com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseMotionContainer

java.lang.Object
  com.kuka.roboticsAPI.motionModel.AbstractMotionContainer
      com.kuka.roboticsAPI.controllerModel.sunrise.SunriseMotionContainer

All Implemented Interfaces:

com.kuka.common.concurrent.IWaitToken, com.kuka.common.events.IEventListener, ICommandContainer, IContainerStateListener, IExecutionContainer, IMotionContainer

public class SunriseMotionContainer
extends AbstractMotionContainer

Represents the state of a motion execution.

Not thread-safe for callers (and not intended to be). That means, this container should only be used by one thread.

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

protected SunriseMotionExecutionContainer	createExecutionContainerInternal(IMotion motion, boolean isSynchronous) Inheriting classes should create the specific execution container here.
protected void	executeAppendedMotion(ICommandContainer container) Implementing classes should send the appended motion container to execution.
SunriseExecutionContainer	getFirstCommandContainer() Debugging/test helper method: Returns the execution container for the first motion.
protected void	onContainerFinishedInternal(ICommandContainer cont, CountDownLatch handlerFinished) Called when the specified motion container is finished.
protected void	silentCancel() Cancels the container and ignores errors.

Methods inherited from class com.kuka.roboticsAPI.motionModel.AbstractMotionContainer

addContainerListener, addTriggerConditionObserver, append, await, await, cancel, cleanTriggerObservers, getBatch, getBatchParams, getCommand, getCommandContainers, getCurrentMotion, getErrorMessage, getEventWorker, getFiredBreakConditionInfo, getLastExecutedMotion, getRuntimeData, getState, hasError, hasFired, isFinished, isSynchron, onStateChanged, removeContainerListener, toString, validate

Methods inherited from class java.lang.Object

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

Method Detail

createExecutionContainerInternal

protected SunriseMotionExecutionContainer createExecutionContainerInternal(IMotion motion,
                                                                           boolean isSynchronous)

Description copied from class: AbstractMotionContainer

Inheriting classes should create the specific execution container here.

Specified by:

createExecutionContainerInternal in class AbstractMotionContainer

Parameters:

motion - motion for which container should be created.

isSynchronous - true if container should be executed synchronously.

Returns:

created execution container

executeAppendedMotion

protected void executeAppendedMotion(ICommandContainer container)

Description copied from class: AbstractMotionContainer

Implementing classes should send the appended motion container to execution.

Specified by:

executeAppendedMotion in class AbstractMotionContainer

Parameters:

container - appended container to execute

onContainerFinishedInternal

protected void onContainerFinishedInternal(ICommandContainer cont,
                                           CountDownLatch handlerFinished)

Description copied from class: AbstractMotionContainer

Called when the specified motion container is finished.

Used by inheriting classes to report that container is finished to its executor.

Specified by:

onContainerFinishedInternal in class AbstractMotionContainer

Parameters:

cont - finished container.

handlerFinished - latch that will be count down when executer is finished with the container.

getFirstCommandContainer

public SunriseExecutionContainer getFirstCommandContainer()

Description copied from class: AbstractMotionContainer

Debugging/test helper method: Returns the execution container for the first motion.

Overrides:

getFirstCommandContainer in class AbstractMotionContainer

Returns:

the execution container for the current motion

silentCancel

protected void silentCancel()

Description copied from class: AbstractMotionContainer

Cancels the container and ignores errors.

Overrides:

silentCancel in class AbstractMotionContainer