INOS
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CINOSMcRobotCmdLinear Class Reference
Inheritance diagram for CINOSMcRobotCmdLinear:
Inheritance graph
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Public Member Functions

 CINOSMcRobotCmdLinear (CINOSTaskExMsg *apMsg, const char *apParam, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
 constructor
 
 CINOSMcRobotCmdLinear (CINOSTaskExMsg *apMsg, const char *apParam, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
 
virtual ~CINOSMcRobotCmdLinear ()
 destructor
 
void AddLinear (tMcAxisName apAxis, real64 arPosition, eMoveType aeMoveType=eTypAbsolute, bool abLength=true)
 add linear to command
 
virtual void AddEvent (const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0) override
 add event to command
 
virtual bool GetEventTicks (const char *apName, uint64 &auBusTicks, uint8 &auBusId) override
 get event ticks
 
virtual void SetMoveApp (real64 arAppPos, real64 arAppVel)
 set approach param
 
virtual void SetMoveDep (real64 arDepPos, real64 arDepVel)
 set depart param
 
virtual uint32 Check () override
 check command
 
virtual uint32 Trigger () override
 prepare command
 
virtual uint32 Run () override
 run command
 
virtual uint32 Stop (uint32 auReply) override
 stop command
 
virtual uint32 EmgStop () override
 emergency stop command
 
virtual void Done (uintid auPartId) override
 done command
 
virtual void SetSlowMotion (real64 arSlowMotion) override
 set slowmotion
 
virtual void GetCmdPosition (real64 &arPosition) override
 get cmd position
 
virtual void GetActPosition (real64 &arPosition) override
 get act position
 
virtual void GetActVelocity (real64 &arVelocity) override
 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
 
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
 
 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
 

Constructor & Destructor Documentation

◆ CINOSMcRobotCmdLinear()

CINOSMcRobotCmdLinear::CINOSMcRobotCmdLinear ( CINOSTaskExMsg *  apMsg,
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

◆ AddEvent()

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

add event to command

Reimplemented from CINOSMcRobotCmd.

◆ Check()

virtual uint32 CINOSMcRobotCmdLinear::Check ( )
overridevirtual

check command

Implements CINOSMcRobotCmd.

◆ Done()

virtual void CINOSMcRobotCmdLinear::Done ( uintid  auPartId)
overridevirtual

done command

Implements CINOSMcRobotCmd.

◆ EmgStop()

virtual uint32 CINOSMcRobotCmdLinear::EmgStop ( )
overridevirtual

emergency stop command

Implements CINOSMcRobotCmd.

◆ GetActPosition()

virtual void CINOSMcRobotCmdLinear::GetActPosition ( real64 &  arPosition)
overridevirtual

get act position

Implements CINOSMcRobotCmd.

◆ GetActVelocity()

virtual void CINOSMcRobotCmdLinear::GetActVelocity ( real64 &  arVelocity)
overridevirtual

get act velocity

Implements CINOSMcRobotCmd.

◆ GetCmdPosition()

virtual void CINOSMcRobotCmdLinear::GetCmdPosition ( real64 &  arPosition)
overridevirtual

get cmd position

Implements CINOSMcRobotCmd.

◆ GetEventTicks()

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

get event ticks

Reimplemented from CINOSMcRobotCmd.

◆ Run()

virtual uint32 CINOSMcRobotCmdLinear::Run ( )
overridevirtual

run command

Implements CINOSMcRobotCmd.

◆ SetSlowMotion()

virtual void CINOSMcRobotCmdLinear::SetSlowMotion ( real64  arSlowMotion)
overridevirtual

set slowmotion

Implements CINOSMcRobotCmd.

◆ Stop()

virtual uint32 CINOSMcRobotCmdLinear::Stop ( uint32  auReply)
overridevirtual

stop command

Implements CINOSMcRobotCmd.

◆ Trigger()

virtual uint32 CINOSMcRobotCmdLinear::Trigger ( )
overridevirtual

prepare command

Implements CINOSMcRobotCmd.

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