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

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

All Implemented Interfaces:

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

public class DynDFELoggerModule
extends Module

Predefined compound for the DynDFELogger module. Please refer to the Component Realization of the module for a detailed description of the parameters.

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	DynDFELoggerModule.DataType DFE data type.
static class	DynDFELoggerModule.RecordingState Enumeration for the states in which the logger should record.

Constructor Summary

DynDFELoggerModule()
Creates a new DynDFELoggerModule instance.

Method Summary

void	addConversionFactorToDFE(String portName, double conversionFactor) Adds a conversion factor a DFE.
void	addDFEToLog(String portName, DynDFELoggerModule.DataType dataType, int rowCount, int columnCount) Adds a DFE to be logged.
void	setLogfileName(String logfileName) Sets the output file name of the logger.
void	setNumberOfSamples(int numberOfSamples) Sets the number of samples to be stored in the circular buffer of the logger.
void	setRecordingStates(Set<DynDFELoggerModule.RecordingState> recordingStates) Sets the SPR states, in which the recorder will perform recording.
void	setSampleInterval(int sampleInterval) Sets the interval between two samples in [ms].
void	setTimeout(int timeout) Sets the timeout of the logger, to which it will run, if not explicitly stopped.
void	setWriteWhenBufferFull(boolean writeWhenBufferFull) Sets whether the recorder will stop and write the recorded data to a file, when the allocated memory is full, or it will continue running and writing new recordings into its circular buffer.

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, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setInstanceName, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

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

Constructor Detail

DynDFELoggerModule

public DynDFELoggerModule()

Creates a new DynDFELoggerModule instance.

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

setLogfileName

public void setLogfileName(String logfileName)

Sets the output file name of the logger.

Default is DataRecorder<SPR-ID>.log.

Parameters:

logfileName - The filename.

setTimeout

public void setTimeout(int timeout)

Sets the timeout of the logger, to which it will run, if not explicitly stopped.

Default is "no timeout".

Parameters:

timeout - The timeout.

Throws:

IllegalStateException - Thrown if the memory requirement of the recording would be larger than the limit with this timeout.

setSampleInterval

public void setSampleInterval(int sampleInterval)

Sets the interval between two samples in [ms].

Default is 1.

Parameters:

sampleInterval - The sample interval.

Throws:

IllegalStateException - Thrown if the memory requirement of the recording would be larger than the limit with this sample interval.

setRecordingStates

public void setRecordingStates(Set<DynDFELoggerModule.RecordingState> recordingStates)

Sets the SPR states, in which the recorder will perform recording.

Parameters:

recordingStates - The set of the SPR state to record in. Hint: use EnumSet#of(Enum, Enum...)) to easily specify this parameter.

setWriteWhenBufferFull

public void setWriteWhenBufferFull(boolean writeWhenBufferFull)

Sets whether the recorder will stop and write the recorded data to a file, when the allocated memory is full, or it will continue running and writing new recordings into its circular buffer.

Default is false.

Parameters:

writeWhenBufferFull - If true, the recorder will stop and flush to file when full, will continue otherwise.

setNumberOfSamples

public void setNumberOfSamples(int numberOfSamples)

Sets the number of samples to be stored in the circular buffer of the logger. This setting is considered only if no timeout is set.

Default is 0.

Parameters:

numberOfSamples - The number of samples.

addDFEToLog

public void addDFEToLog(String portName,
                        DynDFELoggerModule.DataType dataType,
                        int rowCount,
                        int columnCount)

Adds a DFE to be logged.

Parameters:

portName - The name of the DFE

dataType - The DataType of the DFE

rowCount - The number of rows the DFE has.

columnCount - The number of columns the DFE has.

addConversionFactorToDFE

public void addConversionFactorToDFE(String portName,
                                     double conversionFactor)

Adds a conversion factor a DFE. ("ConversionFactor_XYZ", "portName conversionFactor").
The logged output is the result of (conversionFactor * input of portName). This parameter only effects DFEs of type double, integer and the corresponding arrays.

Parameters:

portName - The name of the DFE

conversionFactor - The conversion factor