Inheritance diagram for CINOSMcRobotCmdInit:

Public Member Functions
	CINOSMcRobotCmdInit (CINOSTaskExMsg apMsg, void apCallBack=NULL, void *apCallBackObject=NULL)
	constructor

virtual	~CINOSMcRobotCmdInit ()
	destructor

void	AddInit (tMcAxisName apAxis)
	add init to command

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 (not supported)

virtual void	GetCmdPosition (real64 &arPosition)
	get cmd position

virtual void	GetActPosition (real64 &arPosition)
	get act position

virtual void	GetActVelocity (real64 &arVelocity)
	get act velocity

void	Standard (SINOSMcRobotCmdInitPart *apPart)
	standard init

void	Border (SINOSMcRobotCmdInitPart *apPart)
	border init

void	Stall (SINOSMcRobotCmdInitPart *apPart)
	stall init

void	StallTolerance (SINOSMcRobotCmdInitPart *apPart)
	stall tolerance init

void	Position (SINOSMcRobotCmdInitPart *apPart)
	Position init.

void	Custom (SINOSMcRobotCmdInitPart *apPart)
	Custom init.

void	Shared (SINOSMcRobotCmdInitPart *apPart)
	Shared init.

void	None (SINOSMcRobotCmdInitPart *apPart)
	None init.

void	ResolverAbsolute (SINOSMcRobotCmdInitPart *apPart)
	Resolver absolute init.

void	AbsoluteEncoder (SINOSMcRobotCmdInitPart *apPart)
	Absolute encoder.

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

Protected Types
enum	EFlags { eFlgStopped = 0x40000000 , eFlgDone = 0x80000000 }
	validity

enum	EOrder { eOrdNone = 0 , eOrdFirst = 1 , eOrdSecond = 2 , eOrdThird = 3 , eOrdFourth = 4 , eOrdFifth = 5 , eOrdSixth = 6 , eOrdSeventh = 7 , eOrdLast = 7 }
	init order

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
void	PreInit (SINOSMcRobotCmdInitPart *apPart)
	pre init

void	PostInit (SINOSMcRobotCmdInitPart *apPart, uint32 auResult=0)
	post init

void	StopInit (SINOSMcRobotCmdInitPart *apPart)
	stop init

void	EmgStopInit (SINOSMcRobotCmdInitPart *apPart)
	emergency stop init

uint32	HandleReferenceCnt (SINOSMcRobotCmdInitPart *apPart)
	handle reference count

uint32	CheckBlockedReference (SINOSMcRobotCmdInitPart *apPart)
	check blocked reference

uint32	ApplyAbsoluteEncoderPos (CINOSMcRobotAxis *mcra)
	update actual position from absolute encoder

	DECLARE_DYNAMIC (CINOSMcRobotCmdInit)
	dynamic object handling

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
uint32	m_uActOrder
	actual init order

uint32	m_uActCount
	actual init count

uint32	m_uFlags
	flags

bool	m_bExceptionPending
	exception pending

SINOSMcRobotCmdInitPart *	m_pFstPart
	pointer to first init part

SINOSMcRobotCmdInitPart *	m_pLstPart
	pointer to last init part

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

Friends
class	CINITTask

class	CINOSMcRobotInitSync

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

Member Function Documentation

◆ Check()

virtual uint32 CINOSMcRobotCmdInit::Check ( )

virtual

check command

Implements CINOSMcRobotCmd.

◆ Done()

virtual void CINOSMcRobotCmdInit::Done ( uintid auPartId )

virtual

done command

Implements CINOSMcRobotCmd.

◆ EmgStop()

virtual uint32 CINOSMcRobotCmdInit::EmgStop ( )

virtual

emergency stop command

Implements CINOSMcRobotCmd.

◆ GetActPosition()

virtual void CINOSMcRobotCmdInit::GetActPosition ( real64 & arPosition )

virtual

get act position

Implements CINOSMcRobotCmd.

◆ GetActVelocity()

virtual void CINOSMcRobotCmdInit::GetActVelocity ( real64 & arVelocity )

virtual

get act velocity

Implements CINOSMcRobotCmd.

◆ GetCmdPosition()

virtual void CINOSMcRobotCmdInit::GetCmdPosition ( real64 & arPosition )

virtual

get cmd position

Implements CINOSMcRobotCmd.

◆ Run()

virtual uint32 CINOSMcRobotCmdInit::Run ( )

virtual

run command

Implements CINOSMcRobotCmd.

◆ SetSlowMotion()

virtual void CINOSMcRobotCmdInit::SetSlowMotion ( real64 arSlowMotion )

inlinevirtual

set slowmotion (not supported)

Implements CINOSMcRobotCmd.

◆ Stop()

virtual uint32 CINOSMcRobotCmdInit::Stop ( uint32 auReply )

virtual

stop command

Implements CINOSMcRobotCmd.

◆ Trigger()

virtual uint32 CINOSMcRobotCmdInit::Trigger ( )

virtual

prepare command

Implements CINOSMcRobotCmd.

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

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Function Documentation

◆ Check()

◆ Done()

◆ EmgStop()

◆ GetActPosition()

◆ GetActVelocity()

◆ GetCmdPosition()

◆ Run()

◆ SetSlowMotion()

◆ Stop()

◆ Trigger()