Inheritance diagram for CINOSMcRobotCmdMove:

Public Member Functions
	CINOSMcRobotCmdMove (CINOSTaskExMsg apMsg, void apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
	constructor

	CINOSMcRobotCmdMove (CINOSTaskExMsg apMsg, void apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))

virtual	~CINOSMcRobotCmdMove ()
	destructor

void	AddMove (tMcAxisName apAxis, real64 arPosition, const char *apParam, eMoveType aeMoveType=eTypAbsolute)
	add move to command

void	AddMove (tMcAxisName apAxis, real64 arPosition, SINOSRampParam *apParam, eMoveType aeMoveType=eTypAbsolute)
	add move to command

void	AddMove (tMcAxisName apAxis, real64 arPosition, const char *apParam, real64 arSlowMotion, eMoveType aeMoveType=eTypAbsolute)
	add move to command

void	AddMoveApp (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, eMoveType aeMoveType=eTypAbsolute)
	add moveapp to command

void	AddMoveApp (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam, eMoveType aeMoveType=eTypAbsolute)
	add moveapp to command

void	AddMoveDep (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, const char *apParam, eMoveType aeMoveType=eTypAbsolute)
	add movedep to command

void	AddMoveDep (tMcAxisName apAxis, real64 arPosition, real64 arPositionVel, real64 arVelocity, SINOSRampParam *apParam, eMoveType aeMoveType=eTypAbsolute)
	add movedep 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 uint32	GetEventMultiple (const char *apName)
	get event multiple flag

virtual struct SINOSMcRobotCmdMoveEvent *	GetMultipleEventWithMaxTicks ()
	get event with max ticks

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	GetSlowMotion (real64 &arSlowMotion)
	get slowmotion

virtual void	GetCmdPosition (real64 &arPosition) override
	get cmd position

virtual void	GetCmdPosition (tMcAxisName apAxis, real64 &arPosition)
	get cmd position of apAxis

virtual void	GetActPosition (real64 &arPosition) override
	get act position

virtual void	GetActVelocity (real64 &arVelocity) override
	get act velocity

virtual void	GetCmdVelocity (real64 &arVelocity)
	get cmd 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

Protected Member Functions
	DECLARE_DYNAMIC (CINOSMcRobotCmdMove)
	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

	DECLARE_DYNAMIC (CINOSMcRobotCmd)
	dynamic object handling

Protected Attributes
uint32	m_uFlags
	flags

real64	m_rMoveTime
	moving time [ms]

real64	m_rSlowMotion
	requested slowmotion factor

real64	m_rSlowMotionOverwrite
	requested slowmotion factor overwrite

real64	m_rDepPosBgn
	pos begin (used by movefromborderdep)

real64	m_rDepPosVel
	pos vel (used by movefromborderdep)

bool	m_bDepCurLim
	cur limit (used by movefromborderdep)

SINOSMcRobotCmdMovePart *	m_pFstPart
	pointer to first move part

SINOSMcRobotCmdMovePart *	m_pLstPart
	pointer to last move 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	CINOSMcRobot

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

Constructor & Destructor Documentation

◆ CINOSMcRobotCmdMove()

CINOSMcRobotCmdMove::CINOSMcRobotCmdMove	(	CINOSTaskExMsg *	apMsg,
		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 CINOSMcRobotCmdMove::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 CINOSMcRobotCmdMove::Check ( )

overridevirtual

check command

Implements CINOSMcRobotCmd.

◆ Done()

virtual void CINOSMcRobotCmdMove::Done ( uintid auPartId )

overridevirtual

done command

Implements CINOSMcRobotCmd.

◆ EmgStop()

virtual uint32 CINOSMcRobotCmdMove::EmgStop ( )

overridevirtual

emergency stop command

Implements CINOSMcRobotCmd.

◆ GetActPosition()

virtual void CINOSMcRobotCmdMove::GetActPosition ( real64 & arPosition )

overridevirtual

get act position

Implements CINOSMcRobotCmd.

◆ GetActVelocity()

virtual void CINOSMcRobotCmdMove::GetActVelocity ( real64 & arVelocity )

overridevirtual

get act velocity

Implements CINOSMcRobotCmd.

◆ GetCmdPosition()

virtual void CINOSMcRobotCmdMove::GetCmdPosition ( real64 & arPosition )

overridevirtual

get cmd position

Implements CINOSMcRobotCmd.

◆ GetEventTicks()

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

overridevirtual

get event ticks

Reimplemented from CINOSMcRobotCmd.

◆ Run()

virtual uint32 CINOSMcRobotCmdMove::Run ( )

overridevirtual

run command

Implements CINOSMcRobotCmd.

◆ SetSlowMotion()

virtual void CINOSMcRobotCmdMove::SetSlowMotion ( real64 arSlowMotion )

overridevirtual

set slowmotion

Implements CINOSMcRobotCmd.

◆ Stop()

virtual uint32 CINOSMcRobotCmdMove::Stop ( uint32 auReply )

overridevirtual

stop command

Implements CINOSMcRobotCmd.

◆ Trigger()

virtual uint32 CINOSMcRobotCmdMove::Trigger ( )

overridevirtual

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 Member Functions

Protected Attributes

Friends

Additional Inherited Members

Constructor & Destructor Documentation

◆ CINOSMcRobotCmdMove()

Member Function Documentation

◆ AddEvent()

◆ Check()

◆ Done()

◆ EmgStop()

◆ GetActPosition()

◆ GetActVelocity()

◆ GetCmdPosition()

◆ GetEventTicks()

◆ Run()

◆ SetSlowMotion()

◆ Stop()

◆ Trigger()