CINOSMcRobotCmd Class Reference

Inheritance diagram for CINOSMcRobotCmd:

Public Types
enum	eCmdState {   eStaIdle , eStaReady , eStaRunning , eStaDone ,   eStaError }
	command states More...
enum	eMoveType { eTypAbsolute , eTypRelative }
	move types
enum	eEventType {   eEvtBgnUnit =0 , eEvtEndUnit =1 , eEvtBgnMs =2 , eEvtEndMs =3 ,   eEvtBgnCmd =4 , eEvtEndCmd =5 , eEvtBrkUnit =6 , eEvtBrkMs =7 ,   eEvtBgnMsFix =8 , eEvtEndMsFix =9 }
	event types

Public Member Functions
	CINOSMcRobotCmd (CINOSTaskExMsg *apMsg, void *apCallBack=NULL, void *apCallBackObject=NULL)
	constructor
virtual	~CINOSMcRobotCmd ()
	destructor
virtual uint32	Check ()=0
	check command
virtual uint32	Trigger ()=0
	trigger command
virtual uint32	Run ()=0
	run command
virtual uint32	Stop (uint32 auReply)=0
	stop command
virtual uint32	Break ()
	break command
virtual uint32	Continue ()
	continue command
virtual uint32	EmgStop ()=0
	emergency stop command
virtual void	Done (uintid auPartId)=0
	done command
eCmdState	GetState () const
	get command state
const char *	GetName ()
	get command name
CINOSMcRobot *	GetModule ()
	get pointer to module this command belongs to
uint32	GetReply () const
	get command reply
uint32	SetReply (uint32 auReply)
	set command reply
uint32	GetResult () const
	get command result
uint32	SetResult (uint32 auResult)
	set command result
CINOSTaskExMsg *	GetMsg ()
	get command message
CINOSTask *	GetSender ()
	get command sender
void	SetId (tMsgId auId)
	set command id
tMsgId	GetId ()
	get command id
virtual void	AddEvent (const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0)
	add event to command
virtual bool	GetEventTicks (const char *apName, uint64 &auBusTicks, uint8 &auBusId)
	get event ticks
void	SetCallBack (void *apCallBack)
	set callback
virtual void	SetSlowMotion (real64 arSlowMotion)=0
	set slowmotion
virtual void	GetCmdPosition (real64 &arPosition)=0
	get cmd position
virtual void	GetActPosition (real64 &arPosition)=0
	get act position
virtual void	GetActVelocity (real64 &arVelocity)=0
	get act velocity

Protected Types
enum	eFlags {   eFlgBegin = 0x00000001 , eFlgEnd = 0x00000002 , eFlgMoveTime = 0x00000004 , eFlgSlowMotion = 0x00000008 ,   eFlgFireEvent = 0x00000010 , eFlgLength = 0x00000020 , eFlgDepart = 0x00000040 , eFlgMultipleEvent = 0x00000080 ,   eFlgEmgStop = 0x40000000 , eFlgDone = 0x80000000 }
	validity

Protected Member Functions
void *	GetCallBack ()
	get callback
void *	GetCallBackObject ()
int32	GetBusTicks (uint8 auBusId, real64 arMs)
	get bus ticks
void	InstallHandler ()
	install cyclic handler
void	RemoveHandler ()
	remove cyclic handler
virtual void	Handle ()
	command handler
	DECLARE_DYNAMIC (CINOSMcRobotCmd)
	dynamic object handling

Protected Attributes
eCmdState	m_eState
	command state
uint32	m_uReply
	command reply
uint32	m_uReplySave
	saved command reply
uint32	m_uResult
	command result
tMsgId	m_uId
	command id overwrite
bool	m_bEndEvent
	command has 'eEvtEndCmd' event
bool	m_bCyclicHandling
	command needs cyclic handling
char	m_cEndEvent [32]
	end event name
void *	m_pCallBack
	pointer to callback method if any
void *	m_pCallBackObject
	pointer to callback object if any
CINOSTaskExMsg *	m_pMsg
	pointer to according message
CINOSMcRobot *	m_pModule
	pointer to my module
CINOSMcRobotCmd *	m_pNext
	pointer to next command in list

Friends
class	CINOSMcRobot
class	CINOSMcRobotSync

Member Enumeration Documentation

eCmdState

enum CINOSMcRobotCmd::eCmdState

command states

Enumerator
eStaIdle	idle
eStaReady	ready (to run)
eStaRunning	running
eStaDone	done (successfully)
eStaError	error

Member Function Documentation

AddEvent()

virtual void CINOSMcRobotCmd::AddEvent ( const char *  apName, real64  arValue, eEventType  aeEventType, bool  abFireEvent = true, uint32  auFlags = 0  )

inlinevirtual

add event to command

Reimplemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdShape, and CINOSMcRobotCmdMove.

Break()

virtual uint32 CINOSMcRobotCmd::Break ( )

inlinevirtual

break command

Reimplemented in CINOSMcRobotCmdShape.

Check()

virtual uint32 CINOSMcRobotCmd::Check ( )

pure virtual

check command

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

Continue()

virtual uint32 CINOSMcRobotCmd::Continue ( )

inlinevirtual

continue command

Reimplemented in CINOSMcRobotCmdShape.

Done()

virtual void CINOSMcRobotCmd::Done ( uintid  auPartId )

pure virtual

done command

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

EmgStop()

virtual uint32 CINOSMcRobotCmd::EmgStop ( )

pure virtual

emergency stop command

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

GetActPosition()

virtual void CINOSMcRobotCmd::GetActPosition ( real64 &  arPosition )

pure virtual

get act position

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

GetActVelocity()

virtual void CINOSMcRobotCmd::GetActVelocity ( real64 &  arVelocity )

pure virtual

get act velocity

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

GetCallBackObject()

void * CINOSMcRobotCmd::GetCallBackObject ( )

inlineprotected

get callback object.

Returns

The callback object. It may be NULL, which means that the McRobot module shall be used as object (this is actually the default use case)

GetCmdPosition()

virtual void CINOSMcRobotCmd::GetCmdPosition ( real64 &  arPosition )

pure virtual

get cmd position

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

GetEventTicks()

virtual bool CINOSMcRobotCmd::GetEventTicks ( const char *  apName, uint64 &  auBusTicks, uint8 &  auBusId  )

inlinevirtual

get event ticks

Reimplemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdShape, and CINOSMcRobotCmdMove.

Run()

virtual uint32 CINOSMcRobotCmd::Run ( )

pure virtual

run command

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

SetSlowMotion()

virtual void CINOSMcRobotCmd::SetSlowMotion ( real64  arSlowMotion )

pure virtual

set slowmotion

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

Stop()

virtual uint32 CINOSMcRobotCmd::Stop ( uint32  auReply )

pure virtual

stop command

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

Trigger()

virtual uint32 CINOSMcRobotCmd::Trigger ( )

pure virtual

trigger command

Implemented in CINOSMcRobotCmdLinear, CINOSMcRobotCmdEndless, CINOSMcRobotCmdMoveSafe, CINOSMcRobotCmdMoveToBorder, CINOSMcRobotCmdMoveToBorderApp, CINOSMcRobotCmdMoveToDigitalSensor, CINOSMcRobotCmdMoveToAnalogSensor, CINOSMcRobotCmdMoveCarefully, CINOSMcRobotCmdMoveEx, CINOSMcRobotCmdShape, CINOSMcRobotCmdInit, CINOSMcRobotCmdCalib, and CINOSMcRobotCmdMove.

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

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