com.kuka.roboticsAPI.controllerModel
Class ExecutionService

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.ControllerService
      com.kuka.roboticsAPI.controllerModel.ExecutionService

Direct Known Subclasses:

SunriseExecutionService

public abstract class ExecutionService
extends ControllerService

The execution service is the part of a controller which takes commands and executes them. Also it must provide the functionality to cancel a given 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.

Constructor Summary

ExecutionService()

Method Summary

abstract ICommandContainer	beginExecution(IControllerCommand command, IContainerStateListener listener) The execute method should execute the given container in an asynchronous manner.
abstract void	cancel(ICommandContainer container) Cancels the given command in the given container.
abstract void	cancelAll() Cancels all pending commands for this controller.
protected void	dispose() Disposes this service.
ICommandContainer	execute(IControllerCommand command, IContainerStateListener listener) The execute method should execute the given container in a synchronous manner.
protected ExecutorService	getContainerCleanupWorker() Returns the container cleanup worker.
protected ExecutorService	getContainerEventWorker() Returns the container event worker.
protected void	initialize() Initializes this service.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.controllerModel.ControllerService

getContext, getController

Methods inherited from class java.lang.Object

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

Constructor Detail

ExecutionService

public ExecutionService()

Method Detail

getContainerEventWorker

protected ExecutorService getContainerEventWorker()

Returns the container event worker.

This worker can be used by every execution container to throw its events.

Returns:

the container event worker

getContainerCleanupWorker

protected ExecutorService getContainerCleanupWorker()

Returns the container cleanup worker.

This worker can be used by every execution container to perform cleanup actions.

Returns:

the container cleanup worker

initialize

protected void initialize()

Description copied from class: ControllerService

Initializes this service. May be overridden by subclasses.

Please note that when the method is called, the controller of the service is not yet initialized. This means that there are no guarantees that the controller is operable.

Overrides:

initialize in class ControllerService

dispose

protected void dispose()

Description copied from class: ControllerService

Disposes this service. May be overridden by subclasses.

Overrides:

dispose in class ControllerService

beginExecution

public abstract ICommandContainer beginExecution(IControllerCommand command,
                                                 IContainerStateListener listener)

The execute method should execute the given container in an asynchronous manner. The call should return as soon as possible, but users of this method are advised that this method may block.

Parameters:

command - The command to be executed. null is not allowed.

listener - The listener which will be called when the container state changes. May be null.

Returns:

The container created for the execution. This container can be used to synchronize the execution.

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.

execute

public ICommandContainer execute(IControllerCommand command,
                                 IContainerStateListener listener)

The execute method should execute the given container in a synchronous manner. The call will block until execution of the specified command is finished.

Parameters:

command - The command to be executed. null is not allowed.

listener - The listener which will be called when the container state changes. May be null.

Returns:

The container created for the execution. This container can be used to synchronize the execution.

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.

cancel

public abstract void cancel(ICommandContainer container)

Cancels the given command in the given container.

Parameters:

container - The container to cancel.

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.

cancelAll

public abstract void cancelAll()

Cancels all pending commands for this controller.

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.

toString

public String toString()

Overrides:

toString in class Object