MotionHandler Class Reference

Manages the execution of motion commands asynchronously. More...

#include <motion_handler.h>

Public Member Functions
	MotionHandler ()
	Construct a new MotionHandler object.
void	enqueue (std::function< void()> motion, bool async)
	Enqueue a new motion function.
void	cancelAll ()
	Cancel all pending motions in the queue.
void	waitUntilDone ()
	Wait until all queued motions have finished executing.
void	cancelMotion ()
	Cancel the currently executing motion.
bool	isInMotion ()
	Check if the handler is currently executing a motion.
uint32_t	getLastEnqueuedId () const
	Get the ID of the last enqueued motion.
uint32_t	getCurrentRunningId () const
	Get the ID of the currently running motion.
bool	isQueueEmpty ()
	Check if the motion queue is empty.
void	setOnMotionStart (std::function< void()> callback)
	Set a callback that is executed whenever a new motion starts.

Friends
void	motionHandlerTask (void *param)

Detailed Description

Manages the execution of motion commands asynchronously.

The MotionHandler class allows queueing of movement commands, which are executed in a separate PROS task. This permits asynchronous operation without blocking the main control loop.

Definition at line 15 of file motion_handler.h.

Constructor & Destructor Documentation

MotionHandler()

MotionHandler::MotionHandler

(

)

Construct a new MotionHandler object.

Member Function Documentation

enqueue()

void MotionHandler::enqueue	(	std::function< void()>	motion,
		bool	async
	)

Enqueue a new motion function.

Parameters

motion	The function to execute.
async	If false, waits until the motion is done before returning.

cancelAll()

void MotionHandler::cancelAll

(

)

Cancel all pending motions in the queue.

waitUntilDone()

void MotionHandler::waitUntilDone

(

)

Wait until all queued motions have finished executing.

cancelMotion()

void MotionHandler::cancelMotion

(

)

Cancel the currently executing motion.

isInMotion()

bool MotionHandler::isInMotion

(

)

Check if the handler is currently executing a motion.

Returns

true if a motion is currently running, false otherwise.

getLastEnqueuedId()

uint32_t MotionHandler::getLastEnqueuedId ( ) const

inline

Get the ID of the last enqueued motion.

Returns

uint32_t The ID of the last motion.

Definition at line 57 of file motion_handler.h.

getCurrentRunningId()

uint32_t MotionHandler::getCurrentRunningId ( ) const

inline

Get the ID of the currently running motion.

Returns

uint32_t The ID of the currently running motion.

Definition at line 64 of file motion_handler.h.

isQueueEmpty()

bool MotionHandler::isQueueEmpty ( )

inline

Check if the motion queue is empty.

Returns

true if the queue is empty, false otherwise.

Definition at line 71 of file motion_handler.h.

setOnMotionStart()

void MotionHandler::setOnMotionStart ( std::function< void()>  callback )

inline

Set a callback that is executed whenever a new motion starts.

Parameters

callback

The callback function.

Definition at line 83 of file motion_handler.h.

Friends And Related Symbol Documentation

motionHandlerTask

void motionHandlerTask ( void *  param )

friend