com.kuka.roboticsAPI.executionModel
Interface IExecutionContainer

All Superinterfaces:

com.kuka.common.concurrent.IWaitToken

All Known Subinterfaces:

ICommandContainer, IMotionContainer

All Known Implementing Classes:

AbstractMotionContainer, ExecutionContainer, SunriseExecutionContainer, SunriseMotionContainer, SunriseMotionExecutionContainer

public interface IExecutionContainer
extends com.kuka.common.concurrent.IWaitToken

The interface of the execution container. It represents the execution of an action.

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 Summary

void	await() Blocks the calling thread until the container has finished it's execution.
void	await(long timeout, TimeUnit unit) Blocks the calling thread until the container has finished it's execution.
void	cancel() Cancels this container.
String	getErrorMessage() Gets the error message for the container.
IFiredConditionInfo	getFiredBreakConditionInfo() Gets the user condition that has fired and caused the stopping of this motion container.
ICommandRuntimeData	getRuntimeData() Gets the custom runtime data associated with this container.
boolean	hasError() Checks if this container is in an error state.
boolean	hasFired(ICondition condition) Tests whether the given condition has fired for this container. this is equivalent to {@code getFiredConditionInfo() !
boolean	isFinished() Checks if the container has finished it's execution either with a successful execution or with an error.
void	validate() Validates this container and throws an exception if the container is invalid or was canceled.

Method Detail

cancel

void cancel()

Cancels this container.

await

void await()

Blocks the calling thread until the container has finished it's execution. If the container is invalid or was canceled, an appropriate exception will be thrown.

Specified by:

await in interface com.kuka.common.concurrent.IWaitToken

Throws:

com.kuka.common.ThreadInterruptedException - if the thread was interrupted while waiting

await

void await(long timeout,
           TimeUnit unit)
           throws TimeoutException

Blocks the calling thread until the container has finished it's execution. Only blocks the thread until the timeout is reached. If the container is invalid or was canceled, an appropriate exception will be thrown.

Specified by:

await in interface com.kuka.common.concurrent.IWaitToken

Parameters:

timeout - The timeout.

unit - The unit of the timeout.

Throws:

com.kuka.common.ThreadInterruptedException - if the thread was interrupted while waiting

TimeoutException - the wait timed out

validate

void validate()

Validates this container and throws an exception if the container is invalid or was canceled.

Throws:

CancelledException - if container command was canceled.

CommandInvalidException - if container command goes into invalid state (controller error).

ExternalStopException - if command was stopped because of some external signal.

isFinished

boolean isFinished()

Checks if the container has finished it's execution either with a successful execution or with an error. If you like to see if an error occurred, you have to check the error message or call the method hasError.

Specified by:

isFinished in interface com.kuka.common.concurrent.IWaitToken

Returns:

True if the container execution is finished, otherwise false.

hasError

boolean hasError()

Checks if this container is in an error state. An error state is Invalid or ExternalStop.

Returns:

True if this container is in an error state.

getErrorMessage

String getErrorMessage()

Gets the error message for the container.

Returns:

The error message.

hasFired

boolean hasFired(ICondition condition)

Tests whether the given condition has fired for this container. this is equivalent to
getFiredConditionInfo() != null && getFiredConditionInfo().getFiredCondition() == condition

Parameters:

condition - the condition to test if it has fired.

Returns:

true if the condition has fired, false otherwise.

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

getFiredBreakConditionInfo

IFiredConditionInfo getFiredBreakConditionInfo()

Gets the user condition that has fired and caused the stopping of this motion container. May be null if no user defined condition has fired.

HINT regarding motion batches: if the motion contained in this container is a motion batch, only the fired condition of the batch itself shows up in the info. The stop conditions that may have fired on the motions within the batch don't stop the batch. That's why in this case the fired condition info will be null.

Returns:

The user defined condition that has fired and caused the stopping of this motion. May be null.

getRuntimeData

ICommandRuntimeData getRuntimeData()

Gets the custom runtime data associated with this container.

Returns:

the custom runtime data associated with this container. Can be null.