#include <TxtVacuumGripperRobot.h>

Inheritance diagram for ft::TxtVacuumGripperRobot:

Collaboration diagram for ft::TxtVacuumGripperRobot:

[legend]

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

TxtWorkpiece *	reqWP_MPO

bool	reqHBWstored

bool	reqHBWfetched

bool	reqHBWcalib_nav

bool	reqHBWcalib_end

bool	reqSLDcalib_end

TxtWorkpiece *	reqWP_HBW

bool	reqSLDsorted

TxtWorkpiece	reqWP_SLD

TxtFactoryProcessStorage	proStorage

TxtVacuumGripperRobotObserver *	obs_vgr

TxtNfcDeviceObserver *	obs_nfc

TxtDeliveryPickupStationObserver *	obs_dps

Protected Attributes inherited from ft::TxtSimulationModel
ft::TxtMqttFactoryClient *	mqttclient

TxtSimulationModel_status_t	status

bool	active

TxtTransfer *	pT

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

enum ft::TxtVacuumGripperRobot::State_t

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

Implements ft::TxtSimulationModel.

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:

TxtVacuumGripperRobot.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation