Task.java

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// -----------------------------------------------------------------------
// MLPI - <Task.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

import com.boschrexroth.mlpi.System.Language;



public class Task extends MlpiComponent {
  /*
   * Constants
   */

  /*
   * Enums
   */
  public enum TriggerEvent
  {
    TRIG_EVT_MOTION       (0),
    TRIG_EVT_SERCOS       (1);

    private int _code;
    int getCode() { return _code; }
    TriggerEvent(int code) { this._code = code; }
    static TriggerEvent valueOf(int code) {
      for (TriggerEvent value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  }

  public enum TriggerOption
  {
    TRIG_OPT_NO_CYCLIC_MOTION       (0),
    TRIG_OPT_NO_CYCLIC_SERCOS       (1),
    TRIG_OPT_IMMEDIATE_EXECUTION    (2),
    TRIG_OPT_NO_ERROR_REACTION      (3),
    TRIG_OPT_NO_WARNING             (4),
    TRIG_OPT_SYNCHRONOUS            (5);

    private int _code;
    int getCode() { return _code; }
    TriggerOption(int code) { this._code = code; }
    static TriggerOption valueOf(int code) {
      for (TriggerOption value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  }
  
  public enum TaskViewerState
  {
    TASK_VIEWER_STATE_STOPPED (0),
    TASK_VIEWER_STATE_RUNNING (1);

    private int _code;
    int getCode() { return _code; }
    TaskViewerState(int code) { this._code = code; }
    static TaskViewerState valueOf(int code) {
      for (TaskViewerState value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  }
  
  public enum TaskProcessState
  {
    PROCESS_STATUS_NOT_STARTED        (0),
    PROCESS_STATUS_INITIALIZATION     (32),
    PROCESS_STATUS_INWORK             (64),
    PROCESS_STATUS_FINISHED           (128),
    PROCESS_STATUS_ERROR              (256);
   
    private int _code;
    int getCode() { return _code; }
    TaskProcessState(int code) { this._code = code; }
    static TaskProcessState valueOf(int code) {
      for (TaskProcessState value : values()) {
        if (code == value.getCode()) return value;
      }
      return null;
    }
  }


  /*
   * Structs
   */
  public static class TriggerSetup
  {
    public TriggerOption  triggerOption;  
    public boolean        active;         
  };

  public static class Trigger
  {
    public TriggerEvent triggerEvent; 
    public boolean      active;       
    public int          numTriggers;  
  };


  /*
   * Methods
   */
  Task(MlpiHandle connection) {
    super(connection);
  }

  public native void setTriggerSetup(TriggerSetup[] triggerSetup);
  
  public native void getTriggerSetup(TriggerSetup[] tiggerSetup);
  
  public native void setTrigger(Trigger[] trigger);
  
  public native boolean getTrigger(Trigger[] trigger);
  
  public native void startTaskViewer();
  
  public native void stopTaskViewer();
  
  public native TaskViewerState getTaskViewerState();
  
  public native long executeFile(String path, String envArguments, String arguments);
  
  public native TaskProcessState executeGetStatus(long handle);
  
  public native long[] executeGetActive();
  
  public native void executeKill(long handle);
  
  public native String executeGetName(long handle);

}