PlannerTime (FB) ¶ FUNCTION_BLOCK PUBLIC FINAL PlannerTime Computes the planner time for a bus task cycle. The planner time is the time of the bus task cycle relative to the current planner position. InOut: Scope Name Type Comment Output nTrajectory TrajectoryId The trajectory that is currently planned. Methods: GetPlannerTime Init IsActive OnNewSafeTrajectory OnSamplesPlanned OnTrajectoryDone Reset SetBusTaskCounter SetIdle SetIpoStart Structure: GetPlannerTime (Method) Init (Method) IsActive (Method) OnNewSafeTrajectory (Method) OnSamplesPlanned (Method) OnTrajectoryDone (Method) Reset (Method) SetBusTaskCounter (Method) SetIdle (Method) SetIpoStart (Method)
PlannerTime.GetPlannerTime (METH) ¶ METHOD FINAL GetPlannerTime : LREAL Returns the time of the bus task counter, expressed relative to the time of the planner position. The time of the planner position is the point in time when the planner position will be interpolated by the axis group. InOut: Scope Name Type Comment Input busTaskCycleRef ULINT The cycle of the bus task which is the reference for the planner time. Return GetPlannerTime LREAL
PlannerTime.OnSamplesPlanned (METH) ¶ METHOD FINAL OnSamplesPlanned InOut: Scope Name Type Input duration LREAL
PlannerTime.OnTrajectoryDone (METH) ¶ METHOD FINAL OnTrajectoryDone InOut: Scope Name Type Input bEndOfSegment BOOL
PlannerTime.SetIpoStart (METH) ¶ METHOD FINAL SetIpoStart InOut: Scope Name Type Input busTaskCounterStartIpo ULINT trajectoryStartIpo TrajectoryId
PlannerTime.SetBusTaskCounter (METH) ¶ METHOD FINAL SetBusTaskCounter InOut: Scope Name Type Input busTaskCounterLastCall ULINT missingIpoBufDuration LREAL
PlannerTime.SetIdle (METH) ¶ METHOD FINAL SetIdle
PlannerTime.Init (METH) ¶ METHOD FINAL Init InOut: Scope Name Type Input planningInterval LREAL busTaskInterval LREAL
PlannerTime.IsActive (METH) ¶ METHOD FINAL IsActive : BOOL Indicates whether the function block is currently active or waiting for the next trajectory to begin. InOut: Scope Name Type Return IsActive BOOL
PlannerTime.OnNewSafeTrajectory (METH) ¶ METHOD OnNewSafeTrajectory InOut: Scope Name Type Input elemType GeoPrimType isEndOfPath BOOL