Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- trigger [2020/02/20 09:07] – [Trigger] oliver
+++ trigger [2021/02/09 15:23] (aktuell) – [Trigger SPI] oliver
@@ Zeile 21: / Zeile 21: @@
      * Initialisation of the trigger implementation functionality.
      *
-     * This method is invoked, if the desktop application starts and
+     * This method is invoked, befor recording is started with the trial type the trigger
+     * is configured and
      * - if the trigger functionality is activated in the trigger options panel
      * - maybe further explicitly by an init-button in the trigger options panel.
@@ Zeile 75: / Zeile 76: @@
      */
     public PropertyGroup nextCycle() throws ExecutionException;
+    /**
+     *
+     * Used to close a robot program before loading a new one.
+     *
+     * @return
+     *
+     */
+     public boolean close();
 }
 </code>
@@ Zeile 83: / Zeile 93: @@
 A trigger implementation is used only, if it is included in a trial type. To do this a property group with the name of the trigger must be included into the trial type configuration. This property group can include implementation specific properties to config the trigger.
+<code xml>
+...
+<TrialType name="takeover" duration="2"
+              labelset="Input.xml" measurementSystemConfigIds="default">
+  <PropertyGroup name="ROSTrigger">
+        <!-- ROS trigger specific properties-->
+        <Property name="robot_cmd_node_name" value="robot_command_server"/>
+        <Property name="robot_cmd_service_name" value="robotCommand"/>
+        <Property name="nextcycle_cmd_node_name" value="robot_nextcycle"/>
+        <Property name="nextcycle_cmd_service_name" value="nextCycle"/>
+  </PropertyGroup>
+  ...
+</code>
+It is possible to use more than one trigger for a trial type.
 ===== Generic Options of the triggering functionality =====
 Generic configuration of the trigger functionality can be done via the options dialog in the misceleanous tab.