#include <until_node.h>

Inheritance diagram for arcs::aubo_scope::UntilNode:

Collaboration diagram for arcs::aubo_scope::UntilNode:

Public Types
enum	ConfigType : short { EXPRESSION, TOOL_CONTACT, IO_INPUT, DISTANCE, REACHED_WAYPOINT, NONE_CONFIG_TYPE }
	The configuration type used to determine which type of configuration this instance is. More...

enum	CompareOperator : int { LESS_THAN, GREATER_THAN }
	Compare operator types LESS_THAN and GREATER_THAN used when waiting for an analog input to go lower or higher, respectively, than a threshold. More...

enum	BlendParameterType { NO_BLEND, CUSTOM_BLEND }
	Blend Parameters can be of different types The parameter type is used to determine the explicit blend parameters (can be used in place of instanceof operations). More...

enum	CustomDecelerationParameterType { Unknown, Angular, Cartesian }

enum	DecelerationParameterType { SHARED_DECELERATION, CUSTOM_DECELERATION }
	The deceleration parameter type used to determine which type of deceleration parameter this instance is. More...

enum	IOInputSelectionType { NONE_INPUT_SELECT, DIGITAL_INPUT, ANALOG_INPUT, FLOAT_REGISTER_INPUT }
	The type of the input selection. More...

Public Member Functions
	UntilNode (UntilNode &f)

	UntilNode (UntilNode &&f)

virtual	~UntilNode ()

ConfigType	getConfigType ()
	This method returns the type of configuration. More...

void	setConfigType (ConfigType type)

BlendParameterType	getBlendParameterType ()

void	setBlendParameterType (BlendParameterType type)

void	setWaypointBlendParameter (double suggested_blend)
	Creates blend parameters for an Until node. More...

double	getWaypointBlendParameter ()

DecelerationParameterType	getDecelerationParameterType ()

void	setDecelerationParameterType (DecelerationParameterType type)

void	setDecelerationParameters (double deceleration)

double	getDecelerationParameters ()

CustomDecelerationParameterType	getCustomDecelerationParameterType ()

void	setCustomDecelerationParameterType (CustomDecelerationParameterType type)

double	getAngularDeceleration ()
	The rate at which to decelerate when the until condition is met. More...

void	setAngularDeceleration (double dec)

double	getCartesianDeceleration ()
	The rate at which to decelerate when the until condition is met. More...

void	setCartesianDeceleration (double dec)

void	setExpressionConfig (ExpressionPtr expression)

ExpressionPtr	getExpressionConfig ()

double	getDistance ()
	The distance the robot will travel. More...

void	setDistance (double dis)

IOInputSelectionType	getIOInputSelectionType ()

void	setIOInputSelectionType (IOInputSelectionType type)

void	setDigitalInputValueToProceed (bool value_to_proceed_until)
	Creates an I/O Input configuration for an Until node. More...

bool	getDigitalInputValueToProceed ()

void	setAnalogInputValueToProceed (double value)
	Creates an I/O Input configuration for an Until node. More...

double	getAnalogInputValueToProceed ()

void	setCompareOperator (CompareOperator compare_operator)

CompareOperator	getCompareOperator ()

Public Member Functions inherited from arcs::aubo_scope::ProgramNode
	ProgramNode (ProgramNode &f)

	ProgramNode (ProgramNode &&f)

virtual	~ProgramNode ()

ProgramNodeContributionPtr	getProgramNodeContribution ()
	不推荐用户调用 ProgramNodeContribution::generateScript 使用 ScriptWritter::writeChildren More...

Private Member Functions
	UntilNode ()

Private Attributes
void *	d_ { nullptr }

Friends
class	DataSwitch

Additional Inherited Members
Protected Member Functions inherited from arcs::aubo_scope::ProgramNode
	ProgramNode ()

Detailed Description

The Until node is a type of program node that must be under a Waypoint node or Direction node.

It has special behavior when calling TreeNode#addChild(ProgramNode) and TreeNode#removeChild(TreeNode). Until nodes by default are leaf nodes, however they can have actions added to them. When that happens they are transformed into branch nodes that allow child nodes. When the last child is removed they become leaf nodes again. This is all automatically handled when TreeNode#addChild(ProgramNode) and TreeNode#removeChild(TreeNode) are called.

Definition at line 28 of file until_node.h.

Member Enumeration Documentation

enum arcs::aubo_scope::UntilNode::BlendParameterType

Blend Parameters can be of different types The parameter type is used to determine the explicit blend parameters (can be used in place of instanceof operations).

Enumerator

NO_BLEND

The robot arm will stop without performing a blend.

CUSTOM_BLEND

Custom blend has been selected.

The blend instance can be cast to CustomBlendParameters.

Definition at line 108 of file until_node.h.

enum arcs::aubo_scope::UntilNode::CompareOperator : int

Compare operator types LESS_THAN and GREATER_THAN used when waiting for an analog input to go lower or higher, respectively, than a threshold.

Enumerator
LESS_THAN
GREATER_THAN

Definition at line 97 of file until_node.h.

enum arcs::aubo_scope::UntilNode::ConfigType : short

The configuration type used to determine which type of configuration this instance is.

Enumerator
EXPRESSION	An Until node where the until condition is true once the evaluation of an expression is true. The config instance can be cast to ExpressionUntilNodeConfig.
TOOL_CONTACT	An Until node where the until condition is true once an impact on the Tool is detected. This functionality is not supported by the API.
IO_INPUT	An Until node where the until condition is true once a given I/O reaches a certain value. The config can be cast to IOInputUntilNodeConfig.
DISTANCE	An Until node where the until condition is true once a given distance is reached. The config can be cast to DistanceUntilNodeConfig.
REACHED_WAYPOINT	An Until node where the until condition is true once its parent Waypoint is reached. The config can be cast to ReachedWaypointUntilNodeConfig.
NONE_CONFIG_TYPE	An undefined Until node with no type set yet.

Definition at line 35 of file until_node.h.

enum arcs::aubo_scope::UntilNode::CustomDecelerationParameterType

Enumerator
Unknown	This deceleration was either created specifying values for both AngularAcceleration and Acceleration and/or is in use in an Until node that is not yet in the program tree.
Angular	This deceleration is currently used under a MoveJ node.
Cartesian	This deceleration is currently used under a MoveL or MoveP node.

Definition at line 126 of file until_node.h.

enum arcs::aubo_scope::UntilNode::DecelerationParameterType

The deceleration parameter type used to determine which type of deceleration parameter this instance is.

Enumerator

SHARED_DECELERATION

Shared deceleration has been selected.

The acceleration values from the parent Move node will be used as deceleration (absolute value).

CUSTOM_DECELERATION

Custom deceleration has been selected.

This instance can be cast to CustomDecelerationParameters.

Definition at line 151 of file until_node.h.

enum arcs::aubo_scope::UntilNode::IOInputSelectionType

The type of the input selection.

Enumerator
NONE_INPUT_SELECT	The node is not fully configured.
DIGITAL_INPUT	Digital input is selected. The config instance can be cast to DigitalInputUntilNodeConfig.
ANALOG_INPUT	Analog input is selected. The config instance can be cast to AnalogInputUntilNodeConfig.
FLOAT_REGISTER_INPUT	A float input register is selected. The config instance can be cast to FloatRegisterInputUntilNodeConfig.

Definition at line 172 of file until_node.h.

Constructor & Destructor Documentation

arcs::aubo_scope::UntilNode::UntilNode ( UntilNode & f )

arcs::aubo_scope::UntilNode::UntilNode ( UntilNode && f )

virtual arcs::aubo_scope::UntilNode::~UntilNode ( )

virtual

arcs::aubo_scope::UntilNode::UntilNode ( )

private

Member Function Documentation

double arcs::aubo_scope::UntilNode::getAnalogInputValueToProceed ( )

double arcs::aubo_scope::UntilNode::getAngularDeceleration ( )

The rate at which to decelerate when the until condition is met.

Returns: the specified angular deceleration of the until node (absolute value).

BlendParameterType arcs::aubo_scope::UntilNode::getBlendParameterType ( )

double arcs::aubo_scope::UntilNode::getCartesianDeceleration ( )

The rate at which to decelerate when the until condition is met.

Returns: the specified Cartesian deceleration of the until node (absolute value).

CompareOperator arcs::aubo_scope::UntilNode::getCompareOperator ( )

ConfigType arcs::aubo_scope::UntilNode::getConfigType ( )

This method returns the type of configuration.

Cast this instance appropriately to have access to specific getters.

Returns: the type of this config.

CustomDecelerationParameterType arcs::aubo_scope::UntilNode::getCustomDecelerationParameterType ( )

Returns: the deceleration type. This can change depending on the Move node type above the Until node.

double arcs::aubo_scope::UntilNode::getDecelerationParameters ( )

DecelerationParameterType arcs::aubo_scope::UntilNode::getDecelerationParameterType ( )

bool arcs::aubo_scope::UntilNode::getDigitalInputValueToProceed ( )

double arcs::aubo_scope::UntilNode::getDistance ( )

The distance the robot will travel.

Returns: The distance.

ExpressionPtr arcs::aubo_scope::UntilNode::getExpressionConfig ( )

IOInputSelectionType arcs::aubo_scope::UntilNode::getIOInputSelectionType ( )

double arcs::aubo_scope::UntilNode::getWaypointBlendParameter ( )

void arcs::aubo_scope::UntilNode::setAnalogInputValueToProceed ( double value )

Creates an I/O Input configuration for an Until node.

The until condition for this configuration is true once the the signal value of a given analog input goes past a specified electric Current threshold.

Parameters

input	the analog input whose signal value will determine whether the until condition is met, not `null`.
compareOperator	the operator to use when comparing the signal value of the selected analog input to the threshold value, not `null`. Available options are "less than" ({ <}) or "greater than" ({ >}).
currentThreshold	the electric Current threshold for the signal value of the analog input. Execution will proceed until the signal value of the selected analog input goes past this threshold.
errorHandler	the error handler for validation errors. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid current value.

Returns: the Until node configuration.

Exceptions

IllegalArgumentException if input is an output (does not support reading of values). See IO#isInput().

void arcs::aubo_scope::UntilNode::setAngularDeceleration ( double dec )

void arcs::aubo_scope::UntilNode::setBlendParameterType ( BlendParameterType type )

void arcs::aubo_scope::UntilNode::setCartesianDeceleration ( double dec )

void arcs::aubo_scope::UntilNode::setCompareOperator ( CompareOperator compare_operator )

void arcs::aubo_scope::UntilNode::setConfigType ( ConfigType type )

void arcs::aubo_scope::UntilNode::setCustomDecelerationParameterType ( CustomDecelerationParameterType type )

void arcs::aubo_scope::UntilNode::setDecelerationParameters ( double deceleration )

Creates deceleration parameter for an Until node. Can be used in an Expression configuration type.

An angular deceleration is used when the type of the parent Move node is a MoveJ, whereas a Cartesian deceleration is used when the move type is a MoveL or MoveP.

Parameters

deceleration	the angular deceleration (the value for the Cartesian deceleration will be the default value that AuboScope uses), not `null`.
decelerationErrorHandler	error handler for handling validation. If using ErrorHandler#AUTO_CORRECT this will clamp the value to the nearest valid angular deceleration value.

Returns: the deceleration parameter for the Until node.

void arcs::aubo_scope::UntilNode::setDecelerationParameterType ( DecelerationParameterType type )

void arcs::aubo_scope::UntilNode::setDigitalInputValueToProceed ( bool value_to_proceed_until )

Creates an I/O Input configuration for an Until node.

The until condition for this configuration is true once the signal value of a given digital input goes HIGH or LOW.

Parameters

input	the digital input whose signal value will determine whether the until condition is met, not `null`.
valueToProceedUntil	`true`, if the until condition is met when the input signal value goes HIGH, `false` otherwise (condition met when signal value is LOW).

Returns: the Until node configuration.

Exceptions

IllegalArgumentException if input is an output (does not support reading of values). See IO#isInput().

void arcs::aubo_scope::UntilNode::setDistance ( double dis )

void arcs::aubo_scope::UntilNode::setExpressionConfig ( ExpressionPtr expression )

Creates an Expression configuration for an Until node with an expression and default value for the deceleration parameter. The until condition for this configuration is true once the evaluation of the expression is true.

Note that this default value may change between AuboScope versions.

Parameters

expression the expression whose evaluation will determine whether the until condition is met.

Returns: the Until node configuration.

void arcs::aubo_scope::UntilNode::setIOInputSelectionType ( IOInputSelectionType type )

void arcs::aubo_scope::UntilNode::setWaypointBlendParameter ( double suggested_blend )

Creates blend parameters for an Until node.

Can be used in a Distance configuration type.

Parameters

suggestedBlend This blend value may be (automatically) corrected depending on the value of the distance parameter the Distance configuration.

Returns: the blend parameters for the Until node.

Friends And Related Function Documentation

friend class DataSwitch

friend

Definition at line 364 of file until_node.h.

Member Data Documentation

void* arcs::aubo_scope::UntilNode::d_ { nullptr }

private

Definition at line 366 of file until_node.h.

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

include/aubo_caps/domain/program/nodes/builtin/until_node.h

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation