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

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

All Implemented Interfaces:

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

public class StopEvaluatorModule
extends Module

Module that collects and evaluates stop requests.

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

StopEvaluatorModule.IMotionStoppedListener Interface for registering for the MotionStopped event.

Field Summary

static String

MOTION_STOPPED_EVENT Name of the MotionStopped event.

Constructor Summary

StopEvaluatorModule(int numDof)
Creates an instance of the class with the default parameters SuppressStopRequestInTuning=true, NumModules=1, numModules=1, numModulesInt=0 .

StopEvaluatorModule(int numDof, boolean suppressStopRequestInTuning, int numModules, int numModulesInt)
Creates an instance of the class.

Method Summary

void	addMotionStoppedListener(StopEvaluatorModule.IMotionStoppedListener listener) Adds a listener for the MotionStoppedEvent.
boolean	checkMotionStoppedEvent(Message message) Checks whether the message is an event of type "MotionStopped" from a StopEvaluator module and stores the current joint position.
InPort	getAltSafetyStopRequestIn()
InPort	getAppStateIn()
double[]	getAxisQCmdFromMotionStopEvent() Get the axisQCmd values from the MotionStop event.
InPort	getAxisQCmdIn()
double[]	getAxisQCmdReturnValue() Get the axisQCmd values from the return value.
OutPort	getCloseBrakesOut()
InPort	getIpoStoppedIn()
InPort	getIpoStoppedIn(boolean useInt)
boolean	getIsMotionStopped()
InPort	getStopMotionRequestIn()
OutPort	getStopMotionRequestOut()
void	onAsyncEvent(Message msg) Called when a compound event was received.
void	onInitialize() Called when the SPR-runtime is initialized.
void	removeMotionStoppedListener(StopEvaluatorModule.IMotionStoppedListener listener) Removes the listener from the MotionStoppedEvent..

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

Methods inherited from class java.lang.Object

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

Field Detail

MOTION_STOPPED_EVENT

public static final String MOTION_STOPPED_EVENT

Name of the MotionStopped event.

See Also:

Constant Field Values

Constructor Detail

StopEvaluatorModule

public StopEvaluatorModule(int numDof,
                           boolean suppressStopRequestInTuning,
                           int numModules,
                           int numModulesInt)

Creates an instance of the class.

Parameters:

numDof - Number of elements of the "axisQCmd" input port

suppressStopRequestInTuning - Ignore stop requests in tuning

numModules - Number of elements of the "ipoStopped" input port (boolean input)

numModulesInt - Number of elements of the "ipoStopped" input port (integer input)

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.

StopEvaluatorModule

public StopEvaluatorModule(int numDof)

Creates an instance of the class with the default parameters SuppressStopRequestInTuning=true, NumModules=1, numModules=1, numModulesInt=0 .

Parameters:

numDof - Number of elements of the "axisQCmd" input 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.

Method Detail

getIpoStoppedIn

public InPort getIpoStoppedIn()

Returns:

the ipoStoppedIn 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.

getIpoStoppedIn

public InPort getIpoStoppedIn(boolean useInt)

Parameters:

useInt - true: get the IpoStoppedIntIn port, false:get the IpoStoppedIn port

Returns:

the IpoStopped input port corresponding to the useInt 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.

getStopMotionRequestIn

public InPort getStopMotionRequestIn()

Returns:

the stopMotionRequestIn 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.

getAppStateIn

public InPort getAppStateIn()

Returns:

the appStateIn 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.

getAxisQCmdIn

public InPort getAxisQCmdIn()

Returns:

the axisQCmdIn 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.

getAltSafetyStopRequestIn

public InPort getAltSafetyStopRequestIn()

Returns:

the alternative SafetyStopRequestIn port. Used as a backup if there is no ApplicationStateSPR.

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 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.

getCloseBrakesOut

public OutPort getCloseBrakesOut()

Returns:

the closeBrakesOut 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.

getIsMotionStopped

public boolean getIsMotionStopped()

Returns:

True if the motion stopped event was received, otherwise false.

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

onInitialize

public void onInitialize()

Description copied from class: SPRComponent

Called when the SPR-runtime is initialized.

Overrides:

onInitialize in class SPRComponent

addMotionStoppedListener

public void addMotionStoppedListener(StopEvaluatorModule.IMotionStoppedListener listener)

Adds a listener for the MotionStoppedEvent.

Parameters:

listener - The StopEvaluatorModule.IMotionStoppedListener to call for. null is not allowed.

Throws:

IllegalArgumentException - if listener is null or the same listener is already registered

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.

removeMotionStoppedListener

public void removeMotionStoppedListener(StopEvaluatorModule.IMotionStoppedListener listener)

Removes the listener from the MotionStoppedEvent..

Parameters:

listener - The StopEvaluatorModule.IMotionStoppedListener to be removed. null is not allowed.

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.

getAxisQCmdFromMotionStopEvent

public double[] getAxisQCmdFromMotionStopEvent()

Get the axisQCmd values from the MotionStop event.

Returns:

the axisQCmd values if a MotionStop event was received, otherwise null

getAxisQCmdReturnValue

public double[] getAxisQCmdReturnValue()

Get the axisQCmd values from the return value.

Returns:

the axisQCmd values from the OutPort linked to the AxisQCmdIn port

Throws:

IllegalStateException - when the module is not part of an SPR or the AxisQCmdIn has no valid assignment

checkMotionStoppedEvent

public boolean checkMotionStoppedEvent(Message message)

Checks whether the message is an event of type "MotionStopped" from a StopEvaluator module and stores the current joint position.

Parameters:

message - Message that may contain the event

Returns:

true, when the message contains a "MotionStopped" event, otherwise false