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:

[legend]

Public Member Functions
unsigned int	byteLength ()

void	clearData ()
	Clears reply data. More...

void	copyFrom (MotionReply &src)
	Copies the passed in value. More...

industrial::shared_types::shared_int	getCommand () const
	Returns motion-control command. More...

industrial::shared_types::shared_real	getData (size_t idx) const
	Returns reply data. More...

industrial::shared_types::shared_int	getResult () const
	Returns motion-control result code. More...

std::string	getResultString () const

industrial::shared_types::shared_int	getRobotID () const
	Returns target robot/group # for this reply. More...

industrial::shared_types::shared_int	getSequence () const
	Returns motion-control reply's sequence number. More...

industrial::shared_types::shared_int	getSubcode () const
	Returns motion-control result sub-code. More...

std::string	getSubcodeString () const

void	init ()
	Initializes a empty motion control reply. More...

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. More...

bool	load (industrial::byte_array::ByteArray *buffer)

	MotionReply (void)
	Default constructor. More...

bool	operator== (MotionReply &rhs)
	== operator implementation More...

void	setCommand (industrial::shared_types::shared_int command)
	Sets motion-control command (for reference) More...

void	setData (size_t idx, industrial::shared_types::shared_real val)
	Sets reply data. More...

void	setResult (industrial::shared_types::shared_int result)
	Sets motion-control result code. More...

void	setRobotID (industrial::shared_types::shared_int robot_id)
	Sets robot_id. More...

void	setSequence (industrial::shared_types::shared_int sequence)
	Sets motion-control reply's sequence number. More...

void	setSubcode (industrial::shared_types::shared_int subcode)
	Sets motion-control result sub-code. More...

bool	unload (industrial::byte_array::ByteArray *buffer)

	~MotionReply (void)
	Destructor. More...

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) More...

industrial::shared_types::shared_real	data_ [MAX_DATA_CNT]
	Motion-control command data Contents of data-buffer are specific to each command. More...

industrial::shared_types::shared_int	result_
	Command result. More...

industrial::shared_types::shared_int	robot_id_
	Robot/group ID. 0 = 1st robot. More...

industrial::shared_types::shared_int	sequence_
	Message-tracking number (from corresponding MotionCtrl command) More...

industrial::shared_types::shared_int	subcode_
	Command result sub-code (more detailed status) More...

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

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 141 of file motoman_motion_reply.h.

Constructor & Destructor Documentation

motoman::simple_message::motion_reply::MotionReply::MotionReply ( void )

Default constructor.

This method creates empty data.

Definition at line 58 of file motoman_motion_reply.cpp.

motoman::simple_message::motion_reply::MotionReply::~MotionReply ( void )

Destructor.

Definition at line 62 of file motoman_motion_reply.cpp.

Member Function Documentation

unsigned int motoman::simple_message::motion_reply::MotionReply::byteLength ( )

inlinevirtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 359 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::clearData ( )

inline

Clears reply data.

Definition at line 277 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::copyFrom ( MotionReply & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 166 of file motoman_motion_reply.cpp.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::getCommand ( ) const

inline

Returns motion-control command.

Returns: motion-control command value

Definition at line 229 of file motoman_motion_reply.h.

industrial::shared_types::shared_real motoman::simple_message::motion_reply::MotionReply::getData ( size_t idx ) const

inline

Returns reply data.

Parameters

idx	data-index to get

Returns: data value

Definition at line 304 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::getResult ( ) const

inline

Returns motion-control result code.

Returns: motion-control result code

Definition at line 249 of file motoman_motion_reply.h.

std::string motoman::simple_message::motion_reply::MotionReply::getResultString ( industrial::shared_types::shared_int code )

static

Definition at line 84 of file motoman_motion_reply.cpp.

std::string motoman::simple_message::motion_reply::MotionReply::getResultString ( ) const

inline

Definition at line 325 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::getRobotID ( ) const

inline

Returns target robot/group # for this reply.

Returns: robot_id

Definition at line 189 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::getSequence ( ) const

inline

Returns motion-control reply's sequence number.

Returns: sequence number

Definition at line 209 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::getSubcode ( ) const

inline

Returns motion-control result sub-code.

Returns: motion-control result sub-code

Definition at line 269 of file motoman_motion_reply.h.

std::string motoman::simple_message::motion_reply::MotionReply::getSubcodeString ( industrial::shared_types::shared_int code )

static

Definition at line 107 of file motoman_motion_reply.cpp.

std::string motoman::simple_message::motion_reply::MotionReply::getSubcodeString ( ) const

inline

Definition at line 336 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::init ( )

Initializes a empty motion control reply.

Definition at line 66 of file motoman_motion_reply.cpp.

void motoman::simple_message::motion_reply::MotionReply::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.

Definition at line 71 of file motoman_motion_reply.cpp.

bool motoman::simple_message::motion_reply::MotionReply::load ( industrial::byte_array::ByteArray * buffer )

virtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 191 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 177 of file motoman_motion_reply.cpp.

void motoman::simple_message::motion_reply::MotionReply::setCommand ( industrial::shared_types::shared_int command )

inline

Sets motion-control command (for reference)

Parameters

command motion-control command value

Definition at line 219 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::setData	(	size_t	idx,
		industrial::shared_types::shared_real	val
	)

inline

Sets reply data.

Parameters

idx	index to set
val	data value

Definition at line 289 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::setResult ( industrial::shared_types::shared_int result )

inline

Sets motion-control result code.

Parameters

result motion-control result code

Definition at line 239 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::setRobotID ( industrial::shared_types::shared_int robot_id )

inline

Sets robot_id.

Parameters

robot_id target robot/group # for this reply

Definition at line 179 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::setSequence ( industrial::shared_types::shared_int sequence )

inline

Sets motion-control reply's sequence number.

Parameters

sequence value

Definition at line 199 of file motoman_motion_reply.h.

void motoman::simple_message::motion_reply::MotionReply::setSubcode ( industrial::shared_types::shared_int subcode )

inline

Sets motion-control result sub-code.

Parameters

result motion-control result sub-code

Definition at line 259 of file motoman_motion_reply.h.

bool motoman::simple_message::motion_reply::MotionReply::unload ( industrial::byte_array::ByteArray * buffer )

virtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 240 of file motoman_motion_reply.cpp.

Member Data Documentation

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::command_

private

Motion-control command (from corresponding MotionCtrl command)

Definition at line 380 of file motoman_motion_reply.h.

industrial::shared_types::shared_real motoman::simple_message::motion_reply::MotionReply::data_[MAX_DATA_CNT]

private

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

Definition at line 401 of file motoman_motion_reply.h.

const size_t motoman::simple_message::motion_reply::MotionReply::MAX_DATA_CNT = 10

staticprivate

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

Definition at line 395 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::result_

private

Command result.

Definition at line 385 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::robot_id_

private

Robot/group ID. 0 = 1st robot.

Definition at line 370 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::sequence_

private

Message-tracking number (from corresponding MotionCtrl command)

Definition at line 375 of file motoman_motion_reply.h.

industrial::shared_types::shared_int motoman::simple_message::motion_reply::MotionReply::subcode_

private

Command result sub-code (more detailed status)

Definition at line 390 of file motoman_motion_reply.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation