com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseRequestService

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.ControllerService
      com.kuka.roboticsAPI.controllerModel.RequestService
          com.kuka.roboticsAPI.controllerModel.sunrise.SunriseRequestService

All Implemented Interfaces:

ISunriseRequestService

public class SunriseRequestService
extends RequestService
implements ISunriseRequestService

The Sunrise request service handles the requests Sunrise knows.

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

static String

PARAM_GET_INVERSEKINEMATICS SSR parameter.

Method Summary

protected void	dispose() Disposes this service.
SunriseController	getController() Gets the controller associated with this service.
Transformation	getDeviceRoot(String deviceName) Return the kinematic root position in world.
protected void	onPerformRequest(IRequest request) Default handling inside the concrete request service.
void	sendAsynchronousSSR(SSR ssr) Sends the given SSR asynchronously.
void	sendSPRAsSSR(SPR spr) Sends a SPR to Sunrise.
Message	sendSynchronousSSR(SSR ssr) Sends a SSR to Sunrise.
Message	sendSynchronousSSR(SSR ssr, int timeout, TimeUnit timeUnit) Sends a SSR to Sunrise.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.RequestService

initialize, performRequest, register, unregister

Methods inherited from class com.kuka.roboticsAPI.controllerModel.ControllerService

getContext

Methods inherited from class java.lang.Object

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

Field Detail

PARAM_GET_INVERSEKINEMATICS

public static final String PARAM_GET_INVERSEKINEMATICS

SSR parameter.

See Also:

Constant Field Values

Method Detail

getDeviceRoot

public Transformation getDeviceRoot(String deviceName)

Return the kinematic root position in world.

Parameters:

deviceName - The addressed device

Returns:

The transformation

getController

public SunriseController getController()

Gets the controller associated with this service.

Overrides:

getController in class ControllerService

Returns:

The controller associated with this service.

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.

sendSPRAsSSR

public void sendSPRAsSSR(SPR spr)

Sends a SPR to Sunrise. This method will block the calling thread until the SPR is complete or a timeout occurs.

Specified by:

sendSPRAsSSR in interface ISunriseRequestService

Parameters:

spr - The SPR which should be sent. null is not allowed.

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.

sendSynchronousSSR

public Message sendSynchronousSSR(SSR ssr)

Sends a SSR to Sunrise. This method will block the calling thread until the SSR request is complete or a 5 seconds timeout occurs.

Specified by:

sendSynchronousSSR in interface ISunriseRequestService

Parameters:

ssr - The SSR which should be sent. null is not allowed.

Returns:

The message response of Sunrise.

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.

sendSynchronousSSR

public Message sendSynchronousSSR(SSR ssr,
                                  int timeout,
                                  TimeUnit timeUnit)

Sends a SSR to Sunrise. This method will block the calling thread until the SSR request is complete or the specified timeout (in the specified time unit) occurs.

Specified by:

sendSynchronousSSR in interface ISunriseRequestService

Parameters:

ssr - The SSR which should be sent. null is not allowed.

timeout - the timeout to wait for a response.

timeUnit - the timeout unit for the timeout

Returns:

The message response of Sunrise.

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.

sendAsynchronousSSR

public void sendAsynchronousSSR(SSR ssr)

Sends the given SSR asynchronously.

Specified by:

sendAsynchronousSSR in interface ISunriseRequestService

Parameters:

ssr - The SSR which should be sent.

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.

dispose

protected void dispose()

Description copied from class: ControllerService

Disposes this service. May be overridden by subclasses.

Overrides:

dispose in class ControllerService

onPerformRequest

protected void onPerformRequest(IRequest request)

Description copied from class: RequestService

Default handling inside the concrete request service. Tells the service, that the request should be performed. If the service cannot handle the request, it should leave it untouched.

Note that the base implementation does nothing with the request.

Overrides:

onPerformRequest in class RequestService

Parameters:

request - The request which should be performed. Will never be null.