com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseExecutionContainer

java.lang.Object
  com.kuka.roboticsAPI.executionModel.ExecutionContainer
      com.kuka.roboticsAPI.controllerModel.sunrise.SunriseExecutionContainer

All Implemented Interfaces:

com.kuka.common.concurrent.IWaitToken, ICommandContainer, IExecutionContainer

Direct Known Subclasses:

SunriseMotionExecutionContainer

public class SunriseExecutionContainer
extends ExecutionContainer

An ExecutionContainer for Sunrise controller commands.

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.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.executionModel.ExecutionContainer

_containerTypeName

Constructor Summary

SunriseExecutionContainer(IControllerCommand command, ExecutorService eventWorker, IContainerStateListener stateListener)
Creates a new instance of the execution container.

Method Summary

Primitive	findPrimitive(SPRRuntime sprRuntime) Finds the primitive that contains the SPR.
Tool	getAttachedToolObjects() Gets the attached tool objects to the robot flange.
String	getDeviceName() Gets the name of device for which this container commands.
SunriseMappingToken	getMappingToken() Returns the SunriseMappingToken for this container.
protected void	setFinishedState(Primitive eventPrim) Sets the state of the container to finish depending on the primitive.
protected void	setFiredStopCondition(IFiredConditionInfo stopCondition) Sets the fired stop condition for this container.
protected void	setMappingToken(SunriseMappingToken token) Sets the SunriseMappingToken for this container.
protected void	setState(ExecutionState state) Changes the state of the container to the given state.

Methods inherited from class com.kuka.roboticsAPI.executionModel.ExecutionContainer

acquireResources, addStateListener, appendErrorMessage, await, await, cancel, getCommand, getContext, getDefaultParams, getErrorMessage, getFiredBreakConditionInfo, getRuntimeData, getState, hasError, hasFired, isFinished, removeStateListener, setDefaultParams, setErrorMessage, throwContainerException, toString, validate

Methods inherited from class java.lang.Object

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

Constructor Detail

SunriseExecutionContainer

public SunriseExecutionContainer(IControllerCommand command,
                                 ExecutorService eventWorker,
                                 IContainerStateListener stateListener)

Creates a new instance of the execution container.

Parameters:

command - the command for which this container will track the execution

eventWorker - the ExecutorService that will be used to send out events in a different thread. May be null, in this case no events will be sent out.

stateListener - a listener for container state events

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 Detail

getMappingToken

public SunriseMappingToken getMappingToken()

Returns the SunriseMappingToken for this container.

Returns:

the SunriseMappingToken for this container, if set; otherwise 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.

getDeviceName

public String getDeviceName()

Gets the name of device for which this container commands.

Returns:

the name of device for which this container commands, or null if container does not contains command that commands a certain device.

getAttachedToolObjects

public Tool getAttachedToolObjects()

Gets the attached tool objects to the robot flange.

Returns:

the attached tool objects to the robot flange.

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.

setFinishedState

protected void setFinishedState(Primitive eventPrim)

Sets the state of the container to finish depending on the primitive.

Parameters:

eventPrim - The primitive on which the state transition depends.

findPrimitive

public Primitive findPrimitive(SPRRuntime sprRuntime)

Finds the primitive that contains the SPR.

Parameters:

sprRuntime - SPR to be found

Returns:

The primitive containing the spr, null otherwise.

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.

setState

protected void setState(ExecutionState state)

Description copied from class: ExecutionContainer

Changes the state of the container to the given state. This should only be used by controller implementations.

Overrides:

setState in class ExecutionContainer

Parameters:

state - The new state of the container.

setFiredStopCondition

protected void setFiredStopCondition(IFiredConditionInfo stopCondition)

Description copied from class: ExecutionContainer

Sets the fired stop condition for this container.

Not intended to be called manually.

Overrides:

setFiredStopCondition in class ExecutionContainer

Parameters:

stopCondition - The fired stop condition.

setMappingToken

protected void setMappingToken(SunriseMappingToken token)

Sets the SunriseMappingToken for this container.

Parameters:

token - the SunriseMappingToken for this container