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motoman::joint_motion_handler::JointMotionHandler Class Reference

Message handler that handles joint motion requests to the controller. More...

#include <joint_motion_handler.h>

Inheritance diagram for motoman::joint_motion_handler::JointMotionHandler:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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 init (industrial::smpl_msg_connection::SmplMsgConnection *connection)
 Class initializer.
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 init (industrial::smpl_msg_connection::SmplMsgConnection *connection)
 Class initializer.
 JointMotionHandler (void)
 JointMotionHandler (void)
 ~JointMotionHandler (void)
 ~JointMotionHandler (void)

Private Member Functions

void disableMotion (void)
 Disables motion on the robot controller. Turns off servo power, turns on hold status.
void disableMotion (void)
 Disables motion on the robot controller. Turns off servo power, turns on hold status.
void enableMotion (void)
 Enables motion on the robot controller. Turns on servo power, turns off hold status.
void enableMotion (void)
 Enables motion on the robot controller. Turns on servo power, turns off hold status.
bool internalCB (industrial::simple_message::SimpleMessage &in)
 Callback executed upon receiving a joint message.
bool internalCB (industrial::simple_message::SimpleMessage &in)
 Callback executed upon receiving a joint message.
bool isJobStarted (void)
 return true if jos has been started (Based on internal class state not MotoPlus call)
bool isJobStarted (void)
 return true if jos has been started (Based on internal class state not MotoPlus call)
bool isMotionEnabled (void)
 return true if motion is enabled (Based on internal class state not MotoPlus call)
bool isMotionEnabled (void)
 return true if motion is enabled (Based on internal class state not MotoPlus call)
void motionInterface (industrial::joint_message::JointMessage &jMsg)
 Handles motion interface based on type of joint message passed.
void motionInterface (industrial::joint_message::JointMessage &jMsg)
 Handles motion interface based on type of joint message passed.
void startMotionJob (void)
 Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).
void startMotionJob (void)
 Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).
void stopMotionJob (void)
 Stops motion job on the controller. Disables motion.
void stopMotionJob (void)
 Stops motion job on the controller. Disables motion.

Private Attributes

MP_HOLD_SEND_DATA hold_data
MP_STD_RSP_DATA hold_error
MP_DELETE_JOB_SEND_DATA job_delete_data
MP_STD_RSP_DATA job_error
MP_START_JOB_SEND_DATA job_start_data
bool jobStarted
 True if job started.
bool motionEnabled
 True if motion enabled.
motoman::p_var_q::PVarQ pVarQ
MP_SERVO_POWER_SEND_DATA servo_power_data
MP_STD_RSP_DATA servo_power_error

Static Private Attributes

static const int BUFFER_POLL_TICK_DELAY = 1000
 Poll delay (in ticks) when querying the motion buffer.
static const int MP_POLL_TICK_DELAY = 10
 Poll delay (in ticks) when querying the motoplus api.

Detailed Description

Message handler that handles joint motion requests to the controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 80 of file joint_motion_handler.h.

Constructor & Destructor Documentation

motoman::joint_motion_handler::JointMotionHandler::JointMotionHandler ( void   ) 

Definition at line 49 of file joint_motion_handler.cpp.

motoman::joint_motion_handler::JointMotionHandler::~JointMotionHandler ( void   ) 

Definition at line 63 of file joint_motion_handler.cpp.

motoman::joint_motion_handler::JointMotionHandler::JointMotionHandler ( void   ) 
motoman::joint_motion_handler::JointMotionHandler::~JointMotionHandler ( void   ) 

Member Function Documentation

void motoman::joint_motion_handler::JointMotionHandler::disableMotion ( void   )  [private]

Disables motion on the robot controller. Turns off servo power, turns on hold status.

void motoman::joint_motion_handler::JointMotionHandler::disableMotion ( void   )  [private]

Disables motion on the robot controller. Turns off servo power, turns on hold status.

Definition at line 185 of file joint_motion_handler.cpp.

void motoman::joint_motion_handler::JointMotionHandler::enableMotion ( void   )  [private]

Enables motion on the robot controller. Turns on servo power, turns off hold status.

void motoman::joint_motion_handler::JointMotionHandler::enableMotion ( void   )  [private]

Enables motion on the robot controller. Turns on servo power, turns off hold status.

Definition at line 161 of file joint_motion_handler.cpp.

bool motoman::joint_motion_handler::JointMotionHandler::init ( int  msg_type,
industrial::smpl_msg_connection::SmplMsgConnection *  connection 
) [inline]

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 64 of file output/joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::init ( industrial::smpl_msg_connection::SmplMsgConnection *  connection  ) 

Class initializer.

Parameters:
connection simple message connection that will be used to send replies.
Returns:
true on success, false otherwise (an invalid message type)
bool motoman::joint_motion_handler::JointMotionHandler::init ( int  msg_type,
industrial::smpl_msg_connection::SmplMsgConnection *  connection 
) [inline]

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 105 of file joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::init ( industrial::smpl_msg_connection::SmplMsgConnection *  connection  ) 

Class initializer.

Parameters:
connection simple message connection that will be used to send replies.
Returns:
true on success, false otherwise (an invalid message type)

Definition at line 69 of file joint_motion_handler.cpp.

bool motoman::joint_motion_handler::JointMotionHandler::internalCB ( industrial::simple_message::SimpleMessage &  in  )  [private, virtual]

Callback executed upon receiving a joint message.

Parameters:
in incoming message
Returns:
true on success, false otherwise

Implements industrial::message_handler::MessageHandler.

bool motoman::joint_motion_handler::JointMotionHandler::internalCB ( industrial::simple_message::SimpleMessage &  in  )  [private, virtual]

Callback executed upon receiving a joint message.

Parameters:
in incoming message
Returns:
true on success, false otherwise

Implements industrial::message_handler::MessageHandler.

Definition at line 74 of file joint_motion_handler.cpp.

bool motoman::joint_motion_handler::JointMotionHandler::isJobStarted ( void   )  [inline, private]

return true if jos has been started (Based on internal class state not MotoPlus call)

Returns:
true if job has been stared

Definition at line 124 of file output/joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::isJobStarted ( void   )  [inline, private]

return true if jos has been started (Based on internal class state not MotoPlus call)

Returns:
true if job has been stared

Definition at line 165 of file joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::isMotionEnabled ( void   )  [inline, private]

return true if motion is enabled (Based on internal class state not MotoPlus call)

Returns:
true if motion enabled

Definition at line 116 of file output/joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::isMotionEnabled ( void   )  [inline, private]

return true if motion is enabled (Based on internal class state not MotoPlus call)

Returns:
true if motion enabled

Definition at line 157 of file joint_motion_handler.h.

void motoman::joint_motion_handler::JointMotionHandler::motionInterface ( industrial::joint_message::JointMessage &  jMsg  )  [private]

Handles motion interface based on type of joint message passed.

Parameters:
in incoming joint message
void motoman::joint_motion_handler::JointMotionHandler::motionInterface ( industrial::joint_message::JointMessage &  jMsg  )  [private]

Handles motion interface based on type of joint message passed.

Parameters:
in incoming joint message

Definition at line 115 of file joint_motion_handler.cpp.

void motoman::joint_motion_handler::JointMotionHandler::startMotionJob ( void   )  [private]

Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).

void motoman::joint_motion_handler::JointMotionHandler::startMotionJob ( void   )  [private]

Starts motion job on the controller. Enables motion (Job cannot be started if motion is not enabled).

Definition at line 198 of file joint_motion_handler.cpp.

void motoman::joint_motion_handler::JointMotionHandler::stopMotionJob ( void   )  [private]

Stops motion job on the controller. Disables motion.

void motoman::joint_motion_handler::JointMotionHandler::stopMotionJob ( void   )  [private]

Stops motion job on the controller. Disables motion.

Definition at line 225 of file joint_motion_handler.cpp.

Member Data Documentation

static const int motoman::joint_motion_handler::JointMotionHandler::BUFFER_POLL_TICK_DELAY = 1000 [static, private]

Poll delay (in ticks) when querying the motion buffer.

Definition at line 136 of file joint_motion_handler.h.

MP_HOLD_SEND_DATA motoman::joint_motion_handler::JointMotionHandler::hold_data [private]

Definition at line 123 of file joint_motion_handler.h.

MP_STD_RSP_DATA motoman::joint_motion_handler::JointMotionHandler::hold_error [private]

Definition at line 124 of file joint_motion_handler.h.

MP_DELETE_JOB_SEND_DATA motoman::joint_motion_handler::JointMotionHandler::job_delete_data [private]

Definition at line 118 of file joint_motion_handler.h.

MP_STD_RSP_DATA motoman::joint_motion_handler::JointMotionHandler::job_error [private]

Definition at line 119 of file joint_motion_handler.h.

MP_START_JOB_SEND_DATA motoman::joint_motion_handler::JointMotionHandler::job_start_data [private]

Definition at line 117 of file joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::jobStarted [private]

True if job started.

Definition at line 149 of file joint_motion_handler.h.

bool motoman::joint_motion_handler::JointMotionHandler::motionEnabled [private]

True if motion enabled.

Definition at line 144 of file joint_motion_handler.h.

static const int motoman::joint_motion_handler::JointMotionHandler::MP_POLL_TICK_DELAY = 10 [static, private]

Poll delay (in ticks) when querying the motoplus api.

Definition at line 131 of file joint_motion_handler.h.

motoman::p_var_q::PVarQ motoman::joint_motion_handler::JointMotionHandler::pVarQ [private]

Definition at line 126 of file joint_motion_handler.h.

MP_SERVO_POWER_SEND_DATA motoman::joint_motion_handler::JointMotionHandler::servo_power_data [private]

Definition at line 106 of file joint_motion_handler.h.

MP_STD_RSP_DATA motoman::joint_motion_handler::JointMotionHandler::servo_power_error [private]

Definition at line 114 of file joint_motion_handler.h.

The documentation for this class was generated from the following files:
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motoman
Author(s): Shaun Edwards
autogenerated on Mon Mar 4 12:16:12 2013