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>
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... | |
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.
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.
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inlinevirtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 359 of file motoman_motion_reply.h.
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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.
src | (value to copy) |
Definition at line 166 of file motoman_motion_reply.cpp.
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inline |
Returns motion-control command.
Definition at line 229 of file motoman_motion_reply.h.
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Returns reply data.
idx | data-index to get |
Definition at line 304 of file motoman_motion_reply.h.
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Returns motion-control result code.
Definition at line 249 of file motoman_motion_reply.h.
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static |
Definition at line 84 of file motoman_motion_reply.cpp.
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Definition at line 325 of file motoman_motion_reply.h.
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Returns target robot/group # for this reply.
Definition at line 189 of file motoman_motion_reply.h.
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Returns motion-control reply's sequence number.
Definition at line 209 of file motoman_motion_reply.h.
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Returns motion-control result sub-code.
Definition at line 269 of file motoman_motion_reply.h.
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static |
Definition at line 107 of file motoman_motion_reply.cpp.
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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.
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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
Definition at line 177 of file motoman_motion_reply.cpp.
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inline |
Sets motion-control command (for reference)
command | motion-control command value |
Definition at line 219 of file motoman_motion_reply.h.
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Sets reply data.
idx | index to set |
val | data value |
Definition at line 289 of file motoman_motion_reply.h.
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Sets motion-control result code.
result | motion-control result code |
Definition at line 239 of file motoman_motion_reply.h.
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Sets robot_id.
robot_id | target robot/group # for this reply |
Definition at line 179 of file motoman_motion_reply.h.
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Sets motion-control reply's sequence number.
sequence | value |
Definition at line 199 of file motoman_motion_reply.h.
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inline |
Sets motion-control result sub-code.
result | motion-control result sub-code |
Definition at line 259 of file motoman_motion_reply.h.
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virtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 240 of file motoman_motion_reply.cpp.
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private |
Motion-control command (from corresponding MotionCtrl command)
Definition at line 380 of file motoman_motion_reply.h.
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Motion-control command data Contents of data-buffer are specific to each command.
Definition at line 401 of file motoman_motion_reply.h.
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staticprivate |
Maximum length (# of float elements) of data buffer.
Definition at line 395 of file motoman_motion_reply.h.
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Command result.
Definition at line 385 of file motoman_motion_reply.h.
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Robot/group ID. 0 = 1st robot.
Definition at line 370 of file motoman_motion_reply.h.
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Message-tracking number (from corresponding MotionCtrl command)
Definition at line 375 of file motoman_motion_reply.h.
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private |
Command result sub-code (more detailed status)
Definition at line 390 of file motoman_motion_reply.h.