com.kuka.roboticsAPI.commandModel
Interface IControllerCommand

All Known Implementing Classes:

AbstractControllerCommand, Instruction, MotionInstruction, SPRCommand, SunriseConditionCommand, SunriseRecordingCommand, TorqueStatisticCommand

public interface IControllerCommand

A ControllerCommand is a command targeted to a controller.

Only commands implementing this interface can be executed by the ExecutionEngine. The interface defines methods concerning command execution. For that the implementing class must provide the controller to which it is targeted as well as some callback methods which get called when the command is finished.

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	acquireResources(ICommandContainer container) Asks the command to acquire it's resources that are needed for execution.
Controller	getController() Gets the controller to which the command is targeted.
ICommandRuntimeData	getRuntimeData() Gets the runtime data object associated with the command.
void	releaseResources(ICommandContainer container) Tells the command to release it's resources.

Method Detail

getController

Controller getController()

Gets the controller to which the command is targeted.

Returns:

The controller to which the command is targeted. null is not allowed!

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.

acquireResources

void acquireResources(ICommandContainer container)
                      throws InterruptedException

Asks the command to acquire it's resources that are needed for execution.

This method can block until the resources are available. The method is called before the command is passed to the controller. Implementing classes should throw an exception if preparation fails.

Parameters:

container - The container which will be used for the execution of the command.

Throws:

InterruptedException - The method may throw an InterruptedException if waiting was interrupted.

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.

releaseResources

void releaseResources(ICommandContainer container)

Tells the command to release it's resources.

Parameters:

container - The container which was used for the execution of the command.

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.

getRuntimeData

ICommandRuntimeData getRuntimeData()

Gets the runtime data object associated with the command.

Returns:

the runtime data associated with the command. Can be null.

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.