real64 arValue, real64 arMin, real64 arMax, const char apUnit, uint32 auChar, uint32 auFlags=0)
	add param to command. You can use REAL64MIN/MAX to allow all possible values.

virtual void	AddParam (const char apName, const char apValue, uint32 auFlags=0)
	add param to command

virtual void	AddParam (const char apName, const char apValue, const char *apComboData, uint32 auFlags=0)
	add string param with combobox data

virtual void	AddParam (const char apName, const char apUnit, uint32 auValue, uint32 auMin, uint32 auMax, uint32 auChar, uint32 auFlags=0)
	Add uint32 parameter to command. You can use UINT32MIN/MAX to allow all possible values.

virtual void	AddParam_int32 (const char apName, const char apUnit, int32 aiValue, int32 aiMin, int32 aiMax, uint32 auChar, uint32 auFlags=0)
	Add int32 parameter to command. You can use INT32MIN/MAX to allow all possible values.

virtual void	AddParam_uint64 (const char apName, const char apUnit, uint64 auValue, uint64 auMin, uint64 auMax, uint32 auChar, uint32 auFlags=0)
	Add uint64 parameter to command. You can use UINT64MIN/MAX to allow all possible values.

virtual void	AddParam_int64 (const char apName, const char apUnit, int64 aiValue, int64 aiMin, int64 aiMax, uint32 auChar, uint32 auFlags=0)
	Add int64 parameter to command. You can use INT64MIN/MAX to allow all possible values.

virtual void	AddParam (const char apName, const char apComboData, uint32 auValue, uint32 auMin, uint32 auMax, const char *apUnit, uint32 auChar, uint32 auFlags=0)
	Add combo box parameter to command. You can use UINT32MIN/MAX to allow all possible values.

virtual void	AddParam (const char *apName, bool abValue, uint32 auChar, uint32 auFlags=0)
	Add parameter of type bool to command.

template<typename T >
void	AddParam (CINCOItem *apItem, T aValue, uint32 auFlags=0)

void	ProcedureArgCheck (CINCOObject &aObject, const char *apParamName, const uint32 auExpectedIncoType)

virtual void	AddEllipsis ()
	Add ellipsis to command.

void	RegisterCommand (CINOSTaskExCmdBase *apCommand)
	register a command that will be added at startup (depending in the option)

void	RegisterHook (CINOSTaskExCmdHookBase *apHook)
	register a command hook which can be set to a command later

Public Member Functions inherited from CINOSTask
	CINOSTask (char apName=nullptr, uint32 auStackSize=defDefaultStackSize, uint32 auPriority=DF_INOS_TASK_PRIO_LOWEST, bool abFloatingPoint=true, uint32 auTimeSlice=defDefaultTimeSlice, bool abInterruptsDisabled=false, void apHandler=0, void *apObject=0)
	Create a task with given properties. One needs to Resume the task after creation to get it running.

	CINOSTask (std::function< void(void )> aFunction, void apParam=nullptr, uint8 auPriority=DF_INOS_TASK_PRIO_LOWEST)
	Create a task with given properties. One needs to Resume the task after creation to get it running.

	CINOSTask (const char apName, std::function< void(void )> aFunction, void *apParam=nullptr, uint8 auPriority=DF_INOS_TASK_PRIO_LOWEST)
	Create a task with given properties. One needs to Resume the task after creation to get it running.

virtual	~CINOSTask ()
	Destroy task.

virtual uint32	Join ()
	Join task or in other words, wait till it terminates.

virtual void	Detach ()
	Detach task from parent. One uses this method if one doesn't want this task to be shut down if the parent shuts down.

virtual void	Exit ()
	Terminate myself. Exit code is INOS_OK or the code previously set with SetExitCode.

virtual void	Exit (uint32 auExitCode)
	Terminate myself.

virtual void	SetExitCode (uint32 auExitCode)
	Set exit code.

virtual uint32	GetExitCode ()
	Get exit code.

virtual bool	CheckShutdown ()
	Check if a shutdown is pending.

virtual void	SetSuspendHook (void *apSuspendHook)
	Set Suspend hook.

virtual void	ClrSuspendHook ()
	Clear Suspend hook.

virtual void *	GetSuspendHook ()
	Get Suspend hook if any.

INOS_INLINE ETskType	GetTskType ()
	Get task type.

INOS_INLINE ETskType	SetTskType (ETskType aeType)
	Set task type.

Static Public Member Functions
static CINOSMcModule *	FindModule (const char *apName)
	get pointer global module apName (this may be expensive).

static CINOSMcModule *	GetMachine (const char *apName)

static CINOSMcModule *	GetMachine (uint32 auIndex)

static uint32	CreateMachine (CINOSMcModule &apNewModule, const char apName, const char apType, const char apParam)

static uint32	DestroyMachine (const char *apName)

static uint32	ShutdownRequest ()

static constexpr int	GetLastCmd ()
	return last mcmodule command id

static constexpr int	GetLastUsr ()
	return last mcmodule user id

Static Public Member Functions inherited from CINOSTaskEx
static tMsgId	GetMsgId ()
	get system wide unique message id

static tMsgId	GetMsgId (uint32 auId, uint32 auMask)

static constexpr int	GetLastCmd ()
	return last taskex command id

static constexpr int	GetLastUsr ()
	return last taskex user id

static CINOSHook *	AddMsgDoneHook (void apHandler, void apObject=NULL)
	Add a hook to call some member function when MsgDone() gets called. This function is thread-safe.

static void	RemoveMsgDoneHook (CINOSHook *apHook)
	Remove a previously added MsgDone() hook. This function is thread-safe.

static uint32	EncodeReplyCode (uint32 auReply, tMcAppError aAppError)

Public Attributes
TINOSTaskExCmdMsg< CINOSMcModule, const char *, bool >	SetItems
	Sets items (Prop, Act, Res etc.) of a module. Setting items of a sub-module is not allowed.

Protected Types
enum	{ eLcSoff , eLcSon , eLcSdown }

Protected Member Functions
virtual bool	DispatchCmd (CINOSTaskExMsg *apMsg) override
	dispatch command message

virtual bool	DispatchTmd (CINOSTaskExMsg *apMsg) override
	dispatch triggered message

virtual bool	DispatchUser (CINOSTaskExMsg *apMsg) override
	dispatch user message

virtual bool	DispatchEvent (CINOSTaskExMsg *apMsg) override
	dispatch event message

virtual bool	DispatchReply (CINOSTaskExMsg *apReply) override
	dispatch reply

virtual bool	DispatchInternal (CINOSTaskExMsg *apMsg) override
	dispatch internal message

virtual void	AdjTrigger (CINOSTaskExMsg *apMsg, real64 arCmdTime)
	adjust trigger

virtual void	AdjTrigger (CINOSTaskExMsg apMsg, CINOSBaseAxis m_pAxis, real64 arStart, real64 arEnd, const char *apParam)
	adjust trigger

virtual void	iStartup (CINOSTaskExMsg *apMsg) override
	internal startup task

virtual void	iStartup (real64 arStage) override
	internal startup task

virtual bool	iPostStartup () override
	internal post startup

virtual void	iStartupDone ()

virtual void	iShutdown (CINOSTaskExMsg *apMsg) override
	internal shutdown task

virtual void	iCheckRes (CINOSTaskExMsg *apMsg)
	internal check resources

virtual void	iLinkDown (CINOSTaskExMsg *apMsg)
	link down

virtual void	iEmgSet (CINOSTaskExMsg *apMsg)
	internal switch core

virtual void	iEmgClr (CINOSTaskExMsg *apMsg)
	emergency cleared

virtual bool	PreDispatchMsg (CINOSTaskExMsg *apMsg) override
	Pre dispatcher.

virtual void	PostEmergency ()
	post emergency message

virtual CMcResult	PostEmergencyStopMessage ()
	post emergency stop message

virtual void	iOn (CINOSTaskExMsg *apMsg)
	internal on

virtual void	iiOn (CINOSTaskExMsg *apMsg)
	very internal on

virtual void	irplOn (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal on reply

virtual void	iOff (CINOSTaskExMsg *apMsg)
	internal off

virtual void	iiOff ()
	very internal off

virtual void	irplOff (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal off reply

virtual void	iSafe (CINOSTaskExMsg *apMsg)
	internal safe

virtual void	irplSafe (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal safe reply

virtual void	iInit (CINOSTaskExMsg *apMsg)
	internal init

virtual void	irplInit (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal init reply

virtual void	iHome (CINOSTaskExMsg *apMsg)
	internal home

virtual void	irplHome (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal home reply

virtual void	iRecover (CINOSTaskExMsg *apMsg)
	internal recover

virtual void	irplRecover (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal recover reply

virtual void	iStart (CINOSTaskExMsg *apMsg)
	internal start

virtual void	iStop (CINOSTaskExMsg *apMsg)
	internal stop

virtual void	iiStop ()
	internal stop

virtual void	irplStop (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal stop reply

virtual void	iPause (CINOSTaskExMsg *apMsg)
	internal pause

virtual void	irplPause (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal pause reply

virtual void	iResume (CINOSTaskExMsg *apMsg)
	internal resume

virtual void	iCancel (CINOSTaskExMsg *apMsg)
	internal cancel

virtual void	iiCancel (bool abHandleOffRequest=true)
	internal cancel

virtual void	irplCancel (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal cancel reply

virtual void	iRetry (CINOSTaskExMsg *apMsg)
	internal retry

virtual void	iConfirm (CINOSTaskExMsg *apMsg)
	internal confirm

virtual void	iManual (CINOSTaskExMsg *apMsg)
	internal manual

virtual void	iPrepare (CINOSTaskExMsg *apMsg)
	internal prepare

virtual void	iBackup (CINOSTaskExMsg *apMsg)
	internal backup

virtual void	iRestore (CINOSTaskExMsg *apMsg)
	internal restore

virtual void	irplRestore (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal restore reply

virtual void	iCreateSubModule (CINOSTaskExMsg *apMsg)
	internal create sub module

virtual uint32	iCreateSubModule (const char apName, const char apType, const char *apParam)
	internal create sub module

virtual void	iDestroySubModule (CINOSTaskExMsg *apMsg)
	internal destroy sub module

virtual uint32	iDestroySubModule (const char *apName)
	internal destroy sub module

virtual void	iSetItems (CINOSTaskExMsg *apMsg)
	internal set items

virtual void	iCreateData (CINOSTaskExMsg *apMsg)
	internal create data

virtual void	iDestroyData (CINOSTaskExMsg *apMsg)
	internal destroy data

virtual void	iMoveData (CINOSTaskExMsg *apMsg)
	internal move data

virtual void	iMoveDataInt (CINOSTaskExMsg *apMsg)
	internal move data

virtual void	iCreateJob (CINOSTaskExMsg *apMsg)
	internal create script

virtual void	iDestroyJob (CINOSTaskExMsg *apMsg)
	internal destroy Job

virtual void	iCreateScript (CINOSTaskExMsg *apMsg)
	internal create script

virtual void	iDestroyScript (CINOSTaskExMsg *apMsg)
	internal destroy script

virtual void	iRunJob (CINOSTaskExMsg *apMsg)
	internal runjob

virtual void	irplRunJob (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal run job reply

virtual void	iRunScript (CINOSTaskExMsg *apMsg)
	internal run script

virtual void	irplRunScript (CINOSTaskExMsg apMsg, CINOSTaskExMsg apRpl)
	internal run script for coordinator

virtual void	iSetMode (CINOSTaskExMsg *apMsg)
	internal run registered lua function

virtual void	iSetModeAuto (CINOSTaskExMsg *apMsg)
	internal set auto mode

virtual void	iSetModeStep (CINOSTaskExMsg *apMsg)
	internal set step mode

virtual void	iSetModeSetup (CINOSTaskExMsg *apMsg)
	internal set setup mode

virtual void	iClrModeSetup (CINOSTaskExMsg *apMsg)
	internal clr setup mode

virtual void	iSetMode (const char *apName)
	internal set mode

virtual bool	iCheckSetupMode ()
	internal check setup mode

virtual void	iSetOut (CINOSTaskExMsg *apMsg)
	internal setout

virtual void	iGetIO (CINOSTaskExMsg *apMsg)
	internal setout

virtual void	iWaitBitEx (CINOSTaskExMsg *apMsg)
	internal waitbit

virtual void	iWaitInp (CINOSTaskExMsg *apMsg)
	internal non blocking waitbit

virtual void	iWaitAdc (CINOSTaskExMsg *apMsg)
	handle for internal non blocking waitbit

virtual void	iWaitPos (CINOSTaskExMsg *apMsg)
	internal non blocking waitbit

virtual void	iWaitAxis (CINOSTaskExMsg *apMsg)
	internal non blocking wait axis

void	WaitCond (TINOSMcModuleCondFunc aFunc, TINOSMcModuleCondHandler aSuccessFunc, TINOSMcModuleCondHandler aTimeoutFunc, real64 arTimeout=0.0, real64 arSimTimeout=0.0)
	Wait on arbitrary condition or timeout.

tMsgId	MsgDeferWait (CINOSTaskExMsg apMsg, CINOSMcModuleWaitObj apWaitObj, real64 arTimeout=0.0)
	defer message until wait condition fulfilled or timeout [ms] expired

virtual void	ihndlWait (CINOSTaskExMsg apMyMsg, CINOSTaskExMsg apNewMsg)
	handle for deferred wait messages

virtual void	iWaitTimeout (CINOSTaskExMsg *apMsg)
	internal wait timeout

virtual void	iCntInc (CINOSTaskExMsg *apMsg)
	internal inc counter

virtual void	iCntDec (CINOSTaskExMsg *apMsg)
	internal dec counter

virtual void	iCntAdj (CINOSTaskExMsg *apMsg)
	internal adj counter

virtual void	iSetCounter (CINOSTaskExMsg *apMsg)
	internal set counter

virtual void	iCronEnable (CINOSTaskExMsg *apMsg)
	internal enable cron job

virtual void	iCronDisable (CINOSTaskExMsg *apMsg)
	internal disable cron job

virtual void	iCronDisableAll ()
	internal disable all cron job

virtual void	iCronTouch (CINOSTaskExMsg *apMsg)
	internal touch cron job

virtual void	iCronCount (CINOSTaskExMsg *apMsg)
	internal count cron job

virtual void	iIsActionAllowed (CINOSTaskExMsg *apMsg)
	get clearance to fastload a script

virtual void	iValveActivate (CINOSTaskExMsg *apMsg)
	activate a valve

virtual void	iValveRelease (CINOSTaskExMsg *apMsg)
	release a valve

virtual void	iGetResource (CINOSTaskExMsg *apMsg)
	internal get resource

virtual void	iOnCntSet (CINOSTaskExMsg *apMsg)
	event handler 'OnCntSet'

virtual void	iOnCntInc (CINOSTaskExMsg *apMsg)
	event handler 'OnCntInc'

virtual void	iOnCntDec (CINOSTaskExMsg *apMsg)
	event handler 'OnCntDec'

virtual void	iOnCntSet (uint32 auType, uint32 auNbr, uint32 auVal, uint64 auTb)
	counter handler

virtual void	iSetCntCmd (uint32 auNbr, uint32 auVal)
	set cmd counter

virtual void	iOnMsgSet (CINOSTaskExMsg *apMsg)
	event handler 'OnMsgSet'

virtual void	iOnMsgAck (CINOSTaskExMsg *apMsg)
	event handler 'OnMsgAck'

virtual void	iOnSlowMotionChanged (CINOSTaskExMsg *apMsg)
	event handler 'iOnSlowMotionChanged'

virtual void	iOnSimLevelChanged (CINOSTaskExMsg *apMsg)
	event handler 'iOnSimLevelChanged'

virtual void	iOnSimLevelChanged (uint32 auOldLevel, uint32 auNewLevel)
	event handler 'iOnSimLevelChanged'

virtual void	MsgDone (CINOSTaskExMsg *apMsg, uint32 auResult=0) override
	message done

virtual void	MsgDone (CINOSTaskExMsg *apMsg, ERplId aRplId, uint32 auResult=0) override
	message done

virtual void	iUpdate ()
	update state

virtual void	SetFlag (uint64 auFlag, bool abUpdateState=false) override
	set flag

virtual void	ClrFlag (uint64 auFlag, bool abUpdateState=false) override
	clr flag

virtual bool	IsModeAllowed (const char *apMode)
	return true if switching to aMode is allowed

virtual void	iStepCanceled (CINOSTaskExMsg *apMsg)
	step command canceled

virtual void	iStepStopped (CINOSTaskExMsg *apMsg)
	step command stopped

virtual void	iStepSkipped (CINOSTaskExMsg *apMsg)
	step command skipped

virtual void	iMsgRejected (CINOSTaskExMsg *apMsg)
	message rejected

void	iAddInpResource (CINOSTaskExMsg *apMsg)
	see AddInpResource

void	iAddOutResource (CINOSTaskExMsg *apMsg)
	see AddOutResource

void	iAddAdcResource (CINOSTaskExMsg *apMsg)
	see AddAdcResource

void	iAddDacResource (CINOSTaskExMsg *apMsg)
	see AddDacResource

virtual ERplId	WaitMs (real64 arTime)
	Synchronous wait for delay.

virtual ERplId	WaitBit (CINOSBit *apBit, uint32 auValue, real64 arTimeout, real64 &arUsed)
	internal wait for bit and return reply code (eRplOk/Stopped/Canceled/Error)

virtual ERplId	WaitAdc (CINOSAdcChannel *apAdc, ETypWait aeTypWait, real64 arValue, real64 arTimeout, real64 &arUsed)
	internal wait for adc and return reply code (eRplOk/Stopped/Canceled/Error)

virtual ERplId	WaitPos (CINOSPosChannel *apPos, ETypWait aeTypWait, int32 aiValue, real64 arTimeout, real64 &arUsed)
	internal wait for pos and return reply code (eRplOk/Stopped/Canceled/Error)

virtual ERplId	WaitPos (CINOSPhysicalAxis *apAxis, ETypWait aeTypWait, real64 arValue, real64 arTimeout, real64 &arUsed)
	internal wait for axis pos and return reply code (eRplOk/Stopped/Canceled/Error)

virtual ERplId	WaitVar (CINOSTaskExMsg apMsg, const char apName, ETypWait aeTypWait, real64 arValue, real64 arTimeout, real64 &arUsed)
	internal wait for variable and return reply code (eRplOk/Stopped/Canceled/Error)

template<class T >
ERplId	WaitVar (T *apVar, ETypWait aeTypWait, real64 arValue, real64 arTimeout, real64 &arUsed)
	internal wait for variable and return reply code (eRplOk/Stopped/Canceled/Error)

virtual bool	TestBit (const char *apName)
	internal test bit with resource name 'apName'

virtual void	SetBit (const char *apName)
	internal set bit with resource name 'apName'

virtual void	ClrBit (const char *apName)
	internal test bit with resource name 'apName'

void	SetModuleBase (const char *apAllowedBases)

void	AddInp (CINOSMcModuleRes *apInp)
	add input

void	AddOut (CINOSMcModuleRes *apOut)
	add output

uint32	CreateModule (const char apName, const char apType, const char *apParam)
	create module

uint32	DestroyModule (const char *apName)
	destroy module

CINOSContainer< CINOSMcData > *	GetDataContainer ()
	get pointer to data container

virtual void	JobCounterInc ()

virtual void	JobCounterDec ()

void	DisableModuleHlpHook ()
	disable module helper hook

void	EnableModuleHlpHook ()
	enable module helper hook

virtual void	iModuleHlpHook ()
	module helper hook

virtual void	OnTargetError ()
	target error handler

	DECLARE_DYNAMIC (CINOSMcModule)
	dynamic object handling

Protected Member Functions inherited from CINOSTaskEx
void	Create ()
	do main creation work

virtual void	Action () override
	main action

virtual void	PostDispatchMsg ()
	PostDispatchMsg.

virtual bool	DispatchSub (CINOSTaskExMsg *apMsg)
	dispatch sub message

virtual bool	DispatchMessage (CINOSTaskExMsg *apMsg)
	dispatch message message

virtual bool	DispatchOther (CINOSTaskExMsg *apMsg)
	dispatch other message

virtual void	iFailure (CINOSTaskExMsg *apMsg)
	internal command handling failure

virtual uint32	iAddRegisteredCommands ()
	add registered commands (done between startup and post startup)

virtual void	iShutdownRequest (CINOSTaskExMsg *apMsg)

virtual void	iSetFlag (CINOSTaskExMsg *apMsg)
	internal switch core

virtual void	iiSetFlag (const char *apName)

virtual void	iClrFlag (CINOSTaskExMsg *apMsg)
	internal clear flag

virtual void	iStopMsg (CINOSTaskExMsg *apMsg)
	stop message

virtual void	iSetIdleTimeout (CINOSTaskExMsg *apMsg)
	internal set idle timeout

virtual void	iHandleIdleTimeout ()
	internal handle idle timeout

void	iCheckIdleTimeout ()
	internal check idle timeout

virtual void	iCancelDeferred ()
	internal cancel all deferred messages

virtual void	iAddCommand (CINOSTaskExMsg *apMsg)
	internal add command

virtual void	iRemCommand (CINOSTaskExMsg *apMsg)
	internal add command

virtual void	iDeleteCommand (CINOSTaskExMsg *apMsg)
	internal delete command (only used for commands of type call)

virtual void	iGetCommands (CINOSTaskExMsg *apMsg)
	internal get commands

virtual void	iGetProp (CINOSTaskExMsg *apMsg)
	internal get property

virtual void	iSetProp (CINOSTaskExMsg *apMsg)
	internal set property

virtual void	iAddProp (CINOSTaskExMsg *apMsg)
	internal set property

virtual void	iGetActual (CINOSTaskExMsg *apMsg)
	internal get actual

virtual void	iSetActual (CINOSTaskExMsg *apMsg)
	internal set actual

virtual void	iAddActual (CINOSTaskExMsg *apMsg)
	reply to actual message

virtual void	iMessageAdd (CINOSTaskExMsg *apMsg)
	internal message add

virtual void	iMessageRemove (CINOSTaskExMsg *apMsg)
	internal message remove

virtual void	iMessageModify (CINOSTaskExMsg *apMsg)
	internal message modify

virtual void	iMessageAcknowledge (CINOSTaskExMsg *apMsg)
	internal message acknowledge

void	Reply (CINOSTaskExMsg *apMsg, uint32 auReply, tMcAppError aAppError=0)
	reply to actual message

template<class T >
void	ReplyParam (uint32 auReply, T)
	reply to actual message with param

virtual void	SetTreeName (const char *apTreeName)
	set requested binary tree name

virtual const char *	GetStateText ()
	return actual state text

virtual void	MsgDone (tMsgId aMsgId, tMcAppError aAppError=0)
	message done (used for deferred messages)

virtual void	iUsrMsgDone (CINOSTaskExMsg *apMsg)
	internal user message done, used to handle message dones from other

virtual void	FlushTmd (tMsgId aId=0)
	remove triggered messages auId of type eMsgCmd or all if auId==0

virtual void	_AddCommand (CINOSTaskExMsg apMsg, CINCOObject apMsgCmdObj, int16 aiOrder=0)
	add inco command

virtual void	AdjTrigger (CINOSTaskExMsg *apMsg)
	adjust trigger

CINOSTaskExDeferredMsg *	GetDeferredMsg (tMsgId auReplyId)
	get pointer to deferred message with given reply id

void	RemDeferredMsg (CINOSTaskExDeferredMsg *apDef)
	remove deferred message from list

CINOSTaskExMsg *	GetDeferredMsgCmd (uint32 auCmdCode)
	get pointer to deferred message with given command code

char *	GetMsgName (CINOSTaskExMsg *apMsg)
	get message name

void	SetParent (CINOSTaskEx *apParent)
	set parent pointer

void	MptHook ()
	measure hook

void	NvUpdate ()
	nvram update

virtual void	iNvUpdate (CINOSTaskExMsg *apMsg)

virtual void	SetRequest (uint32 auRequest)
	set request

virtual void	ClrRequest (uint32 auRequest)
	clr request

void	SetCritical (uint32 auCritical)
	set critical

void	ClrCritical (uint32 auCritical)
	clr critical

virtual CINOSSync *	GetSync () override
	get task sync object

virtual void	SetCallResult (CMcResult aResult) override
	set sync call result

virtual CMcResult	GetCallResult () override
	get sync call result

void	RequestCritical ()
	request critical section

void	ReleaseCritical ()
	release critical section

bool	AddToInputQueue (CINOSTaskExMsg *apMsg, uint32 auFlags=0)

virtual void	MsgCompleted (CINOSTaskExMsg *&apMsg)

uint8	GetRequestedPriority ()
	get requested priority

void	SetRequestedPriority (uint8 auPrio)
	set requested priority

void	HandleTriggerMsg (CINOSTaskExMsg *apMsg, EDispatchStyle aeDispStyle)
	handle message with a trigger

CINOSTaskExMsg *	GetTmpMsg ()
	Get temporary message (used for subclasses overriding AddCommand)

Protected Attributes
tMsgId	m_uEmergencyMessageId
	emergency message id

tMsgId	m_uSTOMessageId
	sto message id

bool	m_bUniqueResourceNaming

nvstring	m_cJobName
	module properties

nvstring	m_cJobParam
	job param

inosName32	m_cMode
	actual selected mode

uint32	m_uMode
	actual selected mode

int32	m_iSimLevel
	simulation level

nvuint32	m_uSimLevel

nvreal64	m_rSlowMotion
	slowmotion factor

nvreal64	m_rSlowMotionSetup
	setup slowmotion factor

nvreal64	m_rOnDelay
	ondelay [ms]

nvuint32	m_uAutoInit
	auto init [yes/no]

uint32	m_uActJobs
	number of actual running scripts/jobs

uint32	m_uEmgDelay
	emergency delay

uint32	m_uEmgFilter
	emergency filter

nvstring	m_cActJobName
	module actuals

nvuint32	m_uActJobState
	act job state

nvuint32	m_uActJobResult
	act job result

nvlstring	m_cActScriptName
	paused script name

nvuint32	m_uActChecksum
	paused checksum

nvuint32	m_uActCmdId
	paused cmd id

tMsgId	m_uActJobId
	paused job

uint32	m_uCntNbr
	number of counters

nvuint32 *	m_pCntCmd [8]
	commanded counters

nvuint32 *	m_pCntAct [8]
	actual counters

nvuint32 *	m_pCntBad [8]
	bad counters

nvuint32 *	m_pCntUph [8]
	uph [units/hour]

nvuint32 *	m_pCntUphType [8]
	uph type [0-standard, 1-ignore first and last, 2-start/average]

nvreal64 *	m_pCntUphFactor [8]
	uph factor [*]

nvuint32 *	m_pCntUphStart [8]
	uph start

nvuint32 *	m_pCntUphAverage [8]
	uph average

nvreal64 *	m_pCntTim [8]
	cycle time [ms]

nvreal64 *	m_pCntLft [8]
	left time [sec]

uint64 *	m_pCntTimeBase [8]
	timebase of last count

uint8	m_uCntTimeBaseIndex [8]
	timebase index

inosName	m_cCntUnit [8]
	unit buffers

CINOSMcValves *	m_pValves
	pointer to valves

CINOSMcDataInst *	m_pOffDataInst = nullptr
	pointer to off script data instance

enum CINOSMcModule:: { ... }	m_eLcState

uint8	m_uLcMask
	bus mask

bool	m_bResRegistred
	resources registred

CINOSBit *	m_pDiEmergency
	pointer to emergency input

uint32	m_uTgtErrorFlags = 0

Protected Attributes inherited from CINOSTaskEx
CINCOObject *	m_pRegister
	pointer to my inco registration

uint32	m_uOptions
	task options

std::atomic< uint64 >	m_uFlags
	task flags

uint32	m_uRequests
	task requests

uint32	m_uCriticals
	task critical sections

uint32	m_uState
	task state

CINCOObject *	m_pNvInitObj
	pointer to temporary nvobj

uint32	m_uPropOrder
	prop folder order

uint32	m_uActOrder
	act folder order

Static Protected Attributes
static CINOSContainer< CINOSMcModule > *	m_pMachine

static CINOSMutex	s_MachineMutex

static bool	s_bRegisterInContainer

Friends
class	CINOSMcModuleRes

class	CINOSMcModuleWaitObj

class	CINOSMcValve

class	CINOSMcFastLoad

class	CINOSMcCron
	return true if command with id is done (currently just used by cron

void	_INI_0000_CINOSMcModule ()

void	_INI_0300_CINOSMcModule ()

void	_INI_0500_CINOSMcModule ()

void	_INI_1000_CINOSMcModule ()

int	l_add_command (lua_State *L)

Additional Inherited Members
Static Protected Member Functions inherited from CINOSTaskEx
static uint32	iSetIncoItemsFromParamStruct (CINCOItem apIncoItem, long alOffset, CINOSTaskExMsgParam apParams, bool abOverwrite, inosName128 &oErrorItemName)
	Helper function for commands that set INCO items from a parameter stucture.

static void	INCOItemToMessageResult (CINCOItem apItem, const char apParentPath, CINOSTaskExMsg *apMsg)
	Add value of INCO item to results of apMsg.

static void	INCOItemsToMessageResults (CINCOItem apItem, const char apParentPath, CINOSTaskExMsg *apMsg)
	Add the value of the INCO item apItem and all its children (if any) as named results to the message (apMsg).

static void	CallMsgDoneHooks (CINOSTaskExMsg *apMsg, ERplId aRplId, tMcAppError aAppError)
	Call hooks to notify observers about MsgDone, passing all arguments for inspection. This function is thread-safe.

Member Function Documentation

◆ AddAdcResource()

tMsgId CINOSMcModule::AddAdcResource	(	const char *	apResName,
		const char *	apImageName,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

Add a 'analog input' resource. This function offers an alternative to adding resources at module creation time.

Parameters

apResName	The name of the resource. The name should NOT include any "Adc.". This function takes care to put the resource into "Adc." object if the "UnR" option is active for this module.
apImageName	The name of the resource in the Image.

◆ AddChildCommand()

virtual void CINOSMcModule::AddChildCommand	(	const char *	apModuleName,
		const char *	apFunctionName,
		CINOSTaskExMsg *	apCmdMsg,
		bool	abRegisterInco = `true`
	)

overridevirtual

add child command

Reimplemented from CINOSTaskEx.

◆ AddChildModule()

virtual void CINOSMcModule::AddChildModule ( const char * apModuleName )

overridevirtual

add child module

Reimplemented from CINOSTaskEx.

◆ AddCommand() [1/3]

virtual void CINOSMcModule::AddCommand	(	CINOSTaskExMsg *	apMsg,
		uint64	aChar,
		uint16	aKeyLevel,
		bool	abRegisterInco = `true`
	)

overridevirtual

add inco command

Reimplemented from CINOSTaskEx.

◆ AddCommand() [2/3]

virtual void CINOSMcModule::AddCommand	(	const char *	apName,
		uint32	auCode,
		CINCOProcedure *	apProc
	)

overridevirtual

add inco command

Reimplemented from CINOSTaskEx.

◆ AddCommand() [3/3]

virtual void CINOSMcModule::AddCommand	(	const char *	apName,
		uint32	auCode,
		uint32	auType = `eMsgCmd`
	)

overridevirtual

add internal command

Reimplemented from CINOSTaskEx.

◆ AddDacResource()

tMsgId CINOSMcModule::AddDacResource	(	const char *	apResName,
		const char *	apImageName,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

Add a 'analog output' resource. This function offers an alternative to adding resources at module creation time.

Parameters

apResName	The name of the resource. The name should NOT include any "Dac.". This function takes care to put the resource into "Dac." object if the "UnR" option is active for this module.
apImageName	The name of the resource in the Image.

◆ AddInpResource()

tMsgId CINOSMcModule::AddInpResource	(	const char *	apResName,
		const char *	apImageName,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

Add a 'digital input' resource. This function offers an alternative to adding resources at module creation time.

Parameters

apResName	The name of the resource. The name should NOT include any "Inp.". This function takes care to put the resource into "Inp." object if the "UnR" option is active for this module.
apImageName	The name of the resource in the Image.

◆ AddOutResource()

tMsgId CINOSMcModule::AddOutResource	(	const char *	apResName,
		const char *	apImageName,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

Add a 'digital output' resource. This function offers an alternative to adding resources at module creation time.

Parameters

apResName	The name of the resource. The name should NOT include any "Out.". This function takes care to put the resource into "Out." object if the "UnR" option is active for this module.
apImageName	The name of the resource in the Image.

◆ Backup()

virtual CMcResult CINOSMcModule::Backup ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Backup current state and call backup of all my chidren.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Cancel() [1/3]

virtual CMcResult CINOSMcModule::Cancel ( )

virtual

Cancel everything.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Cancel() [2/3]

virtual CMcResult CINOSMcModule::Cancel ( CINOSSync * apSync )

virtual

Cancel everything.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Cancel() [3/3]

virtual CMcResult CINOSMcModule::Cancel ( const char * apParam )

virtual

Cancel everything.

Parameters

apParam Deprecated

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ ClrFlag()

virtual void CINOSMcModule::ClrFlag	(	uint64	auFlag,
		bool	abUpdateState = `false`
	)

inlineoverrideprotectedvirtual

clr flag

Reimplemented from CINOSTaskEx.

◆ Confirm()

virtual CMcResult CINOSMcModule::Confirm ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_CONFIRM.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ CreateMachine()

static uint32 CINOSMcModule::CreateMachine	(	CINOSMcModule *&	apNewModule,
		const char *	apName,
		const char *	apType,
		const char *	apParam
	)

static

Create root module (also known as machine)

Parameters

apNewModule	Will be set to the created module
apName	The name of the created module
apType	The type of the created module
apParam	The parmeters provided to the created module

Returns: Error code.

◆ CreateSubModule()

virtual CMcResult CINOSMcModule::CreateSubModule	(	const char *	apName,
		const char *	apType,
		const char *	apParam,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Create a sub module, see also Creation.

Parameters

apName	Requested module name
apType	Requested module type
apName	Requested creation parameters, see also Parameters of class CINOSMcModule

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ DestroyMachine()

static uint32 CINOSMcModule::DestroyMachine ( const char * apName )

static

destroy root module (also known as machine)

Parameters

apName The name of the module to be destroyed.

Returns: Error code.

◆ DestroySubModule()

virtual CMcResult CINOSMcModule::DestroySubModule	(	const char *	apName,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Destroy requested sub module.

Parameters

apName Requested module name

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ DispatchCmd()

virtual bool CINOSMcModule::DispatchCmd ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

dispatch command message

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ DispatchEvent()

virtual bool CINOSMcModule::DispatchEvent ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

dispatch event message

Reimplemented from CINOSTaskEx.

◆ DispatchInternal()

virtual bool CINOSMcModule::DispatchInternal ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

dispatch internal message

Reimplemented from CINOSTaskEx.

◆ DispatchReply()

virtual bool CINOSMcModule::DispatchReply ( CINOSTaskExMsg * apReply )

overrideprotectedvirtual

dispatch reply

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ DispatchTmd()

virtual bool CINOSMcModule::DispatchTmd ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

dispatch triggered message

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ DispatchUser()

virtual bool CINOSMcModule::DispatchUser ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

dispatch user message

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ GetIO()

virtual CMcResult CINOSMcModule::GetIO	(	const char *	apName,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Get actual state of an IO. The following IO types are supported: digital input and output, analog input and output and flags.

Parameters

apName Either "*", which returns all available resources by named results, where the name is the fully qualified name of the resource, e.g. "Inp.Adc1". Otherwise, apName should be the fully qualified name of an available resource, such as "Out.DigOut1". If the resource doesn't exist or if the resource has not been assigned an existing image channel, the function will set an according error.

◆ GetJob()

virtual CINOSMcBaseJob * CINOSMcModule::GetJob ( const char * apName )

virtual

get pointer to coordinator

get pointer to McLua get pointer to job apName

◆ GetMachine() [1/2]

static CINOSMcModule * CINOSMcModule::GetMachine ( const char * apName )

static

Get pointer to root module (also known as machine) of name 'apName'

Parameters

apName Name of the requested module

Returns: Pointer to module or nullptr if not found.

◆ GetMachine() [2/2]

static CINOSMcModule * CINOSMcModule::GetMachine ( uint32 auIndex )

static

Get pointer to root module (also known as machine) with index 'auIndex'

Parameters

auIndex Index of the requested module

Returns: Pointer to module or nullptr if not found.

◆ Home()

virtual CMcResult CINOSMcModule::Home ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Bring module into home position.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

Reimplemented in CINOSMcRobot.

◆ iStartup() [1/2]

virtual void CINOSMcModule::iStartup ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

internal startup task

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ iStartup() [2/2]

virtual void CINOSMcModule::iStartup ( real64 arStage )

overrideprotectedvirtual

internal startup task

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ iStartupDone()

virtual void CINOSMcModule::iStartupDone ( )

protectedvirtual

internal startup done (called after all module init stuff, e.g. creation of submodules is done)

◆ iStepCanceled()

virtual void CINOSMcModule::iStepCanceled ( CINOSTaskExMsg * apMsg )

inlineprotectedvirtual

step command canceled

Reimplemented in CINOSMcRobot.

◆ iStepSkipped()

virtual void CINOSMcModule::iStepSkipped ( CINOSTaskExMsg * apMsg )

inlineprotectedvirtual

step command skipped

Reimplemented in CINOSMcRobot.

◆ iStepStopped()

virtual void CINOSMcModule::iStepStopped ( CINOSTaskExMsg * apMsg )

inlineprotectedvirtual

step command stopped

Reimplemented in CINOSMcRobot.

◆ iStop()

virtual void CINOSMcModule::iStop ( CINOSTaskExMsg * apMsg )

protectedvirtual

internal stop

Reimplemented in CINOSMcRobot.

◆ Manual()

virtual CMcResult CINOSMcModule::Manual ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_MANUAL (obsolete)

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ MsgDone() [1/2]

virtual void CINOSMcModule::MsgDone	(	CINOSTaskExMsg *	apMsg,
		ERplId	aRplId,
		uint32	auResult = `0`
	)

overrideprotectedvirtual

message done

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ MsgDone() [2/2]

virtual void CINOSMcModule::MsgDone	(	CINOSTaskExMsg *	apMsg,
		uint32	auResult = `0`
	)

overrideprotectedvirtual

message done

Reimplemented from CINOSTaskEx.

Reimplemented in CINOSMcRobot.

◆ Off()

virtual CMcResult CINOSMcModule::Off ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Switch module off.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ On()

virtual CMcResult CINOSMcModule::On ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Switch module on.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Pause()

virtual CMcResult CINOSMcModule::Pause ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Pause a running production job.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ PostCreate()

virtual void CINOSMcModule::PostCreate ( void * apParent )

overridevirtual

called after creation

Reimplemented from CINOSTaskEx.

◆ PreDestroy()

virtual bool CINOSMcModule::PreDestroy ( bool & bDeleteSelf )

overridevirtual

called before destruction (return false if destruction not allowed)

Reimplemented from CINOSTaskEx.

◆ PreDispatchMsg()

virtual bool CINOSMcModule::PreDispatchMsg ( CINOSTaskExMsg * apMsg )

overrideprotectedvirtual

Pre dispatcher.

Reimplemented from CINOSTaskEx.

◆ Prepare()

virtual CMcResult CINOSMcModule::Prepare	(	real64	arStage,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Prepare module for given stage. This method only makes sense if its internal implementation is overwritten by the user module.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ PutMsg()

virtual CMcResult CINOSMcModule::PutMsg	(	CINOSTaskExMsg *	apMsg,
		tMsgId	aMsgId = `0`
	)

overridevirtual

put message to queue and return command id

Reimplemented from CINOSTaskEx.

◆ Recover()

virtual CMcResult CINOSMcModule::Recover ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Recover module from a pending error.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ RegisterHook()

uint32 CINOSMcModule::RegisterHook	(	uintid &	aoHookId,
		const char *	apResName,
		void *	apHandler,
		void *	apObject,
		int32	aiOrder
	)

Register a hook with the given parameters running in the context of the given resource handler.

Parameters

[out]	aoHookId	Id of registered hook
[in]	apResName	Resource name
[in]	apHandler	Pointer to function to be called
[in]	apObject	Pointer to object instance if apHandler is a class method
[in]	aiOrder	Requested order, see DF_INOS_BUS_HOOK_ORDER_DEFAULT

Returns: INOS_OK or an appropriate error

◆ RemChildCommand()

virtual void CINOSMcModule::RemChildCommand	(	const char *	apModuleName,
		const char *	apFunctionName
	)

overridevirtual

remove child command

Reimplemented from CINOSTaskEx.

◆ RemChildModule()

virtual void CINOSMcModule::RemChildModule ( const char * apModuleName )

overridevirtual

remove child module

Reimplemented from CINOSTaskEx.

◆ RemCommand()

virtual void CINOSMcModule::RemCommand ( const char * apName )

overridevirtual

remove internal command

Reimplemented from CINOSTaskEx.

◆ Restore()

virtual CMcResult CINOSMcModule::Restore ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Restore backuped state call restore of all my chidren.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Resume()

virtual CMcResult CINOSMcModule::Resume ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_RESUME This method is used to go further in single step mode.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Retry()

virtual CMcResult CINOSMcModule::Retry ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Acknowledge the first pending message with the flag INOS_MCMSG_FLAG_RETRY.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Safe()

virtual CMcResult CINOSMcModule::Safe ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Put module into a safe state.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ SetFlag()

virtual void CINOSMcModule::SetFlag	(	uint64	auFlag,
		bool	abUpdateState = `false`
	)

inlineoverrideprotectedvirtual

set flag

Reimplemented from CINOSTaskEx.

◆ SetModuleBase()

void CINOSMcModule::SetModuleBase ( const char * apAllowedBases )

protected

Set classes allowed as submodules, by base identifier (see INOS_CONTAINER_CLASS). Default: "McBase".

Parameters

apAllowedBases comma-separated list of element class bases

◆ SetOut()

virtual CMcResult CINOSMcModule::SetOut	(	const char *	apName,
		real64	arValue,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Set output. The following IO types are supported: digital output, analog output and flags. if apName is not '*', then digital inputs are supported as well (which may make sense if they're in overwrite mode)

Parameters

apName Either "*", which sets all available output resources to the desired value. Otherwise, apName should be the fully qualified resource name, e.g. "Out.DigOut1". If the resource doesn't exist the function sets an error. If the resource exists, but no image channel has been assigned, the function does nothing and completes with success.

◆ ShutdownRequest()

static uint32 CINOSMcModule::ShutdownRequest ( )

static

Send a shutdown request to all root modules (also known as machine)

Returns: Error code.

◆ Start()

virtual CMcResult CINOSMcModule::Start ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Depending on the current module state this method has different meanings. If the module is in state off -> On is called, if it is in state on -> Init is called, if it is in state ready->a production job is started.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Stop() [1/3]

virtual CMcResult CINOSMcModule::Stop ( )

virtual

Stop a running production job.

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Stop() [2/3]

virtual CMcResult CINOSMcModule::Stop ( CINOSSync * apSync )

virtual

Stop a running production job.

Parameters

apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ Stop() [3/3]

virtual CMcResult CINOSMcModule::Stop ( const char * apParam )

virtual

Stop a running production job.

Parameters

apParam Deprecated

Returns: Returns INOS_OK in case of success or an appropriate error.

◆ UnRegisterHook()

uint32 CINOSMcModule::UnRegisterHook	(	uintid	aoHookId,
		const char *	apResName
	)

Unregister a hook.

Parameters

[in]	aoHookId	Id of registered hook
[in]	apResName	Resource name

Returns: INOS_OK or an appropriate error

◆ WaitCond()

void CINOSMcModule::WaitCond	(	TINOSMcModuleCondFunc	aFunc,
		TINOSMcModuleCondHandler	aSuccessFunc,
		TINOSMcModuleCondHandler	aTimeoutFunc,
		real64	arTimeout = `0.0`,
		real64	arSimTimeout = `0.0`
	)

protected

Wait on arbitrary condition or timeout.

This function provides a general wait mechanism and can be used where WaitInp, WaitAxis etc. are not sufficient, e.g. for waiting on multiple inputs.

The wait condition can be specified using a lambda function. Additionally, a success and timeout handler can be specified, in order to run further commands after a successful wait, or provide a meaningful error code in case of timeout.

Parameters

aFunc	Lambda function returning true if wait is completed. IMPORTANT: Will be called from a hook, so don't do anything time consuming!
aSuccessFunc	Lambda function called after successful wait
aTimeoutFunc	Lambda function called on timeout to return application error
arTimeout	timeout for wait condition
arSimTimeout	time after which wait condition is considered fulfilled for SimLevel > 0 if zero, arTimeout will be used if arTimeout is also zero, wait condition will be fulfilled immediately in sim mode

Example:

WaitCond([this](){ // wait on two inputs return m_pDiSensor1->Test() && m_pDiSensor2->Test(); }, []() { // success EXP_MESSAGE("both sensors triggered!"); return 0; }, []() { // timeout return EXP_MSG_CODE_WAIT_SENSOR_FAILED; }, adMyTimeout);

◆ WaitMs()

virtual ERplId CINOSMcModule::WaitMs ( real64 arTime )

protectedvirtual

Synchronous wait for delay.

Block and suspend until either the specified time interval elapses (unless zero) or a Cancel, Stop, or Pause command arrives. Use in preference to ::Sleep() if this interruptibility is desired.

Resolution: +/- 1 ms

Parameters

arTime delay in milliseconds, 0.0 for infinite

Returns: eRplOk/Stopped/Canceled/Paused

◆ SetItems

TINOSTaskExCmdMsg<CINOSMcModule, const char*, bool> CINOSMcModule::SetItems

Initial value:

{
            "SetItems", &CINOSMcModule::iSetItems, nullptr, *this,
            { "Values", "", nullptr, CINOSTaskExMsgParam::eFlgStructure},
            { "Overwrite", false},
            0xFFFFFFFF,
            "Cmd=SetItems"
        }

Sets items (Prop, Act, Res etc.) of a module. Setting items of a sub-module is not allowed.

Parameters

Values	Structural param or JSON string that defines the items and values to be set.
Overwrite	True to overwrite valid NVRAM values. When false NVRAM values are only set if NVRAM value was not initialized yet.

Returns: Returns INOS_OK in case of success or an appropriate error.

The documentation for this class was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmcmodule.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ AddAdcResource()

◆ AddChildCommand()

◆ AddChildModule()

◆ AddCommand() [1/3]

◆ AddCommand() [2/3]

◆ AddCommand() [3/3]

◆ AddDacResource()

◆ AddInpResource()

◆ AddOutResource()

◆ Backup()

◆ Cancel() [1/3]

◆ Cancel() [2/3]

◆ Cancel() [3/3]

◆ ClrFlag()

◆ Confirm()

◆ CreateMachine()

◆ CreateSubModule()

◆ DestroyMachine()

◆ DestroySubModule()

◆ DispatchCmd()

◆ DispatchEvent()

◆ DispatchInternal()

◆ DispatchReply()

◆ DispatchTmd()

◆ DispatchUser()

◆ GetIO()

◆ GetJob()

◆ GetMachine() [1/2]

◆ GetMachine() [2/2]

◆ Home()

◆ iCancel()

◆ iCheckSetupMode()

◆ iClrModeSetup()

◆ iEmgSet()

◆ iInit()

◆ iLinkDown()

◆ iMsgRejected()

◆ Init()

◆ iOff()

◆ iOn()

◆ iOnSimLevelChanged()

◆ iOnSlowMotionChanged()

◆ iPostStartup()

◆ iRecover()

◆ irplRunScript()

◆ iSetMode()

◆ iSetModeSetup()

◆ iShutdown()

◆ iStartup() [1/2]

◆ iStartup() [2/2]

◆ iStartupDone()

◆ iStepCanceled()

◆ iStepSkipped()

◆ iStepStopped()

◆ iStop()

◆ Manual()

◆ MsgDone() [1/2]

◆ MsgDone() [2/2]

◆ Off()

◆ On()

◆ Pause()

◆ PostCreate()

◆ PreDestroy()

◆ PreDispatchMsg()

◆ Prepare()

◆ PutMsg()

◆ Recover()

◆ RegisterHook()

◆ RemChildCommand()