CINOSMcRobot Class Reference

Inheritance diagram for CINOSMcRobot:

Public Member Functions
virtual CMcResult	MoveAbs (real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to the requested absolute position and emit an OnExit and OnEnter event if requested. If the module has multiple axes, the first axis is taken.
virtual CMcResult	MoveRel (real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move relative the requested delta and emit an OnExit and OnEnter event if requested. If the module has multiple axes, the first axis is taken.
virtual CMcResult	MoveToBorder (real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiated)
virtual CMcResult	MoveToBorderApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)
virtual CMcResult	MoveFromBorder (real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move away from border.
virtual CMcResult	MoveFromBorderDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Depart from border.
virtual CMcResult	MoveToDigitalSensor (const char *apName, real64 arPosition, real64 arSet, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found.
virtual CMcResult	MoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual CMcResult	JoyEnb (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Enable joystick mode. If the module has multiple axes, the first axis is taken, see also Joystick.
virtual CMcResult	JoyDis (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Disable joystick mode. If the module has multiple axes, the first axis is taken, see also Joystick.
virtual CMcResult	JoyPos (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Start a joystick move in positive direction. If the module has multiple axes, the first axis is taken, see also Joystick.
virtual CMcResult	JoyNeg (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Start a joystick move in negative direction. If the module has multiple axes, the first axis is taken, see also Joystick.
virtual CMcResult	JoyAdc (real64 arSlow, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Update joystick move. If the module has multiple axes, the first axis is taken, see also Joystick.
virtual CMcResult	JoyStop (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop running joystick move. If the module has multiple axes, the first axis is taken, see also Joystick.
virtual CMcResult	WheelEnb (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	enable wheel mode
virtual CMcResult	WheelDis (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	disable wheel mode
virtual CMcResult	WheelFactor (real64 arFactor, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	set wheel mode factor
virtual CMcResult	On (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Axis "On".
virtual CMcResult	Off (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual CMcResult	Init (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual CMcResult	Calib (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	calib axis
virtual CMcResult	MoveAbs (tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move to the requested absolute position and emit an OnExit and OnEnter event if requested.
virtual CMcResult	MoveRel (tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move relative the requested delta and emit an OnExit and OnEnter event if requested.
virtual CMcResult	MoveToBorder (tMcAxisName apAxis, real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found.
virtual CMcResult	MoveToBorderApp (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)
virtual CMcResult	MoveFromBorder (tMcAxisName apAxis, real64 arPosition, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Move away from border.
virtual CMcResult	MoveFromBorderDep (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Depart from border.
virtual CMcResult	MoveToDigitalSensor (tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arSet, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search digital sensor till arPosition and stop if found.
virtual CMcResult	MoveToAnalogSensor (tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search analog sensor till arPosition and stop if found.
virtual CMcResult	MoveCarefully (tMcAxisName apAxis, real64 arPosition, real64 arPosError, real64 arCurrent, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual CMcResult	MoveEx (tMcAxisName apAxis, real64 arPosition, real64 arTrgPosition, uint32 auFlags, const char *apTrgName, real64 arTrgLevel, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
virtual CMcResult	JoyEnb (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Enable joystick mode, see also Joystick.
virtual CMcResult	JoyDis (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Disable joystick mode, see also Joystick.
virtual CMcResult	JoyPos (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Start a joystick move into positive direction, see also Joystick.
virtual CMcResult	JoyNeg (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Start a joystick move into negative direction, see also Joystick.
virtual CMcResult	JoyAdc (tMcAxisName apAxis, real64 arSlow, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Update joystick move, see also Joystick.
virtual CMcResult	JoyStop (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop running joystick move, see also Joystick.
virtual CMcResult	WheelEnb (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	enable wheel mode
virtual CMcResult	WheelDis (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	disable wheel mode
virtual CMcResult	WheelFactor (tMcAxisName apAxis, real64 arFactor, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	set wheel mode factor
virtual CINOSPhysicalAxis *	GetAxisResource (tMcAxisName apAxis) override
virtual void	RegisterCheckLimitHook ()
	register hook for limit switch handler
uint32	GetAxisCount () const
	get number of axis this module handles
CINOSMcRobotAxis *	GetAxis (tMcAxisName apAxis) const
	get pointer to axis 'apName'
int32	GetAxisIndex (tMcAxisName apAxis) const
	get index of axis 'apName' (-1 if not found)
uint32	GetAxisSourceId (tMcAxisName apAxis) const
	get source id of axis 'apName'
CINOSMcRobotAxis *	GetAxis (uint32 auIndex) const
const char *	GetRealAxisName (tMcAxisName apAxis) const
	get real axis name
const char *	GetVirtAxisName (const char *apName) const
	get virtual axis name
virtual real64	GetLifetimeDistance (tMcAxisName apAxis)
	get lifetime distance of apAxis
virtual CMcResult	ForceActivate (tMcAxisName apAxis, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch from position to force mode.
virtual CMcResult	ForceInactivate (tMcAxisName apAxis, double adLimit, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch from force to position mode with optional active force limitation.
virtual CMcResult	ForceApproach (tMcAxisName apAxis, double adPosition, double adPositionVel, double adVelocity, double adForce, double adForceLimit, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Search requested force [N], stop if found and switch to force mode. In case of success return the async result 'TouchPos' which contains the measured position at touch down.
virtual CMcResult	ForceDepart (tMcAxisName apAxis, double adPosition, double adPositionVel, double adVelocity, double adForceLimit, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Switch to position mode and depart from force point.
virtual CMcResult	ForceMove (tMcAxisName apAxis, double adForce, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Ramp the commanded force to the requested value [N] with the given param set.
virtual CMcResult	ForceMoveStop (tMcAxisName apAxis, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop the actual ForceMove with the given param set.
virtual CMcResult	ForceBreak (tMcAxisName apAxis, double adForce, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Ramp the commanded force to the requested value [N] with the given param set. Expect a collapse before the commanded force is reached. In case of success return the async result 'BreakForce' which contains the measured force at the collapse detection.
virtual CMcResult	ForceTara (tMcAxisName apAxis, double adForce, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Set current force [N] to given value.
virtual CMcResult	ForceSelect (tMcAxisName apAxis, const char *apParam, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Select given param set.
virtual CMcResult	ForceCheck (tMcAxisName apAxis, CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Check current force state. Returns the following async results : 'State' : the current force control state 'Force' : the current measured force 'Position' : the current measured axis position 'Param' : the current selected param set.
	CINOSMcRobot (const char *apName, const char *apParam)
	constructor
	CINOSMcRobot (const char *apName, const char *apType, const char *apParam)
	constructor
virtual	~CINOSMcRobot ()
	destructor
Public Member Functions inherited from CINOSMcModule
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)
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 constexpr int	GetLastCmd ()
	return last mcrobot command id
static constexpr int	GetLastUsr ()
	return last mcrobot user id
Static Public Member Functions inherited from CINOSMcModule
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< CINOSMcRobot, const char *, const char *, const char * >	CreateSpeedset
	Create a new speedset for the McRobot axis. In case that apInitialValue is non-empty, it's important that it contains no syntax error and that it only specifies existing properties. Otherwise, the speedset creation will be aborted.
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char *, const char * >	CreateAxisSpeedSet
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char * >	DestroySpeedset
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char * >	DestroyAxisSpeedSet
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char *, const char * >	SetSpeedset
	Set/modify the parameters of an existing speedset.
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char *, const char * >	SetAxisSpeedSet
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char * >	GetSpeedset
	Get speedset of McRobot axis.
TINOSTaskExCmdMsg< CINOSMcRobot, const char *, const char * >	GetAxisSpeedSet
Public Attributes inherited from CINOSMcModule
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	{   eOptMultiple = 0x00010000 , eOptJoy = 0x00020000 , eOptWheel = 0x00040000 , eOptLimitInv = 0x00080000 ,   eOptEarlyInit =0x00100000 , eOptResMcR5 = 0x00200000 , eOptResMcR6 = 0x00400000 , eOptResMcR7 = 0x00800000 }
enum	{   eCmdINOSMcRobotFirst = eCmdINOSMcModuleLast+1 , eCmdMoveAbs , eCmdMoveRel , eCmdMoveToBorder ,   eCmdMoveToBorderApp , eCmdMoveFromBorder , eCmdMoveFromBorderDep , eCmdMoveToDigitalSensor ,   eCmdMoveToAnalogSensor , eCmdMoveCarefully , eCmdMoveEx , eCmdJoyEnb ,   eCmdJoyDis , eCmdJoyPos , eCmdJoyNeg , eCmdJoyAdc ,   eCmdJoyStop , eCmdWheelEnb , eCmdWheelDis , eCmdWheelFactor ,   eCmdSetBit , eCmdClrBit , eCmdCalib , eCmdPreparePath ,   eCmdRunPath , eCmdRunPathStr , eCmdForceActivate , eCmdForceInactivate ,   eCmdForceApproach , eCmdForceDepart , eCmdForceMove , eCmdForceMoveStop ,   eCmdForceBreak , eCmdForceTara , eCmdForceSelect , eCmdForceCheck ,   eCmdINOSMcRobotLast }
enum	{   eUsrINOSMcRobotFirst = eUsrINOSMcModuleLast+1 , eUsrDone , eUsrLimitSet , eUsrLimitClr ,   eUsrLimitPosSet , eUsrLimitPosClr , eUsrLimitNegSet , eUsrLimitNegClr ,   eUsrMonitorError , eUsrMonitorWarning , eUsrJoyDisAxisStopped , eUsrForceDone ,   eUsrINOSMcRobotLast }
enum	{ eRplNotYet = 0xffffffff }
Protected Types inherited from CINOSMcModule
enum	{ eLcSoff , eLcSon , eLcSdown }

Protected Member Functions
virtual bool	DispatchCmd (CINOSTaskExMsg *apMsg) override
	dispatch command message
virtual bool	DispatchTmd (CINOSTaskExMsg *apMsg) override
	dispatch triggered command message
virtual bool	DispatchUser (CINOSTaskExMsg *apMsg) override
	dispatch user message
virtual bool	DispatchReply (CINOSTaskExMsg *apMsg) override
	dispatch reply message
virtual void	iStartup (CINOSTaskExMsg *apMsg) override
	internal startup task
virtual void	iStartup (real64 arStage) override
	internal startup task
virtual void	iShutdown (CINOSTaskExMsg *apMsg) override
	internal shutdown task
virtual void	iStop (CINOSTaskExMsg *apMsg) override
	internal stop
virtual void	iCancel (CINOSTaskExMsg *apMsg) override
	internal cancel
virtual void	iOn (CINOSTaskExMsg *apMsg) override
	internal on station
virtual void	iOff (CINOSTaskExMsg *apMsg) override
	internal off station
virtual void	iInit (CINOSTaskExMsg *apMsg) override
	internal init station
virtual void	iInit (tMcAxisName apAxisName, CINOSTaskExMsg *apMsg)
virtual void	iInitDone (CINOSMcRobotCmd *apCmd)
	internal init done
virtual void	iCalib (CINOSTaskExMsg *apMsg)
	internal calib
virtual void	iCalibDone (CINOSMcRobotCmd *apCmd)
	internal calib done
virtual void	iRecover (CINOSTaskExMsg *apMsg) override
	internal recover station
virtual void	iCreateSpeedset (CINOSTaskExMsg *apMsg)
virtual void	iDestroySpeedset (CINOSTaskExMsg *apMsg)
virtual void	iSetSpeedset (CINOSTaskExMsg *apMsg)
virtual void	iGetSpeedset (CINOSTaskExMsg *apMsg)
virtual void	iMoveAbs (CINOSTaskExMsg *apMsg)
	internal move axis absolute
virtual void	iMoveRel (CINOSTaskExMsg *apMsg)
	internal move axis relative
virtual void	iMoveToBorder (CINOSTaskExMsg *apMsg)
	internal move to border
virtual void	iMoveToBorderApp (CINOSTaskExMsg *apMsg)
	internal move to border app
virtual void	iMoveFromBorder (CINOSTaskExMsg *apMsg)
	internal move from border
virtual void	iMoveFromBorderDep (CINOSTaskExMsg *apMsg)
	internal move from border depart
virtual void	iMoveToDigitalSensor (CINOSTaskExMsg *apMsg)
	internal move to digital sensor
virtual void	iMoveToAnalogSensor (CINOSTaskExMsg *apMsg)
	internal move to analog sensor
virtual void	iMoveCarefully (CINOSTaskExMsg *apMsg)
	internal move carefully to position
virtual void	iMoveEx (CINOSTaskExMsg *apMsg)
	internal move ex
virtual void	iJoyEnb (CINOSTaskExMsg *apMsg)
	internal enable joystick mode
virtual void	iJoyDis (CINOSTaskExMsg *apMsg)
	internal disable joystick mode
virtual void	iJoyDisAxisStopped (CINOSTaskExMsg *apUsrMsg)
virtual void	iJoyPos (CINOSTaskExMsg *apMsg)
	internal start joystick move into pos direction
virtual void	iJoyNeg (CINOSTaskExMsg *apMsg)
	internal start joystick move into neg direction
virtual void	iJoyAdc (CINOSTaskExMsg *apMsg)
	internal update joystick move
virtual void	iJoyStop (CINOSTaskExMsg *apMsg)
	internal stop joystick move
virtual void	iWheelEnb (CINOSTaskExMsg *apMsg)
	internal enable wheel mode
virtual void	iWheelDis (CINOSTaskExMsg *apMsg)
	internal disable wheel mode
virtual void	iWheelFactor (CINOSTaskExMsg *apMsg)
	internal set wheel mode factor
virtual void	iSetBit (CINOSTaskExMsg *apMsg)
	internal setbit
virtual void	iClrBit (CINOSTaskExMsg *apMsg)
	internal clrbit
virtual void	iLimitSet (CINOSTaskExMsg *apMsg)
	limit set
virtual void	iLimitClr (CINOSTaskExMsg *apMsg)
	limit clr
virtual void	iLimitPosSet (CINOSTaskExMsg *apMsg)
	limit pos set
virtual void	iLimitPosClr (CINOSTaskExMsg *apMsg)
	limit pos clr
virtual void	iLimitNegSet (CINOSTaskExMsg *apMsg)
	limit neg set
virtual void	iLimitNegClr (CINOSTaskExMsg *apMsg)
	limit neg clr
virtual void	iMonitorError (CINOSTaskExMsg *apMsg)
	monitor error
virtual void	iMonitorWarning (CINOSTaskExMsg *apMsg)
	monitor warning
virtual void	iLinkDown (CINOSTaskExMsg *apMsg) override
	link down
virtual CMcResult	PostAxisMessage (tMcAxisName apAxis, uint32 auType, uint32 auCode, uint32 auFlags)
	postmessage
virtual void	iForceDone (CINOSTaskExMsg *apMsg)
virtual void	iForceActivate (CINOSTaskExMsg *apMsg)
virtual void	iForceInactivate (CINOSTaskExMsg *apMsg)
virtual void	iForceApproach (CINOSTaskExMsg *apMsg)
virtual void	iForceDepart (CINOSTaskExMsg *apMsg)
virtual void	iForceMove (CINOSTaskExMsg *apMsg)
virtual void	iForceMoveStop (CINOSTaskExMsg *apMsg)
virtual void	iForceBreak (CINOSTaskExMsg *apMsg)
virtual void	iForceTara (CINOSTaskExMsg *apMsg)
virtual void	iForceSelect (CINOSTaskExMsg *apMsg)
virtual void	iForceCheck (CINOSTaskExMsg *apMsg)
virtual void	iForceCancel ()
virtual void	iCmdDone (CINOSTaskExMsg *apMsg)
	internal command done
virtual void	iCmdAdd (CINOSMcRobotCmd *apCmd)
	internal command add
virtual void	iCmdRemove (CINOSMcRobotCmd *apCmd)
	internal command remove
virtual void	iCancelDeferred () override
	overridden because we need to cancel all pending commands
virtual CINOSMcRobotCmd *	iCmdGet (tMsgId auId)
	internal command get
virtual CINOSMcRobotCmd *	iCmdGetFirst () const
	internal command get first
virtual void	CmdStop (tMsgId auId, uint32 auReply=CINOSTaskEx::eRplStopped)
	internal command stop
virtual void	iOnSlowMotionChanged (CINOSTaskExMsg *apMsg) override
	event handler 'iOnSlowMotionChanged'
virtual void	iOnSimLevelChanged (uint32 auOldLevel, uint32 auNewLevel) override
	event handler 'iOnSimLevelChanged'
virtual void	iSetModeSetup (CINOSTaskExMsg *apMsg) override
	internal set mode setup
virtual void	iClrModeSetup (CINOSTaskExMsg *apMsg) override
	internal clear mode setup
virtual bool	iCheckSetupMode () override
	internal check setup mode
virtual void	iStepCanceled (CINOSTaskExMsg *apMsg) override
	step command canceled
virtual void	iStepStopped (CINOSTaskExMsg *apMsg) override
	step command stopped
virtual void	iStepSkipped (CINOSTaskExMsg *apMsg) override
	step command skipped
virtual void	iMsgRejected (CINOSTaskExMsg *apMsg) override
	message rejected
virtual uint32	iOn (tMcAxisName apAxis)
	switch on apAxis
virtual uint32	iOff (tMcAxisName apAxis)
	switch off apAxis
virtual uint32	iRecover (tMcAxisName apAxis)
	recover apAxis
virtual uint32	iWaitForPower (tMcAxisName apAxis)
	wait for power
virtual bool	iGetFlag (tMcAxisName apAxis, uint32 auFlag)
	get axis flag
virtual void	iSetFlag (tMcAxisName apAxis, uint32 auFlag)
	set axis flag
virtual void	iClrFlag (tMcAxisName apAxis, uint32 auFlag)
	clear axis flag
virtual uint32	iGetSimLevel (tMcAxisName apAxis)
	get simelevel of apAxis
virtual real64	iGetSlowMotion (tMcAxisName apAxis)
	get slowmotion of apAxis
virtual real64	GetRealPosition (tMcAxisName apAxis, const char *apBase)
	get real position of apAxis based on apBase
virtual real64	GetActPosition (tMcAxisName apAxis, const char *apBase)
	get actual (current commanded) position of apAxis based on apBase
virtual void	SetActPosition (tMcAxisName apAxis, const char *apBase, real64 arPosition)
	get actual (current commanded) position of apAxis based on apBase
virtual void	SetLifetimeDistance (tMcAxisName apAxis, real64 arDistance)
	set lifetime distance of apAxis
virtual void	SaveLifetimeDistance (tMcAxisName apAxis=NULL)
	save lifetime distance of apAxis (or all axes if apAxes == NULL) in nvram
virtual uint32	GetDistanceCodedPosition (const char *apName, real64 arDistance, real64 &arPosition)
virtual bool	iInitOk () const
	return true if all axes are successfully inited
virtual bool	iIsIdle () const
	return true if currently no command running
virtual const char *	GetStateText () override
	return actual state text
virtual CINOSMcRobotAxis *	CreateMcRobotAxis (const char *apAlias, const char *apParam)
	Creates and adds a new McRobot axis to this module.
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	CmdFailed (CINOSTaskExMsg *apMsg, uint32 auError)
CMcResult	eMoveAbs (real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
	move axis absolute
CMcResult	eMoveRel (real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
	move axis relative
CMcResult	eMoveAbs (tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
	move axis absolute
CMcResult	eMoveRel (tMcAxisName apAxis, real64 arPosition, real64 arExit, real64 arEnter, const char *apParam)
	move axis relative
CMcResult	eMoveToBorder (real64 arPosition, const char *apParam)
	move to border
CMcResult	eMoveToBorder (tMcAxisName apAxis, real64 arPosition, const char *apParam)
	move to border
CMcResult	eMoveToBorderApp (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	move to border app
CMcResult	eMoveToBorderApp (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	move to border
CMcResult	eMoveFromBorder (real64 arPosition, const char *apParam)
	move from border
CMcResult	eMoveFromBorder (tMcAxisName apAxis, real64 arPosition, const char *apParam)
	move from border
CMcResult	eMoveFromBorderDep (real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	move from border dep
CMcResult	eMoveFromBorderDep (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam)
	move from border dep
CMcResult	eMoveToDigitalSensor (const char *apName, real64 arPosition, real64 arSet, const char *apParam)
	move to digital sensor
CMcResult	eMoveToDigitalSensor (tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arSet, const char *apParam)
	move to digital sensor
CMcResult	eMoveToAnalogSensor (const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam)
	move to analog sensor
CMcResult	eMoveToAnalogSensor (tMcAxisName apAxis, const char *apName, real64 arPosition, real64 arLevel, real64 arGreater, const char *apParam)
	move to analog sensor
CMcResult	eMoveCarefully (tMcAxisName apAxis, real64 arPosition, real64 arPosError, real64 arCurrent, const char *apParam)
	move carefully to position
CMcResult	eJoyEnb ()
	enable joystick mode
CMcResult	eJoyDis ()
	disable joystick mode
CMcResult	eJoyPos ()
	start joystick move into pos direction
CMcResult	eJoyNeg ()
	start joystick move into neg direction
CMcResult	eJoyAdc (real64 arslow)
	update joystick move
CMcResult	eJoyStop ()
	stop joystick move
CMcResult	eJoyEnb (tMcAxisName apAxis)
	enable joystick mode
CMcResult	eJoyDis (tMcAxisName apAxis)
	disable joystick mode
CMcResult	eJoyPos (tMcAxisName apAxis)
	start joystick move into pos direction
CMcResult	eJoyNeg (tMcAxisName apAxis)
	start joystick move into neg direction
CMcResult	eJoyAdc (tMcAxisName apAxis, real64 arSlow)
	update joystick move
CMcResult	eJoyStop (tMcAxisName apAxis)
	stop joystick move
CMcResult	eWheelEnb ()
	enable wheel mode
CMcResult	eWheelDis ()
	disable wheel mode
CMcResult	eWheelFactor (real64 arFactor)
	set wheel mode factor
CMcResult	eWheelEnb (tMcAxisName apAxis)
	enable wheel mode
CMcResult	eWheelDis (tMcAxisName apAxis)
	disable wheel mode
CMcResult	eWheelFactor (tMcAxisName apAxis, real64 arFactor)
	set wheel mode factor
Protected Member Functions inherited from CINOSMcModule
virtual bool	DispatchEvent (CINOSTaskExMsg *apMsg) override
	dispatch event message
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 bool	iPostStartup () override
	internal post startup
virtual void	iStartupDone ()
virtual void	iCheckRes (CINOSTaskExMsg *apMsg)
	internal check resources
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	iiOn (CINOSTaskExMsg *apMsg)
	very internal on
virtual void	irplOn (CINOSTaskExMsg *apMsg, CINOSTaskExMsg *apRpl)
	internal on reply
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	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	irplRecover (CINOSTaskExMsg *apMsg, CINOSTaskExMsg *apRpl)
	internal recover reply
virtual void	iStart (CINOSTaskExMsg *apMsg)
	internal start
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	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	iSetMode (const char *apName)
	internal set 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	iOnSimLevelChanged (CINOSTaskExMsg *apMsg)
	event handler 'iOnSimLevelChanged'
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
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	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 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)

Friends
class	CINOSMcRobotAxis
class	CINOSMcRobotCmd
class	CINOSMcRobotCmdInit
class	CINOSMcRobotCmdCalib
class	CINOSMcRobotCmdMove
class	CINOSMcRobotCmdMoveToBorder
class	CINOSMcRobotCmdMoveToBorderApp
class	CINOSMcRobotCmdMoveToDigitalSensor
class	CINOSMcRobotCmdMoveToAnalogSensor
class	CINOSMcRobotCmdMoveCarefully
class	CINOSMcRobotCmdMoveEx
class	CINOSMcRobotCmdLinear
class	CINOSMcRobotCmdEndless
class	CINOSMcRobotCmdShape
class	CINOSMcRobotCmdMoveSafe
class	CINOSMcRobotCmdValveVC8
class	CINOSMcRobotCmdPull
class	CINOSMcRobotSync
class	CINOSMcRobotForceSync
class	CINCOaxspos
class	CINCOcmdaxspos
class	CINCOaxslifetime
class	CINITTask

Additional Inherited Members
Public Types inherited from CINOSMcModule
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.
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.
Protected Attributes inherited from CINOSMcModule
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 inherited from CINOSMcModule
static CINOSContainer< CINOSMcModule > *	m_pMachine
static CINOSMutex	s_MachineMutex
static bool	s_bRegisterInContainer

Member Function Documentation

CmdFailed()

virtual void CINOSMcRobot::CmdFailed ( CINOSTaskExMsg *  apMsg, uint32  auError  )

protectedvirtual

Will be called by INOS_MCROBOT_CMD_RUN if running a command fails e.g. because pre-checks returned an error. This implementation performs a MsgError(apMsg, auError), but a derived class may decide to act differently, e.g. with MsgFailed or however.

DispatchCmd()

virtual bool CINOSMcRobot::DispatchCmd ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

dispatch command message

Reimplemented from CINOSMcModule.

DispatchReply()

virtual bool CINOSMcRobot::DispatchReply ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

dispatch reply message

Reimplemented from CINOSMcModule.

DispatchTmd()

virtual bool CINOSMcRobot::DispatchTmd ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

dispatch triggered command message

Reimplemented from CINOSMcModule.

DispatchUser()

virtual bool CINOSMcRobot::DispatchUser ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

dispatch user message

Reimplemented from CINOSMcModule.

ForceActivate()

virtual CMcResult CINOSMcRobot::ForceActivate ( tMcAxisName  apAxis, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Switch from position to force mode.

Parameters

apAxis	Name of the axis
apParam	Name of requested param set
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceApproach()

virtual CMcResult CINOSMcRobot::ForceApproach ( tMcAxisName  apAxis, double  adPosition, double  adPositionVel, double  adVelocity, double  adForce, double  adForceLimit, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search requested force [N], stop if found and switch to force mode. In case of success return the async result 'TouchPos' which contains the measured position at touch down.

Parameters

apAxis	Name of the axis
adPosition	The max. search position.
adPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
adVelocity	The requested velocity at point arPosition-arPositionVel
adForce	The requested force [N]
adForceLimit	The requested force limit [N]
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceBreak()

virtual CMcResult CINOSMcRobot::ForceBreak ( tMcAxisName  apAxis, double  adForce, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Ramp the commanded force to the requested value [N] with the given param set. Expect a collapse before the commanded force is reached. In case of success return the async result 'BreakForce' which contains the measured force at the collapse detection.

Parameters

apAxis	Name of the axis
adForce	The commanded force [N]
apParam	Name of param set to use
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceCheck()

virtual CMcResult CINOSMcRobot::ForceCheck ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Check current force state. Returns the following async results : 'State' : the current force control state 'Force' : the current measured force 'Position' : the current measured axis position 'Param' : the current selected param set.

Parameters

apAxis

Name of the axis

Returns

Returns an according error code or 0 in case of success

ForceDepart()

virtual CMcResult CINOSMcRobot::ForceDepart ( tMcAxisName  apAxis, double  adPosition, double  adPositionVel, double  adVelocity, double  adForceLimit, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Switch to position mode and depart from force point.

Parameters

apAxis	Name of the axis
arPosition	The position where to move to.
arPositionVel	Reduced velocity till this position
arVelocity	Requested reduced velocity
adForceLimit	The requested force limit [N]
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceInactivate()

virtual CMcResult CINOSMcRobot::ForceInactivate ( tMcAxisName  apAxis, double  adLimit, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Switch from force to position mode with optional active force limitation.

Parameters

apAxis	Name of the axis
adLimit	The requested force limit [N] or 0.0 if no limit

Returns

Returns an according error code or 0 in case of success

ForceMove()

virtual CMcResult CINOSMcRobot::ForceMove ( tMcAxisName  apAxis, double  adForce, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Ramp the commanded force to the requested value [N] with the given param set.

Parameters

apAxis	Name of the axis
adForce	The commanded force [N]
apParam	Name of param set to use
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceMoveStop()

virtual CMcResult CINOSMcRobot::ForceMoveStop ( tMcAxisName  apAxis, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Stop the actual ForceMove with the given param set.

Parameters

apAxis	Name of the axis
apParam	Name of param set to use
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success

ForceSelect()

virtual CMcResult CINOSMcRobot::ForceSelect ( tMcAxisName  apAxis, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Select given param set.

Parameters

apAxis	Name of the axis
apParam	Name of the requested param set

Returns

Returns an according error code or 0 in case of success

ForceTara()

virtual CMcResult CINOSMcRobot::ForceTara ( tMcAxisName  apAxis, double  adForce, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Set current force [N] to given value.

Parameters

apAxis	Name of the axis
adForce	The requested force [N]

Returns

Returns an according error code or 0 in case of success

GetAxis()

CINOSMcRobotAxis * CINOSMcRobot::GetAxis

(

uint32

auIndex

)

const

get pointer to axis at index auIndex.

Returns

NULL if no axis is available at auIndex (means: auIndex is out of range).

GetAxisResource()

virtual CINOSPhysicalAxis * CINOSMcRobot::GetAxisResource ( tMcAxisName  apAxis )

overridevirtual

Reimplemented from CINOSMcModule.

GetDistanceCodedPosition()

virtual uint32 CINOSMcRobot::GetDistanceCodedPosition ( const char *  apName, real64  arDistance, real64 &  arPosition  )

inlineprotectedvirtual

Return distance coded position for given axis. A descendant class needs to return the required position at the second reference mark. The given value is the distance between the first and the second found reference (positive value -> the search was in positive direction and vice versa)

GetStateText()

virtual const char * CINOSMcRobot::GetStateText ( )

overrideprotectedvirtual

return actual state text

Reimplemented from CINOSTaskEx.

iCancel()

virtual void CINOSMcRobot::iCancel ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal cancel

Reimplemented from CINOSMcModule.

iCancelDeferred()

virtual void CINOSMcRobot::iCancelDeferred ( )

overrideprotectedvirtual

overridden because we need to cancel all pending commands

Reimplemented from CINOSTaskEx.

iCheckSetupMode()

virtual bool CINOSMcRobot::iCheckSetupMode ( )

overrideprotectedvirtual

internal check setup mode

Reimplemented from CINOSMcModule.

iClrModeSetup()

virtual void CINOSMcRobot::iClrModeSetup ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal clear mode setup

Reimplemented from CINOSMcModule.

iInit() [1/2]

virtual void CINOSMcRobot::iInit ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal init station

Reimplemented from CINOSMcModule.

iInit() [2/2]

virtual void CINOSMcRobot::iInit ( tMcAxisName  apAxisName, CINOSTaskExMsg *  apMsg  )

protectedvirtual

internal init function. In contrast to the above overload, this function does NOT anymore access any msg params. apMsg will only be used for MsgDone & friends. This function has been introduced to allow customer code to re-use the init functionality for arbitrary CINOSTaskExMsg objects, which may contain 'msg paramas' different to axis name or may even contain additional ones, etc.

iJoyDisAxisStopped()

virtual void CINOSMcRobot::iJoyDisAxisStopped ( CINOSTaskExMsg *  apUsrMsg )

protectedvirtual

internal called when the axis actually stopped, if iJoyDis needed to stop the axis

iLinkDown()

virtual void CINOSMcRobot::iLinkDown ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

link down

Reimplemented from CINOSMcModule.

iMsgRejected()

virtual void CINOSMcRobot::iMsgRejected ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

message rejected

Reimplemented from CINOSMcModule.

Init()

virtual CMcResult CINOSMcRobot::Init ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Axis "Init". Also known as "homing" or "referencing". The axis init will be performed as configured in "Prop.Axes.${apAxis}.Init". Note that, if initialization of the axis succeeds, the function will iterate through all axes belonging to this module and checks whether they are initialized as well. If one or multiple axes are not initialized, the function executes a MsgInComplete. Only if all axes are initialized, it executes a MsgDone.

Parameters

apAxis	The axis name
apSync	Execution synchronization, see mcrobot_synch

iOff()

virtual void CINOSMcRobot::iOff ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal off station

Reimplemented from CINOSMcModule.

iOn()

virtual void CINOSMcRobot::iOn ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal on station

Reimplemented from CINOSMcModule.

iOnSimLevelChanged()

virtual void CINOSMcRobot::iOnSimLevelChanged ( uint32  auOldLevel, uint32  auNewLevel  )

overrideprotectedvirtual

event handler 'iOnSimLevelChanged'

Reimplemented from CINOSMcModule.

iOnSlowMotionChanged()

virtual void CINOSMcRobot::iOnSlowMotionChanged ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

event handler 'iOnSlowMotionChanged'

Reimplemented from CINOSMcModule.

iRecover()

virtual void CINOSMcRobot::iRecover ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal recover station

Reimplemented from CINOSMcModule.

iSetModeSetup()

virtual void CINOSMcRobot::iSetModeSetup ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal set mode setup

Reimplemented from CINOSMcModule.

iShutdown()

virtual void CINOSMcRobot::iShutdown ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal shutdown task

Reimplemented from CINOSMcModule.

iStartup() [1/2]

virtual void CINOSMcRobot::iStartup ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal startup task

Reimplemented from CINOSMcModule.

iStartup() [2/2]

virtual void CINOSMcRobot::iStartup ( real64  arStage )

overrideprotectedvirtual

internal startup task

Reimplemented from CINOSMcModule.

iStepCanceled()

virtual void CINOSMcRobot::iStepCanceled ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

step command canceled

Reimplemented from CINOSMcModule.

iStepSkipped()

virtual void CINOSMcRobot::iStepSkipped ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

step command skipped

Reimplemented from CINOSMcModule.

iStepStopped()

virtual void CINOSMcRobot::iStepStopped ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

step command stopped

Reimplemented from CINOSMcModule.

iStop()

virtual void CINOSMcRobot::iStop ( CINOSTaskExMsg *  apMsg )

overrideprotectedvirtual

internal stop

Reimplemented from CINOSMcModule.

JoyAdc() [1/2]

virtual CMcResult CINOSMcRobot::JoyAdc ( real64  arSlow, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Update joystick move. If the module has multiple axes, the first axis is taken, see also Joystick.

Parameters

arSlow

Requested slowmotion factor

Returns

Returns an according error code or 0 in case of success.

JoyAdc() [2/2]

virtual CMcResult CINOSMcRobot::JoyAdc ( tMcAxisName  apAxis, real64  arSlow, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Update joystick move, see also Joystick.

Parameters

apAxis	Name of the requested axis.
arSlow	Requested slowmotion factor

Returns

Returns an according error code or 0 in case of success.

JoyDis() [1/2]

virtual CMcResult CINOSMcRobot::JoyDis ( CINOSSync *  apSync = DF_INOS_SYNCHRONOUS )

virtual

Disable joystick mode. If the module has multiple axes, the first axis is taken, see also Joystick.

Returns

Returns an according error code or 0 in case of success.

JoyDis() [2/2]

virtual CMcResult CINOSMcRobot::JoyDis ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Disable joystick mode, see also Joystick.

Parameters

apAxis

Name of the requested axis.

Returns

Returns an according error code or 0 in case of success.

JoyEnb() [1/2]

virtual CMcResult CINOSMcRobot::JoyEnb ( CINOSSync *  apSync = DF_INOS_SYNCHRONOUS )

virtual

Enable joystick mode. If the module has multiple axes, the first axis is taken, see also Joystick.

Returns

Returns an according error code or 0 in case of success.

JoyEnb() [2/2]

virtual CMcResult CINOSMcRobot::JoyEnb ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Enable joystick mode, see also Joystick.

Parameters

apAxis

Name of the requested axis.

Returns

Returns an according error code or 0 in case of success.

JoyNeg() [1/2]

virtual CMcResult CINOSMcRobot::JoyNeg ( CINOSSync *  apSync = DF_INOS_SYNCHRONOUS )

virtual

Start a joystick move in negative direction. If the module has multiple axes, the first axis is taken, see also Joystick.

Returns

Returns an according error code or 0 in case of success.

JoyNeg() [2/2]

virtual CMcResult CINOSMcRobot::JoyNeg ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Start a joystick move into negative direction, see also Joystick.

Parameters

apAxis

Name of the requested axis.

Returns

Returns an according error code or 0 in case of success.

JoyPos() [1/2]

virtual CMcResult CINOSMcRobot::JoyPos ( CINOSSync *  apSync = DF_INOS_SYNCHRONOUS )

virtual

Start a joystick move in positive direction. If the module has multiple axes, the first axis is taken, see also Joystick.

Returns

Returns an according error code or 0 in case of success.

JoyPos() [2/2]

virtual CMcResult CINOSMcRobot::JoyPos ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Start a joystick move into positive direction, see also Joystick.

Parameters

apAxis

Name of the requested axis.

Returns

Returns an according error code or 0 in case of success.

JoyStop() [1/2]

virtual CMcResult CINOSMcRobot::JoyStop ( CINOSSync *  apSync = DF_INOS_SYNCHRONOUS )

virtual

Stop running joystick move. If the module has multiple axes, the first axis is taken, see also Joystick.

Returns

Returns an according error code or 0 in case of success.

JoyStop() [2/2]

virtual CMcResult CINOSMcRobot::JoyStop ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Stop running joystick move, see also Joystick.

Parameters

apAxis

Name of the requested axis.

Returns

Returns an according error code or 0 in case of success.

MoveAbs() [1/2]

virtual CMcResult CINOSMcRobot::MoveAbs ( real64  arPosition, real64  arExit, real64  arEnter, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move to the requested absolute position and emit an OnExit and OnEnter event if requested. If the module has multiple axes, the first axis is taken.

Parameters

arPosition	The position where to move to.
arExit	Marks the delta position from the beginning of the move where to emit an OnExit event. If set to 0.0, no event is thrown.
arEnter	Marks the delta position from the end of the move where to emit an OnEnter event. If set to 0.0, no event is thrown.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success.

MoveAbs() [2/2]

virtual CMcResult CINOSMcRobot::MoveAbs ( tMcAxisName  apAxis, real64  arPosition, real64  arExit, real64  arEnter, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move to the requested absolute position and emit an OnExit and OnEnter event if requested.

Parameters

apAxis	Name of axis to move with
arPosition	The position where to move to.
arExit	Marks the delta position from the beginning of the move where to emit an OnExit event. If set to 0.0, no event is thrown.
arEnter	Marks the delta position from the end of the move where to emit an OnEnter event. If set to 0.0, no event is thrown.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success.

MoveCarefully()

virtual CMcResult CINOSMcRobot::MoveCarefully ( tMcAxisName  apAxis, real64  arPosition, real64  arPosError, real64  arCurrent, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move axis with reduced current and separate position error. During the move, the reduced current value will be set to arCurrent, the current reduction will be enabled on the axis. Moreover, the defined position error arPosError will be used to detect a "collision situation", while the "normal" position error check will be disabled for the duration of this command.

Returns

Ok if the move completed without position errors bigger than arPosError. A Failure if the position error arPosError exceeded during the move.

MoveEx()

virtual CMcResult CINOSMcRobot::MoveEx ( tMcAxisName  apAxis, real64  arPosition, real64  arTrgPosition, uint32  auFlags, const char *  apTrgName, real64  arTrgLevel, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move extended. Move with additional flags.

MoveFromBorder() [1/2]

virtual CMcResult CINOSMcRobot::MoveFromBorder ( real64  arPosition, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move away from border.

Parameters

arPosition	The position where to move to.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveFromBorder() [2/2]

virtual CMcResult CINOSMcRobot::MoveFromBorder ( tMcAxisName  apAxis, real64  arPosition, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move away from border.

Parameters

apAxis	Name of the axis to move with.
arPosition	The position where to move to.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveFromBorderDep() [1/2]

virtual CMcResult CINOSMcRobot::MoveFromBorderDep ( real64  arPosition, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Depart from border.

Parameters

arPosition	The position where to move to.
arPositionVel	Reduced velocity till this position
arVelocity	Requested reduced velocity
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveFromBorderDep() [2/2]

virtual CMcResult CINOSMcRobot::MoveFromBorderDep ( tMcAxisName  apAxis, real64  arPosition, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Depart from border.

Parameters

apAxis	Name of the axis to move with.
arPosition	The position where to move to.
arPositionVel	Reduced velocity till this position
arVelocity	Requested reduced velocity
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveRel() [1/2]

virtual CMcResult CINOSMcRobot::MoveRel ( real64  arPosition, real64  arExit, real64  arEnter, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move relative the requested delta and emit an OnExit and OnEnter event if requested. If the module has multiple axes, the first axis is taken.

Parameters

arPosition	The delta to move.
arExit	Marks the delta position from the beginning of the move where to emit an OnExit event. If set to 0.0, no event is thrown.
arEnter	Marks the delta position from the end of the move where to emit an OnEnter event. If set to 0.0, no event is thrown.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success.

MoveRel() [2/2]

virtual CMcResult CINOSMcRobot::MoveRel ( tMcAxisName  apAxis, real64  arPosition, real64  arExit, real64  arEnter, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Move relative the requested delta and emit an OnExit and OnEnter event if requested.

Parameters

apAxis	Name of axis to move with
arPosition	The delta to move.
arExit	Marks the delta position from the beginning of the move where to emit an OnExit event. If set to 0.0, no event is thrown.
arEnter	Marks the delta position from the end of the move where to emit an OnEnter event. If set to 0.0, no event is thrown.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success.

MoveToAnalogSensor() [1/2]

virtual CMcResult CINOSMcRobot::MoveToAnalogSensor ( const char *  apName, real64  arPosition, real64  arLevel, real64  arGreater, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apName	Name of the resource or analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success Returns also the named result 'Position' with the axis position at the found event.

MoveToAnalogSensor() [2/2]

virtual CMcResult CINOSMcRobot::MoveToAnalogSensor ( tMcAxisName  apAxis, const char *  apName, real64  arPosition, real64  arLevel, real64  arGreater, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search analog sensor till arPosition and stop if found.

Parameters

apAxis	Name of the axis to move with.
apName	Name of the resource or analog input.
arPosition	The position where to move to.
arLevel	The requested level of the analog input.
abGreater	True if input needs to be greater than arLevel, false otherwise
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success Returns also the named result 'Position' with the axis position at the found event.

MoveToBorder() [1/2]

virtual CMcResult CINOSMcRobot::MoveToBorder ( real64  arPosition, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found (use ReleaseFromBorder before other moves are initiated)

Parameters

arPosition	The position where to move to.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveToBorder() [2/2]

virtual CMcResult CINOSMcRobot::MoveToBorder ( tMcAxisName  apAxis, real64  arPosition, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found.

Parameters

apAxis	Name of the axis to move with.
arPosition	The position where to move to.
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveToBorderApp() [1/2]

virtual CMcResult CINOSMcRobot::MoveToBorderApp ( real64  arPosition, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)

Parameters

arPosition	The position where to move to.
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveToBorderApp() [2/2]

virtual CMcResult CINOSMcRobot::MoveToBorderApp ( tMcAxisName  apAxis, real64  arPosition, real64  arPositionVel, real64  arVelocity, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search border till arPosition and stop if found. The current limitation is switched on at the reduced velocity point (use ReleaseFromBorder before other moves are initiated)

Parameters

apAxis	Name of the axis to move with.
arPosition	The position where to move to.
arPositionVel	The relative position (from endpoint) where to reduce the velocity to arVelocity.
arVelocity	The requested velocity at point arPosition-arPositionVel
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveToDigitalSensor() [1/2]

virtual CMcResult CINOSMcRobot::MoveToDigitalSensor ( const char *  apName, real64  arPosition, real64  arSet, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found.

Parameters

apName	Name of the resource or digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MoveToDigitalSensor() [2/2]

virtual CMcResult CINOSMcRobot::MoveToDigitalSensor ( tMcAxisName  apAxis, const char *  apName, real64  arPosition, real64  arSet, const char *  apParam, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Search digital sensor till arPosition and stop if found.

Parameters

apAxis	Name of the axis to move with.
apName	Name of the resource or digital input.
arPosition	The position where to move to.
abSet	True if we want the input to be set, false otherwise
apParam	Name of requested speed set.
apSync	A pointer to a sync object if used asynchronous

Returns

Returns an according error code or 0 in case of success. Returns also the named result 'Position' with the axis position at the found event.

MsgDone() [1/2]

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

overrideprotectedvirtual

message done

Reimplemented from CINOSMcModule.

MsgDone() [2/2]

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

overrideprotectedvirtual

message done

Reimplemented from CINOSMcModule.

Off()

virtual CMcResult CINOSMcRobot::Off ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Axis "Off". This will "inactivate" the axis (aka power off).

Parameters

apAxis	The axis name
apSync	Execution synchronization, see mcrobot_synch

On()

virtual CMcResult CINOSMcRobot::On ( tMcAxisName  apAxis, CINOSSync *  apSync = DF_INOS_SYNCHRONOUS  )

virtual

Axis "On".

This will "activate" the axis (aka power on). In other words: If the function succeeds, the axis will afterwards be controlled. Note that, if activating the axis succeeds, the function will iterate through all axes belonging to this module and checks whether they are all activated. If one or multiple axes are not activated, then the function executes a MsgInComplete. If all axes are activated, it executes a MsgDone.

As side effects of this function, "Check limits hook" and "Axis monitoring" will be enabled if these features are setup to be used.

Parameters

apAxis	The McRobot axis name on which the command operates
apSync	The synchronization method used to execute the command

Member Data Documentation

CreateAxisSpeedSet

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> CINOSMcRobot::CreateAxisSpeedSet

Initial value:

{
                 "CreateAxisSpeedSet", &CINOSMcRobot::iCreateSpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedSetName", "" },
                { "InitialValues", "", nullptr, CINOSTaskExMsgParam::eFlgStructure},
                0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
            }

CreateSpeedset

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> CINOSMcRobot::CreateSpeedset

Initial value:

{
                 "CreateSpeedset", &CINOSMcRobot::iCreateSpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedsetName", "" },
                { "InitialValues", "", nullptr, CINOSTaskExMsgParam::eFlgStructure}
            }

Create a new speedset for the McRobot axis. In case that apInitialValue is non-empty, it's important that it contains no syntax error and that it only specifies existing properties. Otherwise, the speedset creation will be aborted.

Parameters

apAxis	The axis name, use empty string to access global speedsets.
apSpeedsetName	The speedset name
apInitialValue	Either an empty string or a JSON object defining speedset initial values. The JSON string must be in the following format:

{
  "Ramp": {
    "cmdV":1.1,
    "cmdJ":1.2,
    "cmdJ": {
      "cmdJb": 1.4
    }
  },
  "Prop": {
    "PosType": 1
  }
}

As can be seen, the structure is equal to the structure in the INCO tree. Also, the names are exactly the same. Therefore, in order to get aware of what properties exist and how they're spelled, check the INCO tree (see Axis.AXISNAME.Param.Entity.SPEEDSETNAME) and create the JSON string accordingly. Also respect the min/max values of the props, as otherwise, the speedset creation will be aborted with an according error.

Parameters

apSync

Execution synchronization

DestroyAxisSpeedSet

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> CINOSMcRobot::DestroyAxisSpeedSet

Initial value:

{
                 "DestroyAxisSpeedSet", &CINOSMcRobot::iDestroySpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedsetName", "" },
                0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
            }

DestroySpeedset

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> CINOSMcRobot::DestroySpeedset

Initial value:

{
                 "DestroySpeedset", &CINOSMcRobot::iDestroySpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedsetName", "" },
            }

Destroy an existing speedset.

Parameters

apAxis	The axis name, use empty string to access global speedsets.
apSpeedsetName	The speedset name
apSync	Execution synchronization

Returns

INOS_OK if the speedset existed and was successfully destroyed, an error code otherwise.

GetAxisSpeedSet

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> CINOSMcRobot::GetAxisSpeedSet

Initial value:

{
                 "GetAxisSpeedSet", &CINOSMcRobot::iGetSpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedSetName", "" },
                0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
            }

GetSpeedset

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*> CINOSMcRobot::GetSpeedset

Initial value:

{
                 "GetSpeedset", &CINOSMcRobot::iGetSpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedsetName", "" },
            }

Get speedset of McRobot axis.

This function adds named results for all parameters of the speedset. IOW: The value of each INCO item is added to the return value with it's name and value. The named results can be get by the fully qualified name, such as "Ramp.cmdV" or "Prop.PosType", see also CreateSpeedset to get more information about how the axis speedset properties are related to the INCO tree.

Parameters

apAxis	The axis name, use empty string to access global speedsets.
apSpeedsetName	The speedset name
apSync	Execution synchronization

Returns

INOS_OK if the speedset exists. In that case, named results have been added to the CMcResult, one for each axis speedset property.

SetAxisSpeedSet

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> CINOSMcRobot::SetAxisSpeedSet

Initial value:

{
                 "SetAxisSpeedSet", &CINOSMcRobot::iSetSpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedSetName", "" },
                { "Values", "", nullptr, CINOSTaskExMsgParam::eFlgStructure},
                0xFFFFFFFF, "Cmd=SpeedSet", defCharInvisible
            }

SetSpeedset

TINOSTaskExCmdMsg<CINOSMcRobot, const char*, const char*, const char*> CINOSMcRobot::SetSpeedset

Initial value:

{
                 "SetSpeedset", &CINOSMcRobot::iSetSpeedset, nullptr, *this,
                { "Axis", "" },
                { "SpeedsetName", "" },
                { "Values", "", nullptr, CINOSTaskExMsgParam::eFlgStructure}
            }

Set/modify the parameters of an existing speedset.

Parameters

apAxis	The axis name, use empty string to access global speedsets.
apSpeedsetName	The speedset name
apValue	A JSON string that contains the parameters to be set. Refer to the documentation of CreateSpeedset to get more details about the format of it.
apSync	Execution synchronization

Returns

CMcResult McRobot result

---

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

• /home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmcrobot.h