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

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

All Implemented Interfaces:

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

public class SplineMotionModule
extends Module
implements OverrideMappingHelper

Module for spline motions.

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 interface

SplineMotionModule.ISegmentInfoListener An interface describing the structure of a segment info listener.

Field Summary

static String	MODULE_INSTANCENAME Instance name of the module.
static String	MODULE_NAME Name of the module.

Constructor Summary

SplineMotionModule(Robot device, SunriseMappingToken info, com.kuka.common.params.ParameterSet commandParams, IMotion motion, AbstractFrame taskFrame)
Creates an instance of this class.

Method Summary

void	add(SplineMotionModule.ISegmentInfoListener listener) Adds a segment info listener to the segment info listener list.
void	addPathTriggerDFEParameter(String parameterValue, String dfeName) Adds a parameter that defines a DFE for Triggers.
void	addResetParameter(boolean reset) Sets the parameter to reset motion on path.
MotionEvents.MotionEvent	checkModuleEvent(Message message) Checks if the specified message contains an event for this module and determines which event this is.
OutPort	getActiveIpoIdOut()
OutPort	getAxCmdOut()
InPort	getAxCmdT1mIn()
InPort	getAxSpeedMsrIn()
InPort	getBaseIn() Return the Base InPort.
InPort	getCartNullSpaceCmdT1mIn() Return the cartNullSpaceCmdT1m InPort.
InPort	getCartNullSpaceMsrIn() Return the cartNullSpaceMsr InPort.
OutPort	getCartPosCmdOut()
InPort	getCartPosFrmCmdT1mIn() Return the cartPosFrmCmdT1m InPort.
InPort	getCartPosFrmMsrIn()
long	getCurrentlyPlannedMotionID()
OutPort	getIpoStoppedOut()
OutPort	getLoadOut()
OutPort	getMotionFinishedOut()
long	getMotionID()
OutPort	getOverrideActOut()
InPort	getOverrideCmdIn()
OutPort	getPathTriggersOut()
int	getQueueLength()
OutPort	getSActOut()
InPort	getStopMotionRequestIn()
OutPort	getStopMotionRequestOut()
OutPort	getTActOut()
OutPort	getToolOut()
boolean	hasSameDataAs(Object obj)
void	onAsyncEvent(Message msg) Called when a compound event was received.
protected void	onFinished() Called when the SPR in which this compound is added, is finished.
void	onSPRStateChangedSync(SPRState newState) The reset and first motion flags must not be set, when we re-send the paused active SPRs at resume.
void	remove(SplineMotionModule.ISegmentInfoListener listener) Removes a segment info listener from the segment info listener list.
protected void	removeResetFlags() Removes the Reset and IsFirstMotion flags.
void	setCurrentlyPlannedMotionID(long id)
void	setQueueLength(int queueLength)
String	toString()

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, onInitialize, onSerialization, onSPRStateChanged, setInstanceName, setName, tryGetParameter

Methods inherited from class java.lang.Object

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

Field Detail

MODULE_NAME

public static final String MODULE_NAME

Name of the module.

See Also:

Constant Field Values

MODULE_INSTANCENAME

public static final String MODULE_INSTANCENAME

Instance name of the module. Is uses as prefix for IN- and OUTPorts

See Also:

Constant Field Values

Constructor Detail

SplineMotionModule

public SplineMotionModule(Robot device,
                          SunriseMappingToken info,
                          com.kuka.common.params.ParameterSet commandParams,
                          IMotion motion,
                          AbstractFrame taskFrame)

Creates an instance of this class.

Parameters:

device - robot for this Motion

info - Mapping Token

motion - the motion

commandParams - Command parameters

taskFrame - Task frame for current motion

Method Detail

getQueueLength

public int getQueueLength()

Returns:

the planner queue length.

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.

setQueueLength

public void setQueueLength(int queueLength)

Parameters:

queueLength - the planner queue length to be set.

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.

getCurrentlyPlannedMotionID

public long getCurrentlyPlannedMotionID()

Returns:

the currently planned motion ID

setCurrentlyPlannedMotionID

public void setCurrentlyPlannedMotionID(long id)

Parameters:

id - the motion ID

onFinished

protected void onFinished()

Description copied from class: SPRComponent

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

Overrides:

onFinished in class SPRComponent

onAsyncEvent

public void onAsyncEvent(Message msg)

Description copied from class: SPRComponent

Called when a compound event was received.

Overrides:

onAsyncEvent in class SPRComponent

Parameters:

msg - Message containing compound event

onSPRStateChangedSync

public void onSPRStateChangedSync(SPRState newState)

The reset and first motion flags must not be set, when we re-send the paused active SPRs at resume. That's why we remove the flags as soon as the SPR goes to 'Active'. This way it is guaranteed, that the flags are not set, when the pause occurs. For all SPRs, that have not been in the 'Active' state yet, the flags remain unchanged.

Overrides:

onSPRStateChangedSync in class SPRComponent

Parameters:

newState - The new state of the SPR.

getLoadOut

public OutPort getLoadOut()

Returns:

the Load

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.

getAxCmdOut

public OutPort getAxCmdOut()

Specified by:

getAxCmdOut in interface OverrideMappingHelper

Returns:

the axCmd

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.

getCartPosCmdOut

public OutPort getCartPosCmdOut()

Returns:

the CartPosCmd

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.

getToolOut

public OutPort getToolOut()

Returns:

the Tool Outport

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.

getMotionFinishedOut

public OutPort getMotionFinishedOut()

Returns:

the MotionFinished OutPort

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.

getOverrideActOut

public OutPort getOverrideActOut()

Specified by:

getOverrideActOut in interface OverrideMappingHelper

Returns:

the overrideAct

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.

getSActOut

public OutPort getSActOut()

Returns:

the sAct

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.

getTActOut

public OutPort getTActOut()

Returns:

the tAct

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.

getActiveIpoIdOut

public OutPort getActiveIpoIdOut()

Returns:

the activeIpoId

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.

getIpoStoppedOut

public OutPort getIpoStoppedOut()

Returns:

the ipoStoppedOut

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 stopMotionRequestOut

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.

getBaseIn

public InPort getBaseIn()

Return the Base InPort.

Returns:

the base InPort

getCartPosFrmCmdT1mIn

public InPort getCartPosFrmCmdT1mIn()

Return the cartPosFrmCmdT1m InPort.

Returns:

the cartPosFrmCmdT1m InPort

getCartPosFrmMsrIn

public InPort getCartPosFrmMsrIn()

Returns:

the ipoMsr

getCartNullSpaceCmdT1mIn

public InPort getCartNullSpaceCmdT1mIn()

Return the cartNullSpaceCmdT1m InPort.

Returns:

the cartNullSpaceCmdT1m InPort

getCartNullSpaceMsrIn

public InPort getCartNullSpaceMsrIn()

Return the cartNullSpaceMsr InPort.

Returns:

the cartNullSpaceMsr InPort

getPathTriggersOut

public OutPort getPathTriggersOut()

Returns:

the motionSprState

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.

getAxCmdT1mIn

public InPort getAxCmdT1mIn()

Returns:

the axMsr

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.

getAxSpeedMsrIn

public InPort getAxSpeedMsrIn()

Returns:

the axSpeedMsr

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.

getOverrideCmdIn

public InPort getOverrideCmdIn()

Specified by:

getOverrideCmdIn in interface OverrideMappingHelper

Returns:

the overrideCmd

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.

getStopMotionRequestIn

public InPort getStopMotionRequestIn()

Returns:

the StopMotionRequestIn

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.

getMotionID

public long getMotionID()

Returns:

the MotionID parameter value

checkModuleEvent

public MotionEvents.MotionEvent checkModuleEvent(Message message)

Checks if the specified message contains an event for this module and determines which event this is.

Parameters:

message - message to check for the event

Returns:

event type

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.

add

public void add(SplineMotionModule.ISegmentInfoListener listener)

Adds a segment info listener to the segment info listener list.

Parameters:

listener - The listener which should be added.

remove

public void remove(SplineMotionModule.ISegmentInfoListener listener)

Removes a segment info listener from the segment info listener list.

Parameters:

listener - The listener which should be removed.

addResetParameter

public void addResetParameter(boolean reset)

Sets the parameter to reset motion on path. It will be overwritten with the new value if already present.

Parameters:

reset - true to reset the interpolation

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.

addPathTriggerDFEParameter

public void addPathTriggerDFEParameter(String parameterValue,
                                       String dfeName)

Adds a parameter that defines a DFE for Triggers.

Parameters:

parameterValue - value of the parameter

dfeName - name of the DFE

hasSameDataAs

public boolean hasSameDataAs(Object obj)

Specified by:

hasSameDataAs in interface com.kuka.common.IDataEquatable

Overrides:

hasSameDataAs in class SPRComponent

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.

removeResetFlags

protected void removeResetFlags()

Removes the Reset and IsFirstMotion flags.

toString

public String toString()

Description copied from class: SPRComponent

Overrides:

toString in class SPRComponent