Inheritance diagram for CINOSMcRobotCmdShape:

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)
	add event to command

virtual SINOSMcRobotCmdShapeEvent *	GetEvent (const char *apName)
	add event to command

virtual bool	GetEventTicks (const char *apName, uint64 &auBusTicks, uint8 &auBusId)
	get event ticks

virtual CINOSShape *	GetShape ()
	get shape

virtual uint32	Check ()
	check command

virtual uint32	Trigger ()
	prepare command

virtual uint32	Run ()
	run command

virtual uint32	Stop (uint32 auReply)
	stop command

virtual uint32	Break ()
	break command

virtual uint32	Continue ()
	continue command

virtual uint32	EmgStop ()
	emergency stop command

virtual void	Done (uintid auPartId)
	done command

virtual void	SetSlowMotion (real64 arSlowMotion)
	set slowmotion

virtual void	GetSlowMotion (real64 &arSlowMotion)
	get 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

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`
	)

virtual

add event to command

Reimplemented from CINOSMcRobotCmd.

◆ Break()

virtual uint32 CINOSMcRobotCmdShape::Break ( )

virtual

break command

Reimplemented from CINOSMcRobotCmd.

◆ Check()

virtual uint32 CINOSMcRobotCmdShape::Check ( )

virtual

check command

Implements CINOSMcRobotCmd.

◆ Continue()

virtual uint32 CINOSMcRobotCmdShape::Continue ( )

virtual

continue command

Reimplemented from CINOSMcRobotCmd.

◆ Done()

virtual void CINOSMcRobotCmdShape::Done ( uintid auPartId )

virtual

done command

Implements CINOSMcRobotCmd.

◆ EmgStop()

virtual uint32 CINOSMcRobotCmdShape::EmgStop ( )

virtual

emergency stop command

Implements CINOSMcRobotCmd.

◆ GetActPosition()

virtual void CINOSMcRobotCmdShape::GetActPosition ( real64 & arPosition )

virtual

get act position

Implements CINOSMcRobotCmd.

◆ GetActVelocity()

virtual void CINOSMcRobotCmdShape::GetActVelocity ( real64 & arVelocity )

virtual

get act velocity

Implements CINOSMcRobotCmd.

◆ GetCmdPosition()

virtual void CINOSMcRobotCmdShape::GetCmdPosition ( real64 & arPosition )

virtual

get cmd position

Implements CINOSMcRobotCmd.

◆ GetEventTicks()

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

virtual

get event ticks

Reimplemented from CINOSMcRobotCmd.

◆ Run()

virtual uint32 CINOSMcRobotCmdShape::Run ( )

virtual

run command

Implements CINOSMcRobotCmd.

◆ SetSlowMotion()

virtual void CINOSMcRobotCmdShape::SetSlowMotion ( real64 arSlowMotion )

virtual

set slowmotion

Implements CINOSMcRobotCmd.

◆ Stop()

virtual uint32 CINOSMcRobotCmdShape::Stop ( uint32 auReply )

virtual

stop command

Implements CINOSMcRobotCmd.

◆ Trigger()

virtual uint32 CINOSMcRobotCmdShape::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

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ CINOSMcRobotCmdShape() [1/3]

◆ CINOSMcRobotCmdShape() [2/3]

◆ CINOSMcRobotCmdShape() [3/3]

Member Function Documentation

◆ AddEvent()

◆ Break()

◆ Check()

◆ Continue()

◆ Done()

◆ EmgStop()

◆ GetActPosition()

◆ GetActVelocity()

◆ GetCmdPosition()

◆ GetEventTicks()

◆ Run()

◆ SetSlowMotion()

◆ Stop()

◆ Trigger()