60 lines
2.0 KiB
C++
60 lines
2.0 KiB
C++
/*
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* MoveToPointWithTimeout.hh
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*
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* Created on: 8 èþë. 2020 ã.
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* Author: LeonidTitov
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*/
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#ifndef UMLIBRARY_APPLICATION_PROCEDURES_MOVETOPOINTWITHTIMEOUT_HH_
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#define UMLIBRARY_APPLICATION_PROCEDURES_MOVETOPOINTWITHTIMEOUT_HH_
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#include "../ISetupStep.hh"
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#include "../../technological/function/MoveToPointWithTimeout.hh"
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#include <exception>
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namespace application { namespace procedures {
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struct MoveToPointWithTimeout : public ISetupStep {
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static const Environment::Id provider = 0;
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ResourceKeeper< technological::adapter::TieInterface<vector::ITechValue> > * control_system = nullptr;
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ResourceKeeper<vector::ITechValue> * speed_limit = nullptr;
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ResourceKeeper<vector::ITechValue> * torque_limit = nullptr;
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ResourceKeeper<vector::ITechValue> * acc_limit = nullptr;
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systemic::Parameter<technological::function::MoveToPointWithTimeout> parameter;
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bool input( Environment & env );
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void build( Environment & env );
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struct Links {
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Environment::Id positioning_control; //!<Ñèñòåìà óïðàâëåíèÿ ïîçèöèåé.
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Environment::Id speed_limit; //!<Îãðàíè÷åíèå ñêîðîñòè.
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Environment::Id torque_limit; //!<Îãðàíè÷åíèå óñèëèÿ.
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Environment::Id acceleration_limit; //!<Îãðàíè÷åíèå óñêîðåíèÿ.
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Environment::SettingId conditions; //!<Òî÷íîñòü îöåíêöè óñëîâèÿ ãðàíèöè äèàïîçîíà ïîèñêà.
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Environment::TechFunctionId procedure; //!<Ïðîöåäóðà âûïîëíÿþùàÿ ïîèñê òî÷êè â êîòîðîé âûïîëíÿåòñÿ óñëîâèå.
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Environment::StatusId size_error; //!<Îøèáêà çàïóñêà: íåâàëèäíûé ðàçìåð.
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Environment::StatusId invalid_input; //!<Îøèáêà çàïóñêà: íåâàëèäíûå çíà÷åíèÿ.
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Environment::StatusId control_system_busy; //!<Îøèáêà çàïóñêà: ñèñòåìà óïðàâëåíèÿ çàíÿòà.
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};
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const Links & links;
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const configuration::ProcessConfig & params;
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MoveToPointWithTimeout( const Links & links, const configuration::ProcessConfig & params ) : links(links), params(params) {}
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};
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}}
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#endif /* UMLIBRARY_APPLICATION_PROCEDURES_MOVETOPOINTWITHTIMEOUT_HH_ */
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