com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest
Class BrakeTestSprPrimitive

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.Primitive
      com.kuka.roboticsAPI.controllerModel.sunrise.SprPrimitive
          com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest.BrakeTestSprPrimitive

public class BrakeTestSprPrimitive
extends SprPrimitive

Primitive class. Responsible for compound event handling. Compound: brake test 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.

Field Summary

static String	BRAKE_INDEX Corresponding message parameter name.
static String	BRAKE_TEST_FAILURE Corresponding message parameter name.
static String	BRAKE_TEST_RESULT Corresponding message parameter name.
static String	ERROR_CODE Corresponding message parameter name.
static String	FRICTION Corresponding message parameter name.
static String	GRAVITY Corresponding message parameter name.
static String	MAX_BRAKE_HOLDING_TORQUE Corresponding message parameter name.
static String	MEASURED_BRAKE_TORQUE Corresponding message parameter name.
static String	MIN_BRAKE_HOLDING_TORQUE Corresponding message parameter name.
static String	MOTOR_HOLDING_TORQUE Corresponding message parameter name.
static String	MOTOR_INDEX Corresponding message parameter name.
static String	MOTOR_MAXIMAL_TORQUE Corresponding message parameter name.
static String	STATE Corresponding message parameter name.
static String	TESTED_TORQUE Corresponding message parameter name.

Constructor Summary

BrakeTestSprPrimitive(SunriseExecutionContainer container, SPR spr)
Creates a new instance of this MotionSprPrimitive.

Method Summary

void	cancel() Cancels the primitive.
protected void	handleSprCompoundEvent(SPR spr, Message msg) Called when one of the SPR compounds has thrown an event.
void	setRuntimeData(BrakeTestRuntimeData brakeTestRuntimeData) Sets the brake test runtime data.

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

canResumeAfterPause, getAllSprs, getSPR, handleSprStateChanged, toString, unregisterAllSprListener

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

addStateListener, createFiredConditionInfo, getContainer, getRedundancy, getState, mapSunriseStateToCommandState, registerAsSprListener, removeStateListener, setState, stateFromSpr, unregisterAsSprListener

Methods inherited from class java.lang.Object

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

Field Detail

BRAKE_TEST_RESULT

public static final String BRAKE_TEST_RESULT

Corresponding message parameter name.

See Also:

Constant Field Values

BRAKE_TEST_FAILURE

public static final String BRAKE_TEST_FAILURE

Corresponding message parameter name.

See Also:

Constant Field Values

MOTOR_INDEX

public static final String MOTOR_INDEX

Corresponding message parameter name.

See Also:

Constant Field Values

BRAKE_INDEX

public static final String BRAKE_INDEX

Corresponding message parameter name.

See Also:

Constant Field Values

FRICTION

public static final String FRICTION

Corresponding message parameter name.

See Also:

Constant Field Values

GRAVITY

public static final String GRAVITY

Corresponding message parameter name.

See Also:

Constant Field Values

MEASURED_BRAKE_TORQUE

public static final String MEASURED_BRAKE_TORQUE

Corresponding message parameter name.

See Also:

Constant Field Values

MOTOR_HOLDING_TORQUE

public static final String MOTOR_HOLDING_TORQUE

Corresponding message parameter name.

See Also:

Constant Field Values

MOTOR_MAXIMAL_TORQUE

public static final String MOTOR_MAXIMAL_TORQUE

Corresponding message parameter name.

See Also:

Constant Field Values

MIN_BRAKE_HOLDING_TORQUE

public static final String MIN_BRAKE_HOLDING_TORQUE

Corresponding message parameter name.

See Also:

Constant Field Values

MAX_BRAKE_HOLDING_TORQUE

public static final String MAX_BRAKE_HOLDING_TORQUE

Corresponding message parameter name.

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Constant Field Values

TESTED_TORQUE

public static final String TESTED_TORQUE

Corresponding message parameter name.

See Also:

Constant Field Values

STATE

public static final String STATE

Corresponding message parameter name.

See Also:

Constant Field Values

ERROR_CODE

public static final String ERROR_CODE

Corresponding message parameter name.

See Also:

Constant Field Values

Constructor Detail

BrakeTestSprPrimitive

public BrakeTestSprPrimitive(SunriseExecutionContainer container,
                             SPR spr)

Creates a new instance of this MotionSprPrimitive.

Parameters:

container - the container that this primitive belongs to

spr - the SPR that makes up this primitive

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

setRuntimeData

public void setRuntimeData(BrakeTestRuntimeData brakeTestRuntimeData)

Sets the brake test runtime data.

Parameters:

brakeTestRuntimeData - brake test runtime data to set.

handleSprCompoundEvent

protected void handleSprCompoundEvent(SPR spr,
                                      Message msg)

Description copied from class: Primitive

Called when one of the SPR compounds has thrown an event.

Overrides:

handleSprCompoundEvent in class Primitive

Parameters:

spr - The SPR whose compound has thrown an event.

msg - compound event message.

cancel

public void cancel()

Cancels the primitive.

Cancels all SPRs belonging to the primitive.

Overrides:

cancel in class SprPrimitive

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.