Message handler that handles joint motion requests to the controller. More...
#include <joint_motion_handler.h>
Public Member Functions | |
bool | init (industrial::smpl_msg_connection::SmplMsgConnection *connection) |
Class initializer. | |
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 (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/. | |
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_STD_RSP_DATA | job_error |
MP_CUR_JOB_SEND_DATA | job_reset_data |
MP_STD_RSP_DATA | job_reset_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. |
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.
Definition at line 49 of file joint_motion_handler.cpp.
Definition at line 63 of file joint_motion_handler.cpp.
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::disableMotion | ( | void | ) | [private] |
Disables motion on the robot controller. Turns off servo power, turns on 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.
void motoman::joint_motion_handler::JointMotionHandler::enableMotion | ( | void | ) | [private] |
Enables motion on the robot controller. Turns on servo power, turns off hold status.
bool motoman::joint_motion_handler::JointMotionHandler::init | ( | industrial::smpl_msg_connection::SmplMsgConnection * | connection | ) |
Class initializer.
connection | simple message connection that will be used to send replies. |
bool motoman::joint_motion_handler::JointMotionHandler::init | ( | industrial::smpl_msg_connection::SmplMsgConnection * | connection | ) |
Class initializer.
connection | simple message connection that will be used to send replies. |
Definition at line 69 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/.
connection | simple message connection that will be used to send replies. |
Reimplemented from industrial::message_handler::MessageHandler.
Definition at line 105 of file joint_motion_handler.h.
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/.
connection | simple message connection that will be used to send replies. |
Reimplemented from industrial::message_handler::MessageHandler.
Definition at line 105 of file output/joint_motion_handler.h.
bool motoman::joint_motion_handler::JointMotionHandler::internalCB | ( | industrial::simple_message::SimpleMessage & | in | ) | [private, virtual] |
Callback executed upon receiving a joint message.
in | incoming message |
Implements industrial::message_handler::MessageHandler.
Definition at line 74 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.
in | incoming message |
Implements industrial::message_handler::MessageHandler.
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)
Definition at line 166 of file 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)
Definition at line 166 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)
Definition at line 158 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)
Definition at line 158 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.
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.
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).
Definition at line 198 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::stopMotionJob | ( | void | ) | [private] |
Stops motion job on the controller. Disables motion.
Definition at line 225 of file joint_motion_handler.cpp.
void motoman::joint_motion_handler::JointMotionHandler::stopMotionJob | ( | void | ) | [private] |
Stops motion job on the controller. Disables motion.
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 137 of file joint_motion_handler.h.
MP_HOLD_SEND_DATA motoman::joint_motion_handler::JointMotionHandler::hold_data [private] |
Definition at line 124 of file joint_motion_handler.h.
MP_STD_RSP_DATA motoman::joint_motion_handler::JointMotionHandler::hold_error [private] |
Definition at line 125 of file joint_motion_handler.h.
MP_STD_RSP_DATA motoman::joint_motion_handler::JointMotionHandler::job_error [private] |
Definition at line 120 of file joint_motion_handler.h.
MP_CUR_JOB_SEND_DATA motoman::joint_motion_handler::JointMotionHandler::job_reset_data [private] |
Definition at line 118 of file joint_motion_handler.h.
MP_STD_RSP_DATA motoman::joint_motion_handler::JointMotionHandler::job_reset_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.
True if job started.
Definition at line 150 of file joint_motion_handler.h.
True if motion enabled.
Definition at line 145 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 132 of file joint_motion_handler.h.
Definition at line 127 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.