com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseMotionExecutionContainer

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

All Implemented Interfaces:

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

public class SunriseMotionExecutionContainer
extends SunriseExecutionContainer

An ExecutionContainer for Sunrise MOTION controller commands, in other words, this execution container should be used whenever a motion is involved.

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

SunriseMotionExecutionContainer(MotionInstruction command, ExecutorService eventWorker, IContainerStateListener stateListener, IMotionContainer motionContainer)
Creates a new instance of the execution container.

Method Summary

String	getAttachedToolObjectMotionTcp() Gets the motion TCP of the attached tool objects.
MotionBatch	getBatch() Returns the motion batch, if the executed motion is part of a motion batch, otherwise null.
MotionInstruction	getCommand() Gets the command which was executed within this container.
IMotionContainer	getMotionContainer() Getter.
long	getMotionID() Getter.
RecoveryInformation	getRecoveryInformation() Collects all information needed for the recovery process and returns them as a RecoveryInformation object.
protected void	setFinishedState(Primitive eventPrim) Sets the state of the container to finish depending on the primitive.
void	setMotionID(long motionID) Setter.
void	setRecoveryPosAndControlMode(Primitive primitive, JointPosition recoveryPosition, IMotionControlMode mode) Sets the recovery position for the container.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.SunriseExecutionContainer

findPrimitive, getAttachedToolObjects, getDeviceName, getMappingToken, setFiredStopCondition, setMappingToken, setState

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

acquireResources, addStateListener, appendErrorMessage, await, await, cancel, 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

SunriseMotionExecutionContainer

public SunriseMotionExecutionContainer(MotionInstruction command,
                                       ExecutorService eventWorker,
                                       IContainerStateListener stateListener,
                                       IMotionContainer motionContainer)

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

motionContainer - the motion container containing this execution container

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

getCommand

public MotionInstruction getCommand()

Description copied from class: ExecutionContainer

Gets the command which was executed within this container.

Specified by:

getCommand in interface ICommandContainer

Overrides:

getCommand in class ExecutionContainer

Returns:

The command.

getBatch

public MotionBatch getBatch()

Returns the motion batch, if the executed motion is part of a motion batch, otherwise null.

Returns:

the motion batch

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.

getMotionContainer

public IMotionContainer getMotionContainer()

Getter.

Returns:

the Motion Container

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.

setMotionID

public void setMotionID(long motionID)

Setter.

Parameters:

motionID - the motionID

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.

getMotionID

public long getMotionID()

Getter.

Returns:

MotionID

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.

getAttachedToolObjectMotionTcp

public String getAttachedToolObjectMotionTcp()

Gets the motion TCP of the attached tool objects.

Returns:

the motion TCP of the attached tool objects.

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.

getRecoveryInformation

public RecoveryInformation getRecoveryInformation()

Collects all information needed for the recovery process and returns them as a RecoveryInformation object.

Returns:

an object which stores all information needed for the recovery process.

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.

setRecoveryPosAndControlMode

public void setRecoveryPosAndControlMode(Primitive primitive,
                                         JointPosition recoveryPosition,
                                         IMotionControlMode mode)

Sets the recovery position for the container.

Parameters:

primitive - Primitive which triggered the storage of the recovery data.

recoveryPosition - which has to be set

mode - control mode of the motion

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)

Description copied from class: SunriseExecutionContainer

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

Overrides:

setFinishedState in class SunriseExecutionContainer

Parameters:

eventPrim - The primitive on which the state transition depends.