armadillo::trajectory_download_handler::TrajectoryDownloadHandler Class Reference

Message handler that handles the recieiving of entire trajectories and trajectory inform job execution. More...

#include <trajectory_download_handler.h>

Inheritance diagram for armadillo::trajectory_download_handler::TrajectoryDownloadHandler:

Public Member Functions
bool	init (industrial::smpl_msg_connection::SmplMsgConnection connection, motoman::controller::Controller ctrl)
	Class initializer.
Protected Member Functions
void	endTrajectory (industrial::joint_traj_pt_message::JointTrajPtMessage &jMsg)
	Handle joint trajectory start message.
bool	init (int msg_type, industrial::smpl_msg_connection::SmplMsgConnection *connection)
	Class initializer (Direct call to base class with the same name) I couldn't get the "using" form to work/.
bool	internalCB (industrial::simple_message::SimpleMessage &in)
	Callback executed upon receiving message.
void	startTrajectory (industrial::joint_traj_pt_message::JointTrajPtMessage &jMsg)
	Handle joint trajectory start message.
Protected Attributes
motoman::controller::Controller *	ctrl_
	Controller object for handing jobs and motion.
char	jobBuffer_ [JOB_BUFFER_SIZE_]
	job sting buffer (limited to JOB_BUFFER_SIZE_ characters);
industrial::joint_traj::JointTraj	traj_
	joint trajectory (internal buffer)

Detailed Description

Message handler that handles the recieiving of entire trajectories and trajectory inform job execution.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 70 of file trajectory_download_handler.h.

Member Function Documentation

void armadillo::trajectory_download_handler::TrajectoryDownloadHandler::endTrajectory ( industrial::joint_traj_pt_message::JointTrajPtMessage & jMsg ) [protected]

Handle joint trajectory start message.

Parameters:

in

incoming joint message message (assumes sequence is set to START_TRAJECTORY_DOWNLOAD)

Definition at line 128 of file trajectory_download_handler.cpp.

bool armadillo::trajectory_download_handler::TrajectoryDownloadHandler::init	(	int	msg_type,
		industrial::smpl_msg_connection::SmplMsgConnection *	connection
	)			`[inline, protected]`

Class initializer (Direct call to base class with the same name) I couldn't get the "using" form to work/.

Parameters:

connection

simple message connection that will be used to send replies.

Returns:: true on success, false otherwise (an invalid message type)

Reimplemented from industrial::message_handler::MessageHandler.

Definition at line 96 of file trajectory_download_handler.h.

bool armadillo::trajectory_download_handler::TrajectoryDownloadHandler::init	(	industrial::smpl_msg_connection::SmplMsgConnection *	connection,
		motoman::controller::Controller *	ctrl
	)

Class initializer.

Parameters:

	connection	simple message connection that will be used to send replies.
	controller	object used for enabling/disabling motion

Returns:: true on success, false otherwise (an invalid message type)

bool armadillo::trajectory_download_handler::TrajectoryDownloadHandler::internalCB ( industrial::simple_message::SimpleMessage & in ) [protected, virtual]

Callback executed upon receiving message.

Parameters:

in

incoming message

Returns:: true on success, false otherwise

Implements industrial::message_handler::MessageHandler.

Definition at line 63 of file trajectory_download_handler.cpp.

void armadillo::trajectory_download_handler::TrajectoryDownloadHandler::startTrajectory ( industrial::joint_traj_pt_message::JointTrajPtMessage & jMsg ) [protected]

Handle joint trajectory start message.

Parameters:

in

incoming joint message message (assumes sequence is set to START_TRAJECTORY_DOWNLOAD)

Definition at line 121 of file trajectory_download_handler.cpp.