com.kuka.roboticsAPI.deviceModel.kmp
Class MovementLockState

java.lang.Object
  com.kuka.roboticsAPI.deviceModel.kmp.MovementLockState

public class MovementLockState
extends Object

A class represents a movement lock state, including type and source.

Constructor Summary

MovementLockState(com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.Message message)
Constructor.

Method Summary

boolean	equals(Object obj)
MovementLockType	getExternalLockType() Returns the external lock type.
MovementLockType	getInternalLockType() Returns the internal lock type.
MovementLockType[]	getLockStatus() Returns the internal array used to store the movement lock state.
MovementLockType	getLockTypeBySource(MovementLockSource lockSource) Returns the lock type for the given lock source.
MovementLockSource	getSource() Deprecated.
MovementLockType	getType() Deprecated.
MovementLockType	getUndefinedLockType() Returns the undefined lock type.
int	hashCode()
boolean	isLocked() Returns true if any lock present (either undefined, internal or external sources, programmed or full motion lock).
boolean	isMotionEnabled() Returns true, if the motion is enabled (no internal or external locks are present).
String	toString()

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

MovementLockState

public MovementLockState(com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.Message message)

Constructor.

Parameters:

message - A message returned from the "LockSPR" or "IsLocked" requests.

Method Detail

getType

@Deprecated
public MovementLockType getType()

Deprecated.

Returns the movement lock type.

Returns:

The movement lock type.

getSource

@Deprecated
public MovementLockSource getSource()

Deprecated.

Returns the movement lock source.

Returns:

The movement lock source.

getUndefinedLockType

public MovementLockType getUndefinedLockType()

Returns the undefined lock type.

Returns:

The undefined lock type.

getInternalLockType

public MovementLockType getInternalLockType()

Returns the internal lock type.

Returns:

The internal lock type.

getExternalLockType

public MovementLockType getExternalLockType()

Returns the external lock type.

Returns:

The external lock type.

getLockTypeBySource

public MovementLockType getLockTypeBySource(MovementLockSource lockSource)

Returns the lock type for the given lock source.

Parameters:

lockSource - The source of the lock.

Returns:

The lock type for the given lock source.

getLockStatus

public MovementLockType[] getLockStatus()

Returns the internal array used to store the movement lock state.

Returns:

The internal array used to store the movement lock state.

isMotionEnabled

public boolean isMotionEnabled()

Returns true, if the motion is enabled (no internal or external locks are present). Note that the return value is independent from the state of the undefined lock source, if any (for example, if the side socket charger is connected, an undefined full motion lock is enabled).

Returns:

True, if the motion is enabled.

hashCode

public int hashCode()

Overrides:

hashCode in class Object

equals

public boolean equals(Object obj)

Overrides:

equals in class Object

toString

public String toString()

Overrides:

toString in class Object

isLocked

public boolean isLocked()

Returns true if any lock present (either undefined, internal or external sources, programmed or full motion lock).

Returns:

True, if a lock is present.