CINOSMcRobotCmdEndless Class Reference

INOS McRobot command to move one axis endlessly towards a certain direction with a specific speed set. More...

#include <cinosmcrobot.h>

Inheritance diagram for CINOSMcRobotCmdEndless:

Public Member Functions
	CINOSMcRobotCmdEndless (CINOSTaskExMsg *apMsg, tMcAxisName apAxis, bool abPositive, const char *apParam, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
	constructor
	CINOSMcRobotCmdEndless (CINOSTaskExMsg *apMsg, tMcAxisName apAxis, bool abPositive, const char *apParam, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
virtual	~CINOSMcRobotCmdEndless ()
	destructor
virtual uint32	Check ()
	check command
virtual uint32	Trigger ()
	prepare command
virtual uint32	Run ()
	run command
virtual uint32	Stop (uint32 auReply)
	stop command
virtual uint32	EmgStop ()
	emergency stop command
virtual void	Done (uintid auPartId)
	done command
virtual void	SetSlowMotion (real64 arSlowMotion)
	set slowmotion
virtual void	GetCmdPosition (real64 &arPosition)
	get cmd position
virtual void	GetActPosition (real64 &arPosition)
	get act position
virtual void	GetActVelocity (real64 &arVelocity)
	get act velocity
Public Member Functions inherited from CINOSMcRobotCmd
	CINOSMcRobotCmd (CINOSTaskExMsg *apMsg, void *apCallBack=NULL, void *apCallBackObject=NULL)
	constructor
virtual	~CINOSMcRobotCmd ()
	destructor
virtual uint32	Break ()
	break command
virtual uint32	Continue ()
	continue 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

Additional Inherited Members
Public Types inherited from CINOSMcRobotCmd
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
Protected Types inherited from CINOSMcRobotCmd
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 inherited from CINOSMcRobotCmd
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 inherited from CINOSMcRobotCmd
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

Detailed Description

INOS McRobot command to move one axis endlessly towards a certain direction with a specific speed set.

If the axis is limit checked (which is usually the case), then the axis will move at most to its axis software limits. Otherwise (e.g. in the case of a rotating axis), the axis will really move endlessly until the command will be stopped.

Constructor & Destructor Documentation

CINOSMcRobotCmdEndless()

CINOSMcRobotCmdEndless::CINOSMcRobotCmdEndless	(	CINOSTaskExMsg *	apMsg,
		tMcAxisName	apAxis,
		bool	abPositive,
		const char *	apParam,
		void *	apCallBack,
		void *	apCallBackObject,
		real64	arSlowMotion = REAL64(0.0)
	)

constructor. Overloaded version that accepts a callback with a non- default callback object. Use this version if you e.g. have extraced some McRobot functionality into separate classes (classes other than those derived from CINOSMcModule & Co)

Member Function Documentation

Check()

virtual uint32 CINOSMcRobotCmdEndless::Check ( )

virtual

check command

Implements CINOSMcRobotCmd.

Done()

virtual void CINOSMcRobotCmdEndless::Done ( uintid  auPartId )

virtual

done command

Implements CINOSMcRobotCmd.

EmgStop()

virtual uint32 CINOSMcRobotCmdEndless::EmgStop ( )

virtual

emergency stop command

Implements CINOSMcRobotCmd.

GetActPosition()

virtual void CINOSMcRobotCmdEndless::GetActPosition ( real64 &  arPosition )

virtual

get act position

Implements CINOSMcRobotCmd.

GetActVelocity()

virtual void CINOSMcRobotCmdEndless::GetActVelocity ( real64 &  arVelocity )

virtual

get act velocity

Implements CINOSMcRobotCmd.

GetCmdPosition()

virtual void CINOSMcRobotCmdEndless::GetCmdPosition ( real64 &  arPosition )

virtual

get cmd position

Implements CINOSMcRobotCmd.

Run()

virtual uint32 CINOSMcRobotCmdEndless::Run ( )

virtual

run command

Implements CINOSMcRobotCmd.

SetSlowMotion()

virtual void CINOSMcRobotCmdEndless::SetSlowMotion ( real64  arSlowMotion )

virtual

set slowmotion

Implements CINOSMcRobotCmd.

Stop()

virtual uint32 CINOSMcRobotCmdEndless::Stop ( uint32  auReply )

virtual

stop command

Implements CINOSMcRobotCmd.

Trigger()

virtual uint32 CINOSMcRobotCmdEndless::Trigger ( )

virtual

prepare command

Implements CINOSMcRobotCmd.

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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