com.kuka.roboticsAPI.controllerModel.sunrise
Interface ISunriseCommandExecutor

public interface ISunriseCommandExecutor

Interface that should implement classes that can execute SPRs.

Method Summary

void	beforePossibleStateChange(SPRRuntime sprRuntime, SPRState currentState, SPRState newState) Called when an SPR state change is requested.
SunriseConnection	getConnection() Gets the sunrise connection.
com.kuka.roboticsAPI.executionModel.ExecutionMode	getExecutionMode() Gets the current execution mode.
ExecutorService	getSprListenerWorker() Gets the worker for SPR listener events.
void	removeFinishedSPRRuntime(SPRRuntime sprRuntime) Removed SPR form the list of active SPRs when it is finished.
void	sprStateChangeToMaintaining(SPRRuntime sprRuntime) Called when an SPR changes its state to Maintaining.

Method Detail

removeFinishedSPRRuntime

void removeFinishedSPRRuntime(SPRRuntime sprRuntime)

Removed SPR form the list of active SPRs when it is finished.

Parameters:

sprRuntime - SPR to remove.

sprStateChangeToMaintaining

void sprStateChangeToMaintaining(SPRRuntime sprRuntime)

Called when an SPR changes its state to Maintaining.

Parameters:

sprRuntime - The SPR which changed its state to Maintaining.

beforePossibleStateChange

void beforePossibleStateChange(SPRRuntime sprRuntime,
                               SPRState currentState,
                               SPRState newState)

Called when an SPR state change is requested.

Please Note: The function is also called if no state change is executed in the end.

Parameters:

sprRuntime - The SPR for which the state change was requested.

currentState - The current state of the SPR.

newState - The requested SPR state.

getSprListenerWorker

ExecutorService getSprListenerWorker()

Gets the worker for SPR listener events.

Returns:

the worker for SPR listener events.

getConnection

SunriseConnection getConnection()

Gets the sunrise connection.

Returns:

the sunrise connection.

getExecutionMode

com.kuka.roboticsAPI.executionModel.ExecutionMode getExecutionMode()

Gets the current execution mode.

Returns:

the current execution mode.