com.kuka.roboticsAPI.controllerModel.sunrise.api
Enum SPRState

java.lang.Object
  java.lang.Enum<SPRState>
      com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRState

All Implemented Interfaces:

Serializable, Comparable<SPRState>

public enum SPRState
extends Enum<SPRState>

Contains the possible states of an SPR in 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.

Enum Constant Summary

Active
Command is active.

CommandCreated
Command was created.

CommandFinished
Command is finished.

Finalize
Finalize state.

Invalid
Command is invalid.

Maintaining
Command is in maintaining state.

PreActive
The command has it's drives, but needs to wait for the brakes.

PreparationFinished
Preparation of command is finished.

Preparing
Command is prepared.

Stopping
Stopping state.

Tuning
Command is in tuning state.

WaitingForDrives
The command is waiting for it's drives.

Method Summary

static SPRState	fromId(int sunriseId) Creates a SPRState enum out of the given id.
int	getId() Gets the Sunrise id of this state.
boolean	isCyclic() Checks if this state means that the SPR is in a cyclic phase.
boolean	isEqualOrAfter(SPRState other) Determines whether the state if equal or after the given state.
boolean	isEqualOrBefore(SPRState other) Determines whether the state if equal or before the given state.
boolean	isFailureState()
boolean	isFinalState() Checks if this state is final, i.e. no other state transition will occur.
boolean	isFinished() Checks if this state means that the SPR is finished, i.e. not executing anymore.
boolean	isTransitionState() Checks if this state is a 1 tact transition between two other consistent states.
static SPRState	min(Collection<SPRState> states) Finds the "minimum" state in a collection of states.
boolean	occursAfter(SPRState other) Checks if current state occurs after (and is not equal to) the given state.
boolean	occursBefore(SPRState other) Checks if current state occurs before (and is not equal to) the given state.
static SPRState	valueOf(String name) Returns the enum constant of this type with the specified name.
static SPRState[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

CommandCreated

public static final SPRState CommandCreated

Command was created.

Preparing

public static final SPRState Preparing

Command is prepared. Set when the SPR is sent to the PreProcessor.

PreparationFinished

public static final SPRState PreparationFinished

Preparation of command is finished. Set by preprocessor when the SPR has parsed correctly and sent to Slot List.

Tuning

public static final SPRState Tuning

Command is in tuning state. Set by control kernel when the SPR is taken from Slot List AND the Pipes are activated Scheduling request.

WaitingForDrives

public static final SPRState WaitingForDrives

The command is waiting for it's drives.

PreActive

public static final SPRState PreActive

The command has it's drives, but needs to wait for the brakes.

Active

public static final SPRState Active

Command is active. Set by control kernel when the SPR is activated in cyclic data flow.

Maintaining

public static final SPRState Maintaining

Command is in maintaining state. Set by control kernel when the SPR is in MAINTAINING state.

Finalize

public static final SPRState Finalize

Finalize state. Set by control kernel when the maintaining state is finished and the SPR finalizes the communication with all the workers.

CommandFinished

public static final SPRState CommandFinished

Command is finished.

Stopping

public static final SPRState Stopping

Stopping state. Set by control kernel when the command goes to invalid and the communication with all the workers needs to be finalized.

Invalid

public static final SPRState Invalid

Command is invalid. Set by Sunrise when any error occurs.

Method Detail

values

public static SPRState[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (SPRState c : SPRState.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static SPRState valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

getId

public int getId()

Gets the Sunrise id of this state.

Returns:

The id of the SPR state as Sunrise id.

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.

isEqualOrAfter

public boolean isEqualOrAfter(SPRState other)

Determines whether the state if equal or after the given state.

Parameters:

other - The state to compare.If null function returns false.

Returns:

True if current state is equal or after the given state.

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.

isEqualOrBefore

public boolean isEqualOrBefore(SPRState other)

Determines whether the state if equal or before the given state.

Parameters:

other - The state to compare.If null function returns false.

Returns:

True if current state is equal or before the given state.

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.

occursBefore

public boolean occursBefore(SPRState other)

Checks if current state occurs before (and is not equal to) the given state.

Parameters:

other - The state to compare.If null function returns false.

Returns:

True if current state occurs before given state.

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.

occursAfter

public boolean occursAfter(SPRState other)

Checks if current state occurs after (and is not equal to) the given state.

Parameters:

other - The state to compare. If null function returns false.

Returns:

True if current state occurs after given state.

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.

min

public static SPRState min(Collection<SPRState> states)

Finds the "minimum" state in a collection of states.

Parameters:

states - the collection of states

Returns:

the smallest state

Throws:

IllegalStateException - if the collection is empty

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.

fromId

public static SPRState fromId(int sunriseId)

Creates a SPRState enum out of the given id.

Parameters:

sunriseId - The id of the SPR state within Sunrise.

Returns:

The SPRState enum member.

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.

isCyclic

public boolean isCyclic()

Checks if this state means that the SPR is in a cyclic phase.

Returns:

True if this state means that the SPR is in cyclic phase.

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.

isFinished

public boolean isFinished()

Checks if this state means that the SPR is finished, i.e. not executing anymore.

Returns:

True if this state means that the SPR is finished.

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.

isFinalState

public boolean isFinalState()

Checks if this state is final, i.e. no other state transition will occur.

Returns:

True if this state is final.

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.

isTransitionState

public boolean isTransitionState()

Checks if this state is a 1 tact transition between two other consistent states.

Returns:

true if this state is a 1 tact transition between two other consistent states.

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.

isFailureState

public boolean isFailureState()