com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Class StopMotionMappingHelper

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.mapping.StopMotionMappingHelper

public final class StopMotionMappingHelper
extends Object

Helper class that adds the assignment of the StopMotionRequest of the ApplicationStateSPR to the active device.

Method Summary

static void	addStopEvaluatorAssignments(StopEvaluatorModule stopEvaluatorModule, SPR spr, Controller controller, OutPort axisQCmd, OutPort ipoStopped, int jointCount) Adds the assignment for the StopEvaluatorModule to the specified ports.
static void	addStopEvaluatorAssignmentsForSimulinkCompounds(StopEvaluatorModule stopEvaluatorModule, SPR spr, Controller controller, OutPort axisQCmd, OutPort ipoStopped, int jointCount, boolean ipoStoppedIn) Adds the assignment for the StopEvaluatorModule to the specified ports for Simulink Compounds.
static void	assignStopMotionRequestTo(InPort inPort, Controller controller) Adds the assignment of ApplicationStateSPR.StopRequest to the in-port.
static void	assignStopMotionRequestToActiveDevice(Controller controller, SPR spr) Adds the assignment of ApplicationStateSPR.StopRequest to the SPR active device's StopRequest.

Methods inherited from class java.lang.Object

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

Method Detail

assignStopMotionRequestToActiveDevice

public static void assignStopMotionRequestToActiveDevice(Controller controller,
                                                         SPR spr)

Adds the assignment of ApplicationStateSPR.StopRequest to the SPR active device's StopRequest. The Controller must be an AbstractSunriseController.

Parameters:

controller - the controller

spr - the SPR to receive the assignment of the StopRequest

assignStopMotionRequestTo

public static void assignStopMotionRequestTo(InPort inPort,
                                             Controller controller)

Adds the assignment of ApplicationStateSPR.StopRequest to the in-port. The Controller must be an AbstractSunriseController.

Parameters:

inPort - the in-port to receive the assignment of the StopRequest

controller - the controller with the ApplicationStateSPR

addStopEvaluatorAssignments

public static void addStopEvaluatorAssignments(StopEvaluatorModule stopEvaluatorModule,
                                               SPR spr,
                                               Controller controller,
                                               OutPort axisQCmd,
                                               OutPort ipoStopped,
                                               int jointCount)

Adds the assignment for the StopEvaluatorModule to the specified ports. The Controller must be an AbstractSunriseController.

Parameters:

stopEvaluatorModule - the StopEvaluator-Module

spr - the SPR to receive the assignment

controller - the controller with the ApplicationStateSPR

axisQCmd - the OutPort with the commanded joint values

ipoStopped - the OutPort for the ipoStopped-Signal

jointCount - Number of joints.

addStopEvaluatorAssignmentsForSimulinkCompounds

public static void addStopEvaluatorAssignmentsForSimulinkCompounds(StopEvaluatorModule stopEvaluatorModule,
                                                                   SPR spr,
                                                                   Controller controller,
                                                                   OutPort axisQCmd,
                                                                   OutPort ipoStopped,
                                                                   int jointCount,
                                                                   boolean ipoStoppedIn)

Adds the assignment for the StopEvaluatorModule to the specified ports for Simulink Compounds. The Controller must be an AbstractSunriseController.

Parameters:

stopEvaluatorModule - the StopEvaluator-Module

spr - the SPR to receive the assignment

controller - the controller with the ApplicationStateSPR

axisQCmd - the OutPort with the commanded joint values

ipoStopped - the OutPort for the ipoStopped-Signal

jointCount - Number of joints.

ipoStoppedIn - the ipo stopped flag.