com.kuka.roboticsAPI.applicationModel
Class RoboticsAPIApplicationControl

java.lang.Object
  com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplicationControl

All Implemented Interfaces:

IApplicationControl, IApplicationOverrideControl

public class RoboticsAPIApplicationControl
extends Object
implements IApplicationControl

Class to get an robotics API application control.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Summary

void	addOverrideListener(IApplicationOverrideListener listener) Adds a listener for the changes of the application override.
void	clipApplicationOverride(double override) Sets the application override to the specified value, but only if it is equal to or smaller than the current application override.
void	clipManualOverride(double override) Sets the manual override to the specified value, but only if it is equal to or smaller than the current manual override.
void	dispose() Dispose.
double	getApplicationOverride() Returns the application override.
double	getEffectiveOverride() Returns the effective override of the application.
double	getManualOverride() Returns the manual override of the application.
void	halt() Pauses the execution of the robotics API application and blocks the calling thread until the application state changes back to "running".
void	pause() Pauses the execution of the robotics API application.
void	registerMoveAsyncErrorHandler(IErrorHandler handler) Registers an error handler for handling events which are fired when an asynchronous move command fails.
void	removeOverrideListener(IApplicationOverrideListener listener) Remove an application override listener.
void	setApplicationOverride(double override) Sets the application override to the specified value.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

dispose

public void dispose()

Dispose.

halt

public void halt()

Pauses the execution of the robotics API application and blocks the calling thread until the application state changes back to "running".

The application state is set to "motion paused" and no following statements of the calling thread will be executed after the call to halt, until the application is resumed.

Specified by:

halt in interface IApplicationControl

pause

public void pause()

Pauses the execution of the robotics API application.

The application state is set to "motion paused". Any following statements of the calling thread will continue to be executed if they are independent of the application state.

Specified by:

pause in interface IApplicationControl

registerMoveAsyncErrorHandler

public void registerMoveAsyncErrorHandler(IErrorHandler handler)

Registers an error handler for handling events which are fired when an asynchronous move command fails.

Specified by:

registerMoveAsyncErrorHandler in interface IApplicationControl

Parameters:

handler - the error handler which handles the event.

getManualOverride

public double getManualOverride()

Description copied from interface: IApplicationOverrideControl

Returns the manual override of the application. This is the override, that can be changed by the user in the HMI.

Specified by:

getManualOverride in interface IApplicationOverrideControl

Returns:

the manual override (0.0 <= override <= 1.0)

clipManualOverride

public void clipManualOverride(double override)

Description copied from interface: IApplicationOverrideControl

Sets the manual override to the specified value, but only if it is equal to or smaller than the current manual override. If it is greater than the current manual override, the current manual override remains unchanged.

Specified by:

clipManualOverride in interface IApplicationOverrideControl

Parameters:

override - Manual override will be set to this value [0:1], but only if it is equal to or smaller than the current manual override.

getApplicationOverride

public double getApplicationOverride()

Description copied from interface: IApplicationOverrideControl

Returns the application override. This is the override, that can be set by the application developer within the application. The application override multiplied by the manual override yields the effective override of the application.

Specified by:

getApplicationOverride in interface IApplicationOverrideControl

Returns:

the application override (0.0 <= override <= 1.0)

setApplicationOverride

public void setApplicationOverride(double override)

Description copied from interface: IApplicationOverrideControl

Sets the application override to the specified value.

Specified by:

setApplicationOverride in interface IApplicationOverrideControl

Parameters:

override - Application override will be set to this value [0:1].

clipApplicationOverride

public void clipApplicationOverride(double override)

Description copied from interface: IApplicationOverrideControl

Sets the application override to the specified value, but only if it is equal to or smaller than the current application override. If it is greater than the current application override, the current application override remains unchanged.

Specified by:

clipApplicationOverride in interface IApplicationOverrideControl

Parameters:

override - Application override will be set to this value [0:1], but only if it is equal to or smaller than the current application override.

getEffectiveOverride

public double getEffectiveOverride()

Description copied from interface: IApplicationOverrideControl

Returns the effective override of the application. Effective Override = Application Override * Manual Override

Specified by:

getEffectiveOverride in interface IApplicationOverrideControl

Returns:

the effective override (0.0 <= override <= 1.0)

addOverrideListener

public void addOverrideListener(IApplicationOverrideListener listener)

Description copied from interface: IApplicationOverrideControl

Adds a listener for the changes of the application override.

Specified by:

addOverrideListener in interface IApplicationOverrideControl

Parameters:

listener - the listener

removeOverrideListener

public void removeOverrideListener(IApplicationOverrideListener listener)

Description copied from interface: IApplicationOverrideControl

Remove an application override listener.

Specified by:

removeOverrideListener in interface IApplicationOverrideControl

Parameters:

listener - the listener