Inheritance diagram for CINOSMcRobotCmdMoveEx:

Public Member Functions
	CINOSMcRobotCmdMoveEx (CINOSTaskExMsg apMsg, tMcAxisName apAxis, real64 arPosition, real64 arTrgPosition, uint32 auFlags, const char apTrgName, real64 arTrgLevel, const char apParam, void apCallBack=NULL, void *apCallBackObject=NULL)
	constructor

virtual	~CINOSMcRobotCmdMoveEx ()
	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