com.kuka.roboticsAPI.controllerModel.sunrise.state.kmp.provider
Class MobilePlatformStateProvider

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.state.kmp.provider.MobilePlatformStateProvider

public class MobilePlatformStateProvider
extends Object

State provider of MobilePlatform. Currently provides IMobilePlatformBatteryState and IMobilePlatformSafetyState.

This element is not in its final state and might change in future versions.

Field Summary

protected boolean	_areSensorsInitialized Boolean value indicating if all sensors are initialized.
protected com.kuka.roboticsAPI.controllerModel.Controller	_controller The mobile platform controller.
protected int	_numOfSensors Number of sensors.

Constructor Summary

MobilePlatformStateProvider(com.kuka.roboticsAPI.controllerModel.Controller controller)
Creates new instance of MobilePlatformStateProvider.

Method Summary

IMobilePlatformBatteryState	getMobilePlatformBatteryState() Getting the current battery state of a mobile platform.
protected BitSet	getMobilePlatformIOValue(com.kuka.roboticsAPI.controllerModel.Controller controller, String ioGroupName, String ioName, com.kuka.roboticsAPI.ioModel.SunriseIOType ioType, boolean isOutput) return the IO value for a given IO.
IMobilePlatformSafetyState	getMobilePlatformSafetyState() Returns an IMobilePlatformSafetyState object containing the current mobile platform safety field data.

Methods inherited from class java.lang.Object

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

Field Detail

_controller

protected com.kuka.roboticsAPI.controllerModel.Controller _controller

The mobile platform controller.

_areSensorsInitialized

protected boolean _areSensorsInitialized

Boolean value indicating if all sensors are initialized.

_numOfSensors

protected int _numOfSensors

Number of sensors.

Constructor Detail

MobilePlatformStateProvider

public MobilePlatformStateProvider(com.kuka.roboticsAPI.controllerModel.Controller controller)

Creates new instance of MobilePlatformStateProvider.

Parameters:

controller - Controller

Method Detail

getMobilePlatformBatteryState

public IMobilePlatformBatteryState getMobilePlatformBatteryState()

Getting the current battery state of a mobile platform.

Returns:

IMobilePlatformBatteryState and null if an error occurred.

getMobilePlatformSafetyState

public IMobilePlatformSafetyState getMobilePlatformSafetyState()

Returns an IMobilePlatformSafetyState object containing the current mobile platform safety field data.

Returns:

The current safety field states of the mobile platform or null if an error occurred during reading IOs.

getMobilePlatformIOValue

protected BitSet getMobilePlatformIOValue(com.kuka.roboticsAPI.controllerModel.Controller controller,
                                          String ioGroupName,
                                          String ioName,
                                          com.kuka.roboticsAPI.ioModel.SunriseIOType ioType,
                                          boolean isOutput)
                                   throws IOException

return the IO value for a given IO.

Parameters:

controller - The controller name

ioGroupName - The IO group name

ioName - The IO name

ioType - TheIO type

isOutput - true if IO is an output

Returns:

The IO value in a BitSet

Throws:

IOException - Throws exception if the defined IO cannot be found.