Class encapsulated robot status data. The robot status data is meant to mirror the industrial_msgs/RobotStatus message. More...

#include <robot_status.h>

Inheritance diagram for industrial::robot_status::RobotStatus:

[legend]

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray. More...

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

TriState	getDrivesPowered ()

industrial::shared_types::shared_int	getErrorCode () const

TriState	getEStopped ()

TriState	getInError ()

TriState	getInMotion ()

RobotMode	getMode ()

TriState	getMotionPossible ()

void	init ()
	Initializes an empty robot status. More...

void	init (TriState drivesPowered, TriState eStopped, industrial::shared_types::shared_int errorCode, TriState inError, TriState inMotion, RobotMode mode, TriState motionPossible)
	Initializes a full robot status message. More...

bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray. More...

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

	RobotStatus (void)
	Default constructor. More...

void	setDrivesPowered (TriState drivesPowered)

void	setErrorCode (industrial::shared_types::shared_int errorCode)

void	setEStopped (TriState eStopped)

void	setInError (TriState inError)

void	setInMotion (TriState inMotion)

void	setMode (RobotMode mode)

void	setMotionPossible (TriState motionPossible)

bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray. More...

	~RobotStatus (void)
	Destructor. More...

Private Attributes
industrial::shared_types::shared_int	drives_powered_
	Drive power state (see TriStates::TriState) More...

industrial::shared_types::shared_int	e_stopped_
	E-stop state (see TriStates::TriState) More...

industrial::shared_types::shared_int	error_code_
	error code (non-zero is error) More...

industrial::shared_types::shared_int	in_error_
	in error state (see TriStates::TriState) More...

industrial::shared_types::shared_int	in_motion_
	in motion state (see TriStates::TriState) More...

industrial::shared_types::shared_int	mode_
	Operating mode (see RobotModes::RobotMode) More...

industrial::shared_types::shared_int	motion_possible_
	motion possible state (see TriStates::TriState) More...

Detailed Description

Class encapsulated robot status data. The robot status data is meant to mirror the industrial_msgs/RobotStatus message.

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

member: type size drives_powered (industrial::shared_types::shared_int) 4 bytes e_stopped (industrial::shared_types::shared_int) 4 bytes error_code (industrial::shared_types::shared_int) 4 bytes in_error (industrial::shared_types::shared_int) 4 bytes in_motion (industrial::shared_types::shared_int) 4 bytes mode (industrial::shared_types::shared_int) 4 bytes motion_possible (industrial::shared_types::shared_int) 4 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 116 of file robot_status.h.

Constructor & Destructor Documentation

industrial::robot_status::RobotStatus::RobotStatus ( void )

Default constructor.

This method creates empty data.

Definition at line 112 of file robot_status.cpp.

industrial::robot_status::RobotStatus::~RobotStatus ( void )

Destructor.

Definition at line 116 of file robot_status.cpp.

Member Function Documentation

unsigned int industrial::robot_status::RobotStatus::byteLength ( )

inlinevirtual

Virtual method returns the object size when packed into a ByteArray.

Returns: object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 232 of file robot_status.h.

void industrial::robot_status::RobotStatus::copyFrom ( RobotStatus & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 139 of file robot_status.cpp.

TriState industrial::robot_status::RobotStatus::getDrivesPowered ( )

inline

Definition at line 145 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::getErrorCode ( ) const

inline

Definition at line 155 of file robot_status.h.

TriState industrial::robot_status::RobotStatus::getEStopped ( )

inline

Definition at line 150 of file robot_status.h.

TriState industrial::robot_status::RobotStatus::getInError ( )

inline

Definition at line 160 of file robot_status.h.

TriState industrial::robot_status::RobotStatus::getInMotion ( )

inline

Definition at line 165 of file robot_status.h.

RobotMode industrial::robot_status::RobotStatus::getMode ( )

inline

Definition at line 170 of file robot_status.h.

TriState industrial::robot_status::RobotStatus::getMotionPossible ( )

inline

Definition at line 175 of file robot_status.h.

void industrial::robot_status::RobotStatus::init ( )

Initializes an empty robot status.

Definition at line 121 of file robot_status.cpp.

void industrial::robot_status::RobotStatus::init	(	TriState	drivesPowered,
		TriState	eStopped,
		industrial::shared_types::shared_int	errorCode,
		TriState	inError,
		TriState	inMotion,
		RobotMode	mode,
		TriState	motionPossible
	)

Initializes a full robot status message.

Definition at line 127 of file robot_status.cpp.

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

virtual

Virtual method for loading an object into a ByteArray.

This method should load all the required data to reconstruct the class object into the buffer

Parameters

buffer pointer to ByteArray

Returns: true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 157 of file robot_status.cpp.

bool industrial::robot_status::RobotStatus::operator== ( RobotStatus & rhs )

== operator implementation

Returns: true if equal

Definition at line 150 of file robot_status.cpp.

void industrial::robot_status::RobotStatus::setDrivesPowered ( TriState drivesPowered )

inline

Definition at line 180 of file robot_status.h.

void industrial::robot_status::RobotStatus::setErrorCode ( industrial::shared_types::shared_int errorCode )

inline

Definition at line 190 of file robot_status.h.

void industrial::robot_status::RobotStatus::setEStopped ( TriState eStopped )

inline

Definition at line 185 of file robot_status.h.

void industrial::robot_status::RobotStatus::setInError ( TriState inError )

inline

Definition at line 195 of file robot_status.h.

void industrial::robot_status::RobotStatus::setInMotion ( TriState inMotion )

inline

Definition at line 200 of file robot_status.h.

void industrial::robot_status::RobotStatus::setMode ( RobotMode mode )

inline

Definition at line 205 of file robot_status.h.

void industrial::robot_status::RobotStatus::setMotionPossible ( TriState motionPossible )

inline

Definition at line 210 of file robot_status.h.

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

virtual

Virtual method for unloading an object from a ByteArray.

This method should unload all the required data to reconstruct the class object (in place)

Parameters

buffer pointer to ByteArray

Returns: true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 180 of file robot_status.cpp.

Member Data Documentation

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::drives_powered_

private

Drive power state (see TriStates::TriState)

Definition at line 252 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::e_stopped_

private

E-stop state (see TriStates::TriState)

Definition at line 247 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::error_code_

private

error code (non-zero is error)

Definition at line 272 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::in_error_

private

in error state (see TriStates::TriState)

Definition at line 267 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::in_motion_

private

in motion state (see TriStates::TriState)

Definition at line 262 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::mode_

private

Operating mode (see RobotModes::RobotMode)

Definition at line 242 of file robot_status.h.

industrial::shared_types::shared_int industrial::robot_status::RobotStatus::motion_possible_

private

motion possible state (see TriStates::TriState)

Definition at line 257 of file robot_status.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation