56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
/*
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* MoveToPointWithTimeout.hh
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*
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* Created on: 8 июл. 2020 г.
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* Author: LeonidTitov
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*/
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#ifndef UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINTWITHTIMEOUT_HH_
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#define UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINTWITHTIMEOUT_HH_
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#include "MoveToPoint.hh"
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namespace technological { namespace function {
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class MoveToPointWithTimeout : public MoveToPoint {
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public:
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struct Setting {
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float retention_accuracy; //!<Точность достижения позиции.
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float on_position_timeout; //!<Время удержания заданного положения, с.
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float permit_speed_factor; //!<Допустимая скорость, отн.
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float permit_time; //!<Допустимое время, в секундах.
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Setting();
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bool isValid();
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};
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void configure( Setting & config );
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short getState() const;
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void stop();
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MoveToPointWithTimeout( ResourceKeeper< technological::adapter::TieInterface<vector::ITechValue> > & control_system_wrapper,
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ResourceKeeper<vector::ITechValue> & speed_limit,
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ResourceKeeper<vector::ITechValue> & torque_limit,
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ResourceKeeper<vector::ITechValue> & acc_limit
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);
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protected:
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virtual void on_start( Input & input, float start_point, systemic::time_t on_position_timeout );
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virtual void in_progress();
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private:
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systemic::Timer compite_timer;
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float permit_speed_factor;
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float permit_time;
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bool move_failure;
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};
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}}
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#endif /* UMLIBRARY_TECHNOLOGICAL_FUNCTION_MOVETOPOINTWITHTIMEOUT_HH_ */
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