Move one axis towards a certain direction to search for a sensor. The axis stops when either the sensor is found or a predefined stop position has been reached. More...

#include <cinosmcrobot.h>

Inheritance diagram for CINOSMcRobotCmdMoveToDigitalSensor:

[legend]

Public Member Functions
	CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg apMsg, tMcAxisName apAxis, const char apName, real64 arPosition, bool abSet, const char apParam, void apCallBack=NULL, void *apCallBackObject=NULL)
	Default constructor.

	CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg apMsg, tMcAxisName apAxis, const char apName, real64 arPosition, bool abSet, real64 &arResult, const char apParam, void apCallBack=NULL, void *apCallBackObject=NULL)
	Use this overloaded version if you're interested in the position at which the sensor has been found, see `arResult`.

	CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg apMsg, tMcAxisName apAxis, const char apName, real64 arPosition, bool abSet, real64 &arResult, uint32 auFlags, const char apParam, void apCallBack=NULL, void *apCallBackObject=NULL)
	Use this overloaded version if you're interested in the position at which the sensor has been found, see `arResult` and if you additionally want to specify custom axis MoveEx flags.

	CINOSMcRobotCmdMoveToDigitalSensor (CINOSTaskExMsg apMsg, tMcAxisName apAxis, real64 arPositionVel, real64 arVelocity, const char apName, real64 arPosition, bool abSet, real64 &arResult, uint32 auFlags, const char apParam, void apCallBack=NULL, void *apCallBackObject=NULL)

virtual	~CINOSMcRobotCmdMoveToDigitalSensor ()
	destructor

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

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

void	SetCallBack (void *apCallBack)
	set callback

Public Attributes
real64	m_rPositionVel {}

real64	m_rVelocity {}

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

Move one axis towards a certain direction to search for a sensor. The axis stops when either the sensor is found or a predefined stop position has been reached.

Internally, this function uses CINOSPhysicalAxis::MoveEx. If that MoveEx completes, this class's iCmdDone() is called. This function then checks for an axis error. By default (i.e. when not using the overloaded CTOR which allows to specify custom 'MoveEx flags'), the axis has 'no error' if the sensor has been found. Otherwise, if the sensor was not found, the axis is on error ("Axis failed"). If the axis is "OK", then the iCmdDone function adds the following named results to the CINOSTaskExMsg:

"Position": Contains the position at which the sensor was found
"PositionErr": The axis position error (aka controller deviation) at that moment when the switch was found.

Otherwise, if the axis is on failure, the sensor has not been found and the function doesn't add any results.

Constructor & Destructor Documentation

◆ CINOSMcRobotCmdMoveToDigitalSensor() [1/4]

CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor	(	CINOSTaskExMsg *	apMsg,
		tMcAxisName	apAxis,
		const char *	apName,
		real64	arPosition,
		bool	abSet,
		const char *	apParam,
		void *	apCallBack = `NULL`,
		void *	apCallBackObject = `NULL`
	)

Default constructor.

Parameters

apAxis	The McRobot axis name
apName	Name of the sensor to search
arPosition	The position to where the axis will stop if no sensor will be found.
abSet	If true, the axis will move until the sensor changes to "Set state" (value 1). If false, the negative edge will be searched for.
apParam	Speedset with which the axis shall be moved
apCallBack	Optional call back function, which gets called when the move completed.
apCallBackObject	Optional call back object, used for calling apCallBack. If it's NULL, the CINOSMcModule instance pointer will be used

◆ CINOSMcRobotCmdMoveToDigitalSensor() [2/4]

CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor	(	CINOSTaskExMsg *	apMsg,
		tMcAxisName	apAxis,
		const char *	apName,
		real64	arPosition,
		bool	abSet,
		real64 &	arResult,
		const char *	apParam,
		void *	apCallBack = `NULL`,
		void *	apCallBackObject = `NULL`
	)

Use this overloaded version if you're interested in the position at which the sensor has been found, see arResult.

Parameters

apAxis	The McRobot axis name
apName	Name of the sensor to search
arPosition	The position to where the axis will stop if no sensor will be found.
abSet	If true, the axis will move until the sensor changes to "Set state" (value 1). If false, the negative edge will be searched for.
arResult	Output parameter which will contain the position of the sensor, if the move successfully completed. That variable's memory must keep begin valid throughout the whole move. Internally, the pointer to it will be passed to the axis. I.e. do NOT pass stack variables here!
apParam	Speedset with which the axis shall be moved
apCallBack	Optional call back function, which gets called when the move completed.
apCallBackObject	Optional call back object, used for calling apCallBack. If it's NULL, the CINOSMcModule instance pointer will be used

◆ CINOSMcRobotCmdMoveToDigitalSensor() [3/4]

CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor	(	CINOSTaskExMsg *	apMsg,
		tMcAxisName	apAxis,
		const char *	apName,
		real64	arPosition,
		bool	abSet,
		real64 &	arResult,
		uint32	auFlags,
		const char *	apParam,
		void *	apCallBack = `NULL`,
		void *	apCallBackObject = `NULL`
	)

Use this overloaded version if you're interested in the position at which the sensor has been found, see arResult and if you additionally want to specify custom axis MoveEx flags.

Parameters

apAxis	The McRobot axis name
apName	Name of the sensor to search
arPosition	The position to where the axis will stop if no sensor will be found.
abSet	If true, the axis will move until the sensor changes to "Set state" (value 1). If false, the negative edge will be searched for.
arResult	Output parameter which will contain the position of the sensor, if the move successfully completed. That variable's memory must keep begin valid throughout the whole move. Internally, the pointer to it will be passed to the axis. I.e. do NOT pass stack variables here!
auFlags	Flags passed to CINOSPhysicalAxis::MoveEx. See the #define's starting with "DF_MOVEEX_" in cinosphysicalaxis.h. E.g. The other CTORs cause MoveEx to be called with flags that cause the axis to go into the "failed" error state if the sensor is not found. That makes the axis useless until the error get accepted. If that's not the desired behavior, this CTOR is useful, by specifying the DF_MOVEEX_NO_ERROR flag (most probably or'ed with DF_MOVEEX_STOP_AT_EVENT, DF_MOVEEX_TRG_EQ and DF_MOVEEX_SET_TRG_POS, which are the default MoveEx flags for "move to digital sensor", see also the implementation of CINOSPhysicalAxis::MoveToDigitalSensor
apParam	Speedset with which the axis shall be moved
apCallBack	Optional call back function, which gets called when the move completed.
apCallBackObject	Optional call back object, used for calling apCallBack. If it's NULL, the CINOSMcModule instance pointer will be used

◆ CINOSMcRobotCmdMoveToDigitalSensor() [4/4]

CINOSMcRobotCmdMoveToDigitalSensor::CINOSMcRobotCmdMoveToDigitalSensor	(	CINOSTaskExMsg *	apMsg,
		tMcAxisName	apAxis,
		real64	arPositionVel,
		real64	arVelocity,
		const char *	apName,
		real64	arPosition,
		bool	abSet,
		real64 &	arResult,
		uint32	auFlags,
		const char *	apParam,
		void *	apCallBack = `NULL`,
		void *	apCallBackObject = `NULL`
	)

This overload perfoms a "Move Approach" to find the sensor. It is useful to find the sensor "sooner", since this function moves with a higher speed "close to the sensor" and only then starts "searching the sensor" with the reduced speed. Parameters unique to this overload are

Parameters

arPositionVel	The reduced velocity with which the actual 'sensor search' will be done
arPosition	The position at which the velocity is guaranteed to be reduced. This position is usually "close to the expected sensor position".
apParam	Speedset with which the axis shall be moved. Note that the velocity specified in here is used to move "close to the sensor".

Member Function Documentation

◆ AddEvent()

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

virtual

stop command

Implements CINOSMcRobotCmd.

◆ Trigger()

virtual uint32 CINOSMcRobotCmdMoveToDigitalSensor::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

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CINOSMcRobotCmdMoveToDigitalSensor() [1/4]

◆ CINOSMcRobotCmdMoveToDigitalSensor() [2/4]

◆ CINOSMcRobotCmdMoveToDigitalSensor() [3/4]

◆ CINOSMcRobotCmdMoveToDigitalSensor() [4/4]

Member Function Documentation

◆ AddEvent()

◆ Check()

◆ Done()

◆ EmgStop()

◆ GetActPosition()

◆ GetActVelocity()

◆ GetCmdPosition()

◆ GetEventTicks()

◆ Run()

◆ SetSlowMotion()

◆ Stop()

◆ Trigger()