INOS
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
CINOSMcRobotCmdShape Class Reference
Inheritance diagram for CINOSMcRobotCmdShape:
Inheritance graph
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Public Member Functions

 CINOSMcRobotCmdShape (CINOSTaskExMsg *apMsg, const char *apParam, uint32 auPoints=0, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
 constructor
 
 CINOSMcRobotCmdShape (CINOSTaskExMsg *apMsg, const char *apParam, uint32 auPoints, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
 
 CINOSMcRobotCmdShape (CINOSTaskExMsg *apMsg, const char *apName, const char *apParam, uint32 auPoints=0, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
 constructor
 
 CINOSMcRobotCmdShape (CINOSTaskExMsg *apMsg, const char *apName, const char *apParam, uint32 auPoints, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
 
 CINOSMcRobotCmdShape (CINOSTaskExMsg *apMsg, CINOSShape *apShape, const char *apParam, uint32 auPoints=0, void *apCallBack=NULL, real64 arSlowMotion=REAL64(0.0))
 constructor
 
 CINOSMcRobotCmdShape (CINOSTaskExMsg *apMsg, CINOSShape *apShape, const char *apParam, uint32 auPoints, void *apCallBack, void *apCallBackObject, real64 arSlowMotion=REAL64(0.0))
 
virtual ~CINOSMcRobotCmdShape ()
 destructor
 
virtual void SetTolerance (real64 arTolerance)
 set global shape tolerance
 
virtual void SetShapeFlags (uint32 auFlags)
 set shape flags
 
virtual void SetCalcSync ()
 set 'calc synchronous' flag
 
virtual void ClrCalcSync ()
 clear 'calc synchronous' flag
 
virtual void SetDryRun ()
 set 'dry run' flag
 
virtual void SetSpeedReductionConservative ()
 set 'speed reduction conservative' flag
 
virtual void SetBegin (uint32 auSetNumber=DF_INOS_SHAPE_SET_NO_NUMBER)
 add set begin
 
virtual void SetEnd ()
 add set end
 
virtual void Velocity (double adVelocity=DF_INOS_SHAPE_SET_NO_VELOCITY)
 set or reset (DF_INOS_SHAPE_SET_NO_VELOCITY) velocity
 
virtual void Pause (double adTime)
 set dwell time
 
virtual void Linear (tMcAxisName apAxis, double adPosition, uint32 auFlags=0)
 add linear part of 'apAxis' to 'adPosition'
 
virtual void Linear (tMcAxisName apAxis, double adPosition, double adTolerance, uint32 auFlags=0)
 add linear part of 'apAxis' to 'adPosition'
 
virtual void Rapid (tMcAxisName apAxis, double adPosition, uint32 auFlags=0)
 add rapid part of 'apAxis' to 'adPosition'
 
virtual void CircleCW (tMcAxisName apAxis1, tMcAxisName apAxis2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
 add clock wise circle part with axes 'apAxis1' and 'apAxis2'

 
virtual void CircleCC (tMcAxisName apAxis1, tMcAxisName apAxis2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
 add counter clock wise circle part with axes 'apAxis1' and 'apAxis2'
 
virtual void CircleCW (tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
 add clock wise circle part with axes 'apAxis1' and 'apAxis2'

 
virtual void CircleCC (tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
 add counter clock wise circle part with axes 'apAxis1' and 'apAxis2'

 
virtual void CircleCW (tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
 add clock wise circle part with axes 'apAxis1' and 'apAxis2'

 
virtual void CircleCC (tMcAxisName apAxis1, tMcAxisName apAxis2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
 add counter clock wise circle part with axes 'apAxis1' and 'apAxis2'

 
virtual void Absolute (tMcAxisName apAxis="")
 switches the requested axis to absolute mode (apAxis=="" -> all)
 
virtual void Incremental (tMcAxisName apAxis="")
 switches the requested axis to incremental mode (apAxis=="" -> all)
 
virtual void AddEvent (const char *apName, real64 arValue, eEventType aeEventType, bool abFireEvent=true, uint32 auFlags=0) override
 add event to command
 
virtual SINOSMcRobotCmdShapeEvent * GetEvent (const char *apName)
 add event to command
 
virtual bool GetEventTicks (const char *apName, uint64 &auBusTicks, uint8 &auBusId) override
 get event ticks
 
virtual CINOSShape * GetShape ()
 get shape
 
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 Break () override
 break command
 
virtual uint32 Continue () override
 continue 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 GetActPosition (real64 &arPosition) override
 get act position
 
virtual void GetActVelocity (real64 &arVelocity) override
 get act velocity
 
virtual void GetCmdVelocity (real64 &arVelocity)
 get cmd velocity
 
virtual uint32 GetSets ()
 get number of sets
 
virtual uint32 GetActSet ()
 get act set
 
virtual real64 GetMoveTime ()
 get move time of shape
 
- Public Member Functions inherited from CINOSMcRobotCmd
 CINOSMcRobotCmd (CINOSTaskExMsg *apMsg, void *apCallBack=NULL, void *apCallBackObject=NULL)
 constructor
 
virtual ~CINOSMcRobotCmd ()
 destructor
 
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

void SetupParam (const char *apParam)
 create param
 
 DECLARE_DYNAMIC (CINOSMcRobotCmdShape)
 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

inosName64 m_cShapeName
 shape name
 
inosName64 m_cParam
 paramset
 
uint32 m_uShapeFlags
 shape flags
 
uint32 m_uPoints
 requested number of precalc points
 
real64 m_rSlowMotion
 requested slowmotion factor
 
real64 m_rTolerance
 requested shape tolerance
 
bool m_bSetTolerance
 
CINOSShape * m_pShape
 THE shape.
 
bool m_bShapeCreated
 shape created flag
 
SINOSRampParam * m_pParam
 param overwrite
 
SINOSMcRobotCmdShapeEvent * m_pFstEvent
 pointer to first event
 
SINOSMcRobotCmdShapeEvent * m_pLstEvent
 pointer to last event
 
- 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
 

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

◆ CINOSMcRobotCmdShape() [1/3]

CINOSMcRobotCmdShape::CINOSMcRobotCmdShape ( CINOSTaskExMsg *  apMsg,
const char *  apParam,
uint32  auPoints,
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)

◆ CINOSMcRobotCmdShape() [2/3]

CINOSMcRobotCmdShape::CINOSMcRobotCmdShape ( CINOSTaskExMsg *  apMsg,
const char *  apName,
const char *  apParam,
uint32  auPoints,
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)

◆ CINOSMcRobotCmdShape() [3/3]

CINOSMcRobotCmdShape::CINOSMcRobotCmdShape ( CINOSTaskExMsg *  apMsg,
CINOSShape *  apShape,
const char *  apParam,
uint32  auPoints,
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 CINOSMcRobotCmdShape::AddEvent ( const char *  apName,
real64  arValue,
eEventType  aeEventType,
bool  abFireEvent = true,
uint32  auFlags = 0 
)
overridevirtual

add event to command

Reimplemented from CINOSMcRobotCmd.

◆ Break()

virtual uint32 CINOSMcRobotCmdShape::Break ( )
overridevirtual

break command

Reimplemented from CINOSMcRobotCmd.

◆ Check()

virtual uint32 CINOSMcRobotCmdShape::Check ( )
overridevirtual

check command

Implements CINOSMcRobotCmd.

◆ Continue()

virtual uint32 CINOSMcRobotCmdShape::Continue ( )
overridevirtual

continue command

Reimplemented from CINOSMcRobotCmd.

◆ Done()

virtual void CINOSMcRobotCmdShape::Done ( uintid  auPartId)
overridevirtual

done command

Implements CINOSMcRobotCmd.

◆ EmgStop()

virtual uint32 CINOSMcRobotCmdShape::EmgStop ( )
overridevirtual

emergency stop command

Implements CINOSMcRobotCmd.

◆ GetActPosition()

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

get act position

Implements CINOSMcRobotCmd.

◆ GetActVelocity()

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

get act velocity

Implements CINOSMcRobotCmd.

◆ GetCmdPosition()

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

get cmd position

Implements CINOSMcRobotCmd.

◆ GetEventTicks()

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

get event ticks

Reimplemented from CINOSMcRobotCmd.

◆ Run()

virtual uint32 CINOSMcRobotCmdShape::Run ( )
overridevirtual

run command

Implements CINOSMcRobotCmd.

◆ SetSlowMotion()

virtual void CINOSMcRobotCmdShape::SetSlowMotion ( real64  arSlowMotion)
overridevirtual

set slowmotion

Implements CINOSMcRobotCmd.

◆ Stop()

virtual uint32 CINOSMcRobotCmdShape::Stop ( uint32  auReply)
overridevirtual

stop command

Implements CINOSMcRobotCmd.

◆ Trigger()

virtual uint32 CINOSMcRobotCmdShape::Trigger ( )
overridevirtual

prepare command

Implements CINOSMcRobotCmd.

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