CommandWorker Class Reference

#include <command_worker.h>

Public Member Functions
	CommandWorker (VirtualDeviceManager &vdm, Notifier &notifier, IncomingMachineMessage &incoming_machine_message)
void	run ()
	Execute the Command Worker. More...
MachineMessage::Protocol	get_protocol () const
	Get the protocol of the client that has sent the request (command) Command Worker is working on. More...
const std::string &	get_connection_id () const
	Get the ID of the client that has sent the request (command) Command Worker is working on. More...
moodycamel::ReaderWriterQueue< motionmaster::MotionMasterMessage > &	get_status_queue ()
	Get all of the Status messages meant for the client. More...
bool	is_done ()
	Check if the Command Worker is done processing the request (command) More...
MotionMasterError	get_error ()
	Get the current error (if any) More...
void	abort_motion_operations ()

Constructor & Destructor Documentation

CommandWorker()

CommandWorker::CommandWorker	(	VirtualDeviceManager &	vdm,
		Notifier &	notifier,
		IncomingMachineMessage &	incoming_machine_message
	)

Member Function Documentation

abort_motion_operations()

void CommandWorker::abort_motion_operations

(

)

get_connection_id()

const std::string & CommandWorker::get_connection_id

(

)

const

Get the ID of the client that has sent the request (command) Command Worker is working on.

Returns

the client id

get_error()

MotionMasterError CommandWorker::get_error

(

)

Get the current error (if any)

Returns

current error if any

get_protocol()

MachineMessage::Protocol CommandWorker::get_protocol

(

)

const

Get the protocol of the client that has sent the request (command) Command Worker is working on.

Returns

the client protocol

get_status_queue()

moodycamel::ReaderWriterQueue< motionmaster::MotionMasterMessage > & CommandWorker::get_status_queue

(

)

Get all of the Status messages meant for the client.

Returns

moodycamel::ReaderWriterQueue of (protobuf) Status messages

is_done()

bool CommandWorker::is_done

(

)

Check if the Command Worker is done processing the request (command)

Returns

true if done, false otherwise

run()

void CommandWorker::run

(

)

Execute the Command Worker.

Attention

Filter out all of the internal PDO mapping placeholders when sending the parameter info to the clients

All of the internal PDO mapping OD entries have exactly 10 entries, but most of them are placeholders in order to enable Motion Master to manipulate them. Since they actually do not exist on the slave side, if a PDO mapping OD entry at subindex 0 is set to a value less than 10, only send that many parameters back to the client.

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

• apps/motion_master/command_worker.h
• apps/motion_master/command_worker.cc