TxtSmartFactoryLib  0.8.0
Smart Factory Library
ft::TxtVacuumGripperRobot Class Reference

#include <TxtVacuumGripperRobot.h>

Inheritance diagram for ft::TxtVacuumGripperRobot:
Collaboration diagram for ft::TxtVacuumGripperRobot:

Public Types

enum  State_t {
  __NO_STATE, FAULT, INIT, IDLE,
  FETCH_WP_VGR, VGR_WAIT_FETCHED, MOVE_VGR2MPO, START_PRODUCE,
  MOVE_PICKUP_WAIT, MOVE_PICKUP, START_DELIVERY, COLOR_DETECTION,
  WRONG_COLOR, NFC_RAW, NFC_PRODUCED, NFC_REJECTED,
  STORE_WP_VGR, STORE_WP, CALIB_HBW, CALIB_SLD,
  CALIB_DPS, CALIB_DPS_NEXT, CALIB_VGR, CALIB_VGR_NAV,
  CALIB_VGR_MOVE
}
 

Public Member Functions

const char * toString (State_t state)
 
void printState (State_t state)
 
void printEntryState (State_t state)
 
void printExitState (State_t state)
 
 TxtVacuumGripperRobot (TxtTransfer *pT, ft::TxtMqttFactoryClient *mqttclient=0)
 
virtual ~TxtVacuumGripperRobot ()
 
void requestQuit ()
 
void requestOrder (TxtWPType_t type)
 
void requestNfcRead ()
 
void requestNfcDelete ()
 
void requestExit (const std::string name)
 
void requestJoyBut (TxtJoysticksData jd)
 
void requestMPOstarted (TxtWorkpiece *wp)
 
void requestHBWcalib_nav ()
 
void requestHBWcalib_end ()
 
void requestSLDcalib_end ()
 
void requestHBWstored (TxtWorkpiece *wp)
 
void requestHBWfetched (TxtWorkpiece *wp)
 
void requestSLDsorted (TxtWPType_t type)
 
void stop ()
 
void moveRef ()
 
EncPos3 getPos3 ()
 
void moveJoystick ()
 
void moveXRef ()
 
void moveYRef ()
 
void moveZRef ()
 
void moveXEnd ()
 
void moveYEnd ()
 
void moveZEnd ()
 
void grip ()
 
void release ()
 
void moveDeliveryInAndGrip ()
 
void moveDeliveryOutAndRelease ()
 
void moveColorSensor (bool half=false)
 
void moveRefYNFC ()
 
void moveNFC ()
 
std::string nfcDeviceDeleteWriteRawRead (std::vector< int64_t > vts, uint8_t mask_ts)
 
std::string nfcDeviceWriteProducedRead (std::vector< int64_t > vts, uint8_t mask_ts)
 
std::string nfcDeviceWriteRejectedRead (std::vector< int64_t > vts, uint8_t mask_ts)
 
void moveWrongRelease ()
 
void moveToHBW ()
 
void moveFromHBW1 ()
 
void moveFromHBW2 ()
 
void moveMPO ()
 
void moveSSD1 ()
 
void moveSSD2 ()
 
void moveSSD3 ()
 
void setSpeed (int16_t s)
 
void setTarget (std::string t)
 
std::string getTarget ()
 
- Public Member Functions inherited from ft::TxtSimulationModel
 TxtSimulationModel (TxtTransfer *pT, ft::TxtMqttFactoryClient *mqttclient)
 
virtual ~TxtSimulationModel ()
 
TxtSimulationModel_status_t getStatus ()
 
bool isActive ()
 
bool startThread ()
 
bool stopThread ()
 
bool isThreadRunning ()
 
- Public Member Functions inherited from ft::SubjectObserver
 SubjectObserver ()
 
virtual ~SubjectObserver ()
 
virtual void Attach (Observer *)
 
virtual void Detach (Observer *)
 
virtual void Notify ()
 

Public Attributes

const int ydelta = 50
 
TxtAxis1RefSwitch axisX
 
TxtAxis1RefSwitch axisY
 
TxtAxis1RefSwitch axisZ
 
- Public Attributes inherited from ft::TxtSimulationModel
TxtSound sound
 

Protected Member Functions

void configInputs ()
 
void initDashboard ()
 
void move (const std::string pos3name, TxtVgrPosOrder_t order=VGRMOV_PTP)
 
void move (EncPos3 p3, TxtVgrPosOrder_t order=VGRMOV_PTP)
 
void move (uint16_t x, uint16_t y, uint16_t z, TxtVgrPosOrder_t order=VGRMOV_PTP)
 
void moveCalibPos ()
 
void run ()
 
- Protected Member Functions inherited from ft::TxtSimulationModel
void setStatus (TxtSimulationModel_status_t s)
 
void setActStatus (bool a, TxtSimulationModel_status_t s)
 

Protected Attributes

State_t currentState
 
State_t newState
 
TxtVgrCalibPos_t calibPos
 
TxtWPType_t calibColor
 
int calibColorValues [3]
 
EncPos3 lastPos3
 
TxtVacuumGripper vgripper
 
TxtVacuumGripperRobotCalibData calibData
 
std::string target
 
TxtDeliveryPickupStation dps
 
bool reqQuit
 
bool reqOrder
 
TxtWorkpiece reqWP_order
 
bool reqNfcRead
 
bool reqNfcDelete
 
TxtOrderState ord_state
 
TxtJoysticksData joyData
 
bool reqJoyData
 
bool reqMPOstarted
 
TxtWorkpiecereqWP_MPO
 
bool reqHBWstored
 
bool reqHBWfetched
 
bool reqHBWcalib_nav
 
bool reqHBWcalib_end
 
bool reqSLDcalib_end
 
TxtWorkpiecereqWP_HBW
 
bool reqSLDsorted
 
TxtWorkpiece reqWP_SLD
 
TxtFactoryProcessStorage proStorage
 
TxtVacuumGripperRobotObserverobs_vgr
 
TxtNfcDeviceObserverobs_nfc
 
TxtDeliveryPickupStationObserverobs_dps
 
- Protected Attributes inherited from ft::TxtSimulationModel
ft::TxtMqttFactoryClientmqttclient
 
TxtSimulationModel_status_t status
 
bool active
 
TxtTransferpT
 
volatile bool m_stoprequested
 
volatile bool m_running
 
pthread_mutex_t m_mutex
 
pthread_t m_thread
 

Friends

class TxtJoystickXYBController
 

Additional Inherited Members

- Static Protected Member Functions inherited from ft::TxtSimulationModel
static void * start_thread (void *obj)
 

Member Enumeration Documentation

Enumerator
__NO_STATE 
FAULT 
INIT 
IDLE 
FETCH_WP_VGR 
VGR_WAIT_FETCHED 
MOVE_VGR2MPO 
START_PRODUCE 
MOVE_PICKUP_WAIT 
MOVE_PICKUP 
START_DELIVERY 
COLOR_DETECTION 
WRONG_COLOR 
NFC_RAW 
NFC_PRODUCED 
NFC_REJECTED 
STORE_WP_VGR 
STORE_WP 
CALIB_HBW 
CALIB_SLD 
CALIB_DPS 
CALIB_DPS_NEXT 
CALIB_VGR 
CALIB_VGR_NAV 
CALIB_VGR_MOVE 

Constructor & Destructor Documentation

ft::TxtVacuumGripperRobot::TxtVacuumGripperRobot ( TxtTransfer pT,
ft::TxtMqttFactoryClient mqttclient = 0 
)
virtual ft::TxtVacuumGripperRobot::~TxtVacuumGripperRobot ( )
virtual

Member Function Documentation

void ft::TxtVacuumGripperRobot::configInputs ( )
protected
EncPos3 ft::TxtVacuumGripperRobot::getPos3 ( )
inline
std::string ft::TxtVacuumGripperRobot::getTarget ( )
inline
void ft::TxtVacuumGripperRobot::grip ( )
inline
void ft::TxtVacuumGripperRobot::initDashboard ( )
protected
void ft::TxtVacuumGripperRobot::move ( const std::string  pos3name,
TxtVgrPosOrder_t  order = VGRMOV_PTP 
)
protected
void ft::TxtVacuumGripperRobot::move ( EncPos3  p3,
TxtVgrPosOrder_t  order = VGRMOV_PTP 
)
inlineprotected
void ft::TxtVacuumGripperRobot::move ( uint16_t  x,
uint16_t  y,
uint16_t  z,
TxtVgrPosOrder_t  order = VGRMOV_PTP 
)
protected
void ft::TxtVacuumGripperRobot::moveCalibPos ( )
protected
void ft::TxtVacuumGripperRobot::moveColorSensor ( bool  half = false)
void ft::TxtVacuumGripperRobot::moveDeliveryInAndGrip ( )
void ft::TxtVacuumGripperRobot::moveDeliveryOutAndRelease ( )
void ft::TxtVacuumGripperRobot::moveFromHBW1 ( )
void ft::TxtVacuumGripperRobot::moveFromHBW2 ( )
void ft::TxtVacuumGripperRobot::moveJoystick ( )
void ft::TxtVacuumGripperRobot::moveMPO ( )
void ft::TxtVacuumGripperRobot::moveNFC ( )
void ft::TxtVacuumGripperRobot::moveRef ( )
void ft::TxtVacuumGripperRobot::moveRefYNFC ( )
void ft::TxtVacuumGripperRobot::moveSSD1 ( )
void ft::TxtVacuumGripperRobot::moveSSD2 ( )
void ft::TxtVacuumGripperRobot::moveSSD3 ( )
void ft::TxtVacuumGripperRobot::moveToHBW ( )
void ft::TxtVacuumGripperRobot::moveWrongRelease ( )
void ft::TxtVacuumGripperRobot::moveXEnd ( )
void ft::TxtVacuumGripperRobot::moveXRef ( )
void ft::TxtVacuumGripperRobot::moveYEnd ( )
void ft::TxtVacuumGripperRobot::moveYRef ( )
void ft::TxtVacuumGripperRobot::moveZEnd ( )
void ft::TxtVacuumGripperRobot::moveZRef ( )
std::string ft::TxtVacuumGripperRobot::nfcDeviceDeleteWriteRawRead ( std::vector< int64_t >  vts,
uint8_t  mask_ts 
)
std::string ft::TxtVacuumGripperRobot::nfcDeviceWriteProducedRead ( std::vector< int64_t >  vts,
uint8_t  mask_ts 
)
std::string ft::TxtVacuumGripperRobot::nfcDeviceWriteRejectedRead ( std::vector< int64_t >  vts,
uint8_t  mask_ts 
)
void ft::TxtVacuumGripperRobot::printEntryState ( State_t  state)
inline
void ft::TxtVacuumGripperRobot::printExitState ( State_t  state)
inline
void ft::TxtVacuumGripperRobot::printState ( State_t  state)
inline
void ft::TxtVacuumGripperRobot::release ( )
inline
void ft::TxtVacuumGripperRobot::requestExit ( const std::string  name)
inline
void ft::TxtVacuumGripperRobot::requestHBWcalib_end ( )
inline
void ft::TxtVacuumGripperRobot::requestHBWcalib_nav ( )
inline
void ft::TxtVacuumGripperRobot::requestHBWfetched ( TxtWorkpiece wp)
inline
void ft::TxtVacuumGripperRobot::requestHBWstored ( TxtWorkpiece wp)
inline
void ft::TxtVacuumGripperRobot::requestJoyBut ( TxtJoysticksData  jd)
inline
void ft::TxtVacuumGripperRobot::requestMPOstarted ( TxtWorkpiece wp)
inline
void ft::TxtVacuumGripperRobot::requestNfcDelete ( )
inline
void ft::TxtVacuumGripperRobot::requestNfcRead ( )
inline
void ft::TxtVacuumGripperRobot::requestOrder ( TxtWPType_t  type)
inline
void ft::TxtVacuumGripperRobot::requestQuit ( )
inline
void ft::TxtVacuumGripperRobot::requestSLDcalib_end ( )
inline
void ft::TxtVacuumGripperRobot::requestSLDsorted ( TxtWPType_t  type)
inline
void ft::TxtVacuumGripperRobot::run ( )
protectedvirtual
void ft::TxtVacuumGripperRobot::setSpeed ( int16_t  s)
void ft::TxtVacuumGripperRobot::setTarget ( std::string  t)
inline
void ft::TxtVacuumGripperRobot::stop ( )
const char* ft::TxtVacuumGripperRobot::toString ( State_t  state)
inline

Friends And Related Function Documentation

friend class TxtJoystickXYBController
friend

Member Data Documentation

TxtAxis1RefSwitch ft::TxtVacuumGripperRobot::axisX
TxtAxis1RefSwitch ft::TxtVacuumGripperRobot::axisY
TxtAxis1RefSwitch ft::TxtVacuumGripperRobot::axisZ
TxtWPType_t ft::TxtVacuumGripperRobot::calibColor
protected
int ft::TxtVacuumGripperRobot::calibColorValues[3]
protected
TxtVacuumGripperRobotCalibData ft::TxtVacuumGripperRobot::calibData
protected
TxtVgrCalibPos_t ft::TxtVacuumGripperRobot::calibPos
protected
State_t ft::TxtVacuumGripperRobot::currentState
protected
TxtDeliveryPickupStation ft::TxtVacuumGripperRobot::dps
protected
TxtJoysticksData ft::TxtVacuumGripperRobot::joyData
protected
EncPos3 ft::TxtVacuumGripperRobot::lastPos3
protected
State_t ft::TxtVacuumGripperRobot::newState
protected
TxtDeliveryPickupStationObserver* ft::TxtVacuumGripperRobot::obs_dps
protected
TxtNfcDeviceObserver* ft::TxtVacuumGripperRobot::obs_nfc
protected
TxtVacuumGripperRobotObserver* ft::TxtVacuumGripperRobot::obs_vgr
protected
TxtOrderState ft::TxtVacuumGripperRobot::ord_state
protected
TxtFactoryProcessStorage ft::TxtVacuumGripperRobot::proStorage
protected
bool ft::TxtVacuumGripperRobot::reqHBWcalib_end
protected
bool ft::TxtVacuumGripperRobot::reqHBWcalib_nav
protected
bool ft::TxtVacuumGripperRobot::reqHBWfetched
protected
bool ft::TxtVacuumGripperRobot::reqHBWstored
protected
bool ft::TxtVacuumGripperRobot::reqJoyData
protected
bool ft::TxtVacuumGripperRobot::reqMPOstarted
protected
bool ft::TxtVacuumGripperRobot::reqNfcDelete
protected
bool ft::TxtVacuumGripperRobot::reqNfcRead
protected
bool ft::TxtVacuumGripperRobot::reqOrder
protected
bool ft::TxtVacuumGripperRobot::reqQuit
protected
bool ft::TxtVacuumGripperRobot::reqSLDcalib_end
protected
bool ft::TxtVacuumGripperRobot::reqSLDsorted
protected
TxtWorkpiece* ft::TxtVacuumGripperRobot::reqWP_HBW
protected
TxtWorkpiece* ft::TxtVacuumGripperRobot::reqWP_MPO
protected
TxtWorkpiece ft::TxtVacuumGripperRobot::reqWP_order
protected
TxtWorkpiece ft::TxtVacuumGripperRobot::reqWP_SLD
protected
std::string ft::TxtVacuumGripperRobot::target
protected
TxtVacuumGripper ft::TxtVacuumGripperRobot::vgripper
protected
const int ft::TxtVacuumGripperRobot::ydelta = 50

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