com.kuka.roboticsAPI.controllerModel.sunrise.api
Class ActiveDevice

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.ActiveDevice

All Implemented Interfaces:

com.kuka.common.IDataEquatable, IExpressionSegment, ISprComponent, ISegment

Direct Known Subclasses:

PipeWithControlMode

public class ActiveDevice
extends SPRComponent

A active device has read/write access to drive groups during active phase of an SPR.

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	FINISH_MAINTAINING String identifier for the finish maintaining inport.
static String	STOP_REQUEST String identifier for the stop request inport.

Constructor Summary

ActiveDevice(String pipeName)
Creates a new active device with a given pipe name.

ActiveDevice(String pipeName, String deviceName)
Creates a new active device with a given mode and name.

ActiveDevice(String pipeName, String deviceName, String alias)
Creates a new active device with a given mode and name.

Method Summary

String	getAlias() Gets the alias for the device.
String	getComponentType() Gets the type of this component.
String	getComponentVersion() Gets the version of this component.
Parameter<Integer>	getDebug() Debug parameter.
InPort	getFinishMaintainingInport() Gets the finish maintaining inport of the pipe that can be used to abort the maintaining phase before the maintaining timeout runs out.
String	getInstanceName() Gets the instance name of this compound.
double	getMaintainTimeout() Gets the current maintain timeout for this device.
String	getPipeName() Gets the mode of this active device.
InPort	getStopRequest()
boolean	hasSameDataAs(Object obj)
void	setAlias(String alias) Sets the alias for the device.
void	setInstanceName(String instanceName) Sets the instance name of this compound.
void	setMaintainTimeout(double value) Sets the maintain timeout of this device to the given value.
void	setPipeName(String pipeName) Sets the mode for the active device.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, onAsyncEvent, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

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

Field Detail

FINISH_MAINTAINING

public static final String FINISH_MAINTAINING

String identifier for the finish maintaining inport.

See Also:

Constant Field Values

STOP_REQUEST

public static final String STOP_REQUEST

String identifier for the stop request inport.

See Also:

Constant Field Values

Constructor Detail

ActiveDevice

public ActiveDevice(String pipeName)

Creates a new active device with a given pipe name.

The name of the device is an empty string and can be set afterwards through the setName method.

Parameters:

pipeName - The mode of the device (e.g. CartImp, LBRGravComp, ...).

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.

ActiveDevice

public ActiveDevice(String pipeName,
                    String deviceName)

Creates a new active device with a given mode and name.

Parameters:

pipeName - The mode of the device (e.g. CartImp, LBRGravComp, ...).

deviceName - The name of the device.

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.

ActiveDevice

public ActiveDevice(String pipeName,
                    String deviceName,
                    String alias)

Creates a new active device with a given mode and name.

Parameters:

pipeName - The mode of the device (e.g. CartImp, LBRGravComp, ...).

deviceName - The name of the device.

alias - The alias for the device.

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

getAlias

public String getAlias()

Gets the alias for the device.

Returns:

The alias for the device.

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.

setAlias

public void setAlias(String alias)

Sets the alias for the device.

Parameters:

alias - The the alias for the device.

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.

setPipeName

public final void setPipeName(String pipeName)

Sets the mode for the active device.

Parameters:

pipeName - The mode for the active device.

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.

setInstanceName

public void setInstanceName(String instanceName)

Description copied from class: SPRComponent

Sets the instance name of this compound. The instance name is a unique identifier for a compound within a SPR.

Overrides:

setInstanceName in class SPRComponent

Parameters:

instanceName - The instance name for this compound.

getInstanceName

public String getInstanceName()

Description copied from class: SPRComponent

Gets the instance name of this compound.

Specified by:

getInstanceName in interface ISprComponent

Overrides:

getInstanceName in class SPRComponent

Returns:

The instance name of this compound.

getStopRequest

public InPort getStopRequest()

Returns:

the stopRequest

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.

getFinishMaintainingInport

public InPort getFinishMaintainingInport()

Gets the finish maintaining inport of the pipe that can be used to abort the maintaining phase before the maintaining timeout runs out.

Returns:

The finish maintaining inport of the pipe.

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.

getMaintainTimeout

public double getMaintainTimeout()

Gets the current maintain timeout for this device.

Returns:

The current maintain timeout for this device.

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.

setMaintainTimeout

public void setMaintainTimeout(double value)

Sets the maintain timeout of this device to the given value.

Parameters:

value - The new value for the maintain timeout.

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.

getDebug

public Parameter<Integer> getDebug()

Debug parameter.

Returns:

Debug parameter.

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.

getPipeName

public String getPipeName()

Gets the mode of this active device. This is the pipe name.

Returns:

The mode of this active device.

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.

getComponentType

public String getComponentType()

Gets the type of this component.

Specified by:

getComponentType in interface ISegment

Specified by:

getComponentType in class SPRComponent

Returns:

The type of this component.

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.

getComponentVersion

public String getComponentVersion()

Gets the version of this component.

Specified by:

getComponentVersion in interface ISegment

Specified by:

getComponentVersion in class SPRComponent

Returns:

The version of this component.

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.

hasSameDataAs

public boolean hasSameDataAs(Object obj)

Specified by:

hasSameDataAs in interface com.kuka.common.IDataEquatable

Overrides:

hasSameDataAs in class SPRComponent

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.