com.kuka.roboticsAPI.controllerModel
Interface IControllerStateListener

All Superinterfaces:

com.kuka.common.events.IEventListener

All Known Subinterfaces:

ISunriseControllerStateListener

All Known Implementing Classes:

ControllerStateListenerAdapter, SunriseControllerStateListenerAdapter

public interface IControllerStateListener
extends com.kuka.common.events.IEventListener

This class is a callback interface for controller and device state listeners.

Please note that not all controller may support the event mechanism.

An empty base implementation is available with the class ControllerStateListenerAdapter.

Method Summary

void	onFieldBusDeviceConfigurationChangeReceived(String controllerName, DispatchedEventData dispatchedEvent) Called when a field bus device configuration change request comes in.
void	onFieldBusDeviceIdentificationRequestReceived(String controllerName, DispatchedEventData dispatchedEvent) Called when a field bus identification comes.
void	onIsReadyToMoveChanged(Device device, boolean isReadyToMove) Called when the result of MovableDevice.isReadyToMove() has changed.
void	onShutdown(Controller controller) called when the controller is shut down.
void	onStatePortChangeReceived(Controller controller, com.kuka.roboticsAPI.controllerModel.StatePortData statePort) Called when the a state port of the controller has changed its state.

Method Detail

onShutdown

void onShutdown(Controller controller)

called when the controller is shut down.

Parameters:

controller - the controller that is shutdown

onStatePortChangeReceived

void onStatePortChangeReceived(Controller controller,
                               com.kuka.roboticsAPI.controllerModel.StatePortData statePort)

Called when the a state port of the controller has changed its state.

Parameters:

controller - the controller which changed it's state.

statePort - the new state port data.

onIsReadyToMoveChanged

void onIsReadyToMoveChanged(Device device,
                            boolean isReadyToMove)

Called when the result of MovableDevice.isReadyToMove() has changed.

Parameters:

device - The addressed device for which the state has changed

isReadyToMove - True if the device is ready to move. The conditions whether a device is ready to move depends of the type of device. At least the SunriseSafetyState.SafetyStopType is SunriseSafetyState.SafetyStopType.NOSTOP,

onFieldBusDeviceConfigurationChangeReceived

void onFieldBusDeviceConfigurationChangeReceived(String controllerName,
                                                 DispatchedEventData dispatchedEvent)

Called when a field bus device configuration change request comes in.

Parameters:

controllerName - the controller with the changed configuration.

dispatchedEvent - contains the new communication layer parameters.

onFieldBusDeviceIdentificationRequestReceived

void onFieldBusDeviceIdentificationRequestReceived(String controllerName,
                                                   DispatchedEventData dispatchedEvent)

Called when a field bus identification comes.

Parameters:

controllerName - the controller which received the identification request

dispatchedEvent - contains the new blinking parameters.