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Public Member Functions | Static Public Member Functions | Private Attributes | Static Private Attributes
motoman::simple_message::motion_reply::MotionReply Class Reference

Class encapsulated motion control reply data. These messages are sent by the FS100 controller in response to MotionCtrl messages. These control commands are motoman-specific. More...

#include <motoman_motion_reply.h>

Inheritance diagram for motoman::simple_message::motion_reply::MotionReply:
Inheritance graph
[legend]

List of all members.

Public Member Functions

unsigned int byteLength ()
void clearData ()
 Clears reply data.
void copyFrom (MotionReply &src)
 Copies the passed in value.
industrial::shared_types::shared_int getCommand () const
 Returns motion-control command.
industrial::shared_types::shared_real getData (size_t idx) const
 Returns reply data.
industrial::shared_types::shared_int getResult () const
 Returns motion-control result code.
std::string getResultString () const
industrial::shared_types::shared_int getRobotID () const
 Returns target robot/group # for this reply.
industrial::shared_types::shared_int getSequence () const
 Returns motion-control reply's sequence number.
industrial::shared_types::shared_int getSubcode () const
 Returns motion-control result sub-code.
std::string getSubcodeString () const
void init ()
 Initializes a empty motion control reply.
void init (industrial::shared_types::shared_int robot_id, industrial::shared_types::shared_int sequence, industrial::shared_types::shared_int command, MotionReplyResult result, industrial::shared_types::shared_int subcode, industrial::shared_types::shared_real data)
 Initializes a complete motion control reply.
bool load (industrial::byte_array::ByteArray *buffer)
 MotionReply (void)
 Default constructor.
bool operator== (MotionReply &rhs)
 == operator implementation
void setCommand (industrial::shared_types::shared_int command)
 Sets motion-control command (for reference)
void setData (size_t idx, industrial::shared_types::shared_real val)
 Sets reply data.
void setResult (industrial::shared_types::shared_int result)
 Sets motion-control result code.
void setRobotID (industrial::shared_types::shared_int robot_id)
 Sets robot_id.
void setSequence (industrial::shared_types::shared_int sequence)
 Sets motion-control reply's sequence number.
void setSubcode (industrial::shared_types::shared_int subcode)
 Sets motion-control result sub-code.
bool unload (industrial::byte_array::ByteArray *buffer)
 ~MotionReply (void)
 Destructor.

Static Public Member Functions

static std::string getResultString (industrial::shared_types::shared_int code)
static std::string getSubcodeString (industrial::shared_types::shared_int code)

Private Attributes

industrial::shared_types::shared_int command_
 Motion-control command (from corresponding MotionCtrl command)
industrial::shared_types::shared_real data_ [MAX_DATA_CNT]
 Motion-control command data Contents of data-buffer are specific to each command.
industrial::shared_types::shared_int result_
 Command result.
industrial::shared_types::shared_int robot_id_
 Robot/group ID. 0 = 1st robot.
industrial::shared_types::shared_int sequence_
 Message-tracking number (from corresponding MotionCtrl command)
industrial::shared_types::shared_int subcode_
 Command result sub-code (more detailed status)

Static Private Attributes

static const size_t MAX_DATA_CNT = 10
 Maximum length (# of float elements) of data buffer.

Detailed Description

Class encapsulated motion control reply data. These messages are sent by the FS100 controller in response to MotionCtrl messages. These control commands are motoman-specific.

The byte representation of a motion control reply is as follows (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size robot_id (industrial::shared_types::shared_int) 4 bytes sequence (industrial::shared_types::shared_int) 4 bytes command (industrial::shared_types::shared_int) 4 bytes result (industrial::shared_types::shared_int) 4 bytes subcode (industrial::shared_types::shared_int) 4 bytes data[10] (industrial::shared_types::shared_real) 40 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 139 of file motoman_motion_reply.h.


Constructor & Destructor Documentation

Default constructor.

This method creates empty data.

Definition at line 55 of file motoman_motion_reply.cpp.

Destructor.

Definition at line 59 of file motoman_motion_reply.cpp.


Member Function Documentation

Clears reply data.

Definition at line 275 of file motoman_motion_reply.h.

Copies the passed in value.

Parameters:
src(value to copy)

Definition at line 162 of file motoman_motion_reply.cpp.

Returns motion-control command.

Returns:
motion-control command value

Definition at line 227 of file motoman_motion_reply.h.

Returns reply data.

Parameters:
idxdata-index to get
Returns:
data value

Definition at line 302 of file motoman_motion_reply.h.

Returns motion-control result code.

Returns:
motion-control result code

Definition at line 247 of file motoman_motion_reply.h.

Definition at line 82 of file motoman_motion_reply.cpp.

Definition at line 323 of file motoman_motion_reply.h.

Returns target robot/group # for this reply.

Returns:
robot_id

Definition at line 187 of file motoman_motion_reply.h.

Returns motion-control reply's sequence number.

Returns:
sequence number

Definition at line 207 of file motoman_motion_reply.h.

Returns motion-control result sub-code.

Returns:
motion-control result sub-code

Definition at line 267 of file motoman_motion_reply.h.

Definition at line 105 of file motoman_motion_reply.cpp.

Definition at line 331 of file motoman_motion_reply.h.

Initializes a empty motion control reply.

Definition at line 64 of file motoman_motion_reply.cpp.

Initializes a complete motion control reply.

Definition at line 69 of file motoman_motion_reply.cpp.

bool motoman::simple_message::motion_reply::MotionReply::operator== ( MotionReply rhs)

== operator implementation

Returns:
true if equal

Definition at line 173 of file motoman_motion_reply.cpp.

Sets motion-control command (for reference)

Parameters:
commandmotion-control command value

Definition at line 217 of file motoman_motion_reply.h.

Sets reply data.

Parameters:
idxindex to set
valdata value

Definition at line 287 of file motoman_motion_reply.h.

Sets motion-control result code.

Parameters:
resultmotion-control result code

Definition at line 237 of file motoman_motion_reply.h.

Sets robot_id.

Parameters:
robot_idtarget robot/group # for this reply

Definition at line 177 of file motoman_motion_reply.h.

Sets motion-control reply's sequence number.

Parameters:
sequencevalue

Definition at line 197 of file motoman_motion_reply.h.

Sets motion-control result sub-code.

Parameters:
resultmotion-control result sub-code

Definition at line 257 of file motoman_motion_reply.h.


Member Data Documentation

Motion-control command (from corresponding MotionCtrl command)

Definition at line 373 of file motoman_motion_reply.h.

Motion-control command data Contents of data-buffer are specific to each command.

Definition at line 394 of file motoman_motion_reply.h.

Maximum length (# of float elements) of data buffer.

Definition at line 388 of file motoman_motion_reply.h.

Command result.

Definition at line 378 of file motoman_motion_reply.h.

Robot/group ID. 0 = 1st robot.

Definition at line 363 of file motoman_motion_reply.h.

Message-tracking number (from corresponding MotionCtrl command)

Definition at line 368 of file motoman_motion_reply.h.

Command result sub-code (more detailed status)

Definition at line 383 of file motoman_motion_reply.h.


The documentation for this class was generated from the following files:
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:15