com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds
Class ApplicationStateModule

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.ApplicationStateModule

All Implemented Interfaces:

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

public class ApplicationStateModule
extends Module

Module that provides the information about application states for the data flow.

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.

Nested Class Summary

static class

ApplicationStateModule.PauseState States representing the state machine in the module in sunrise.

Constructor Summary

ApplicationStateModule()
Creates an instance of the class.

Method Summary

void	addApplicationOverrideListener(IApplicationOverrideListener listener) Add a listener for the changes of the application override.
boolean	checkAnswer(Message answer) Checks an SSR answer for relevant data.
boolean	checkEvent(Message message) Check if a message is relevant for this module and set the state corresponding.
SSR	createGetApplicationOverrideRequest() Creates a get application override request SSR.
SSR	createGetEffectiveOverrideRequest() Creates a get effective override request SSR.
SSR	createGetManualOverrideRequest() Creates a get manual override request SSR.
SSR	createPausedRequest() Creates a paused request SSR.
SSR	createPausingRequest() Creates a pausing request SSR.
SSR	createResumedRequest() Creates a resumed request SSR.
SSR	createResumingRequest() Creates a resuming request SSR.
SSR	createSetApplicationOverrideClipRequest(double value) Creates a set application override clipping request SSR.
SSR	createSetApplicationOverrideRequest(double value) Creates a set application override request SSR.
SSR	createSetManualOverrideClipRequest(double value) Creates a set manual override clipping request SSR.
SSR	createSetManualOverrideRequest(double value) Creates a set manual override request SSR.
InPort	getAdditionalStopRequestIn()
double	getApplicationOverride()
OutPort	getApplicationStateOut()
double	getEffectiveOverride()
OutPort	getEffectiveOverrideOut()
double	getManualOverride()
ApplicationStateModule.PauseState	getPauseState()
InPort	getSafetyStopStateIn()
OutPort	getStopMotionRequestOut()
protected void	onFinished() Called when the SPR in which this compound is added, is finished.
void	onSPRStateChanged(SPRState newState) Called when the SPR-runtime state changes.
boolean	parseSetOverrideAnswer(Message answer) Parse the "set override"-SSR answer.
void	removeApplicationOverrideListener(IApplicationOverrideListener listener) Remove an application override listener.
void	setNoPausing(boolean noPausing) Setter for the NoPausing parameter.

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

getComponentType, getComponentVersion

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

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

Methods inherited from class java.lang.Object

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

Constructor Detail

ApplicationStateModule

public ApplicationStateModule()

Creates an instance of the class.

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

getEffectiveOverrideOut

public OutPort getEffectiveOverrideOut()

Returns:

the effective override port

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.

getStopMotionRequestOut

public OutPort getStopMotionRequestOut()

Returns:

the stop request

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.

getApplicationStateOut

public OutPort getApplicationStateOut()

Returns:

application 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.

getSafetyStopStateIn

public InPort getSafetyStopStateIn()

Returns:

the safetyStopState

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.

getAdditionalStopRequestIn

public InPort getAdditionalStopRequestIn()

Returns:

The in-port for an additional 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.

setNoPausing

public void setNoPausing(boolean noPausing)

Setter for the NoPausing parameter.

Parameters:

noPausing - NoPausing 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.

getPauseState

public ApplicationStateModule.PauseState getPauseState()

Returns:

the pauseState

getEffectiveOverride

public double getEffectiveOverride()

Returns:

the effective override

getManualOverride

public double getManualOverride()

Returns:

the manual override

getApplicationOverride

public double getApplicationOverride()

Returns:

the application override

createPausingRequest

public SSR createPausingRequest()

Creates a pausing request SSR.

Returns:

the generated SSR

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.

createPausedRequest

public SSR createPausedRequest()

Creates a paused request SSR.

Returns:

the generated SSR

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.

createResumingRequest

public SSR createResumingRequest()

Creates a resuming request SSR.

Returns:

the generated SSR

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.

createResumedRequest

public SSR createResumedRequest()

Creates a resumed request SSR.

Returns:

the generated SSR

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.

createGetManualOverrideRequest

public SSR createGetManualOverrideRequest()

Creates a get manual override request SSR.

Returns:

the generated SSR

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.

createGetEffectiveOverrideRequest

public SSR createGetEffectiveOverrideRequest()

Creates a get effective override request SSR.

Returns:

the generated SSR

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.

createGetApplicationOverrideRequest

public SSR createGetApplicationOverrideRequest()

Creates a get application override request SSR.

Returns:

the generated SSR

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.

createSetManualOverrideRequest

public SSR createSetManualOverrideRequest(double value)

Creates a set manual override request SSR.

Parameters:

value - new override value

Returns:

the generated SSR

createSetApplicationOverrideRequest

public SSR createSetApplicationOverrideRequest(double value)

Creates a set application override request SSR.

Parameters:

value - new override value

Returns:

the generated SSR

createSetManualOverrideClipRequest

public SSR createSetManualOverrideClipRequest(double value)

Creates a set manual override clipping request SSR.

Parameters:

value - new override clipping value

Returns:

the generated SSR

createSetApplicationOverrideClipRequest

public SSR createSetApplicationOverrideClipRequest(double value)

Creates a set application override clipping request SSR.

Parameters:

value - new override clipping value

Returns:

the generated SSR

checkEvent

public boolean checkEvent(Message message)

Check if a message is relevant for this module and set the state corresponding.

Parameters:

message - Message that may contain an event of this module.

Returns:

true, if the event was processed, otherwise false

checkAnswer

public boolean checkAnswer(Message answer)

Checks an SSR answer for relevant data.

Parameters:

answer - Message containing the answer.

Returns:

true, when the message could be processed without errors, otherwise false

parseSetOverrideAnswer

public boolean parseSetOverrideAnswer(Message answer)

Parse the "set override"-SSR answer. Set the received override values, when the override was accepted by Sunrise.

Parameters:

answer - the SSR answer message

Returns:

true, if Sunrise accepted the override, false otherwise

onFinished

protected void onFinished()

Called when the SPR in which this compound is added, is finished.

Overrides:

onFinished in class SPRComponent

onSPRStateChanged

public void onSPRStateChanged(SPRState newState)

Called when the SPR-runtime state changes.

Overrides:

onSPRStateChanged in class SPRComponent

Parameters:

newState - the new SPR state

addApplicationOverrideListener

public void addApplicationOverrideListener(IApplicationOverrideListener listener)

Add a listener for the changes of the application override.

Parameters:

listener - the listener

removeApplicationOverrideListener

public void removeApplicationOverrideListener(IApplicationOverrideListener listener)

Remove an application override listener.

Parameters:

listener - the listener