com.kuka.roboticsAPI.controllerModel.sunrise.state.kmp.io
Class ScannerIOGroup

java.lang.Object
  com.kuka.roboticsAPI.ioModel.AbstractIOGroup
      com.kuka.roboticsAPI.controllerModel.sunrise.state.kmp.io.ScannerIOGroup

@Singleton
public class ScannerIOGroup
extends com.kuka.roboticsAPI.ioModel.AbstractIOGroup

Class represents the IO Group ScannerSignals (SICK laser sensor signal values).

Constructor Summary

ScannerIOGroup(com.kuka.roboticsAPI.controllerModel.Controller controller, List<String> signalNames)
Creates new instance of ScannerIOGroup.

Method Summary

boolean	getProtectionFieldSensorValue(int sensorIndex) Gets a particular protection field sensor signal value with the given sensor index.
boolean	getSensorValue(String signalName) Gets the boolean value of the desired SICK sensor signal.
boolean	getWarningFieldSensorValue(int sensorIndex) Gets a particular warning field sensor signal value with the given sensor index.
static int	handleSensorIndex(int sensorIndex)

Methods inherited from class com.kuka.roboticsAPI.ioModel.AbstractIOGroup

addAnalogOutput, addDigitalOutput, addInput, addIO, addMockedAnalogOutput, addMockedDigitalOutput, addMockedInput, getAnalogIOValue, getBooleanIOValue, getInput, getInputs, getIO, getIOGroupName, getNumberIOValue, getOutput, getOutputs, setAnalogOutput, setDigitalOutput, setDigitalOutput, setMockedInput

Methods inherited from class java.lang.Object

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

Constructor Detail

ScannerIOGroup

@Inject
public ScannerIOGroup(com.kuka.roboticsAPI.controllerModel.Controller controller,
                             List<String> signalNames)

Creates new instance of ScannerIOGroup.

Parameters:

controller - Controller

signalNames - List of available scanner signal names.

Method Detail

getSensorValue

public boolean getSensorValue(String signalName)

Gets the boolean value of the desired SICK sensor signal.

Parameters:

signalName - Name of scanner signal.

Returns:

Boolean value of SICK sensor signal. The SICK sensors use inverse logic for safety reasons (true = not breached).

getProtectionFieldSensorValue

public boolean getProtectionFieldSensorValue(int sensorIndex)

Gets a particular protection field sensor signal value with the given sensor index.

Parameters:

sensorIndex - Index of the desired protection field sensor signal. Index starts from 1.

Returns:

Boolean value of protection field sensor signal. The SICK sensors use inverse logic for safety reasons (true = not breached).

getWarningFieldSensorValue

public boolean getWarningFieldSensorValue(int sensorIndex)

Gets a particular warning field sensor signal value with the given sensor index.

Parameters:

sensorIndex - Index of the desired warning field sensor signal. Index starts from 1.

Returns:

Boolean value of warning field sensor signal. The SICK sensors use inverse logic for safety reasons (true = not breached).

handleSensorIndex

public static int handleSensorIndex(int sensorIndex)