Class SmartComponentCodeBehind

Base class for code-behind that implements behavior of a SmartComponent.

Inheritance

object

SmartComponentCodeBehind

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public abstract class SmartComponentCodeBehind

Remarks

If the derived class implements IDisposable, Dispose() will be called when the object is no longer needed. If PerInstanceCodeBehind is true, this is when the corresponding Smart Component is deleted. Otherwise it is called when all Smart Components that use this code-behind class have been deleted.

Constructors

SmartComponentCodeBehind()

Declaration

protected SmartComponentCodeBehind()

Methods

OnIOSignalValueChanged(SmartComponent, IOSignal)

Called when the value of an I/O signal changes.

Declaration

public virtual void OnIOSignalValueChanged(SmartComponent component, IOSignal changedSignal)

Parameters

Type	Name	Description
SmartComponent	component	Component that owns the changed signal.
IOSignal	changedSignal	Changed signal.

OnInitialize(SmartComponent)

Called from InitializeCodeBehind().

Declaration

public virtual void OnInitialize(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Smart Component

OnLibraryReplaced(SmartComponent)

Called if the library containing the SmartComponent has been replaced

Declaration

public virtual void OnLibraryReplaced(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Smart Component

OnLoad(SmartComponent)

Called when the library or station containing the SmartComponent has been loaded

Declaration

public virtual void OnLoad(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Smart Component

OnPropertyValueChanged(SmartComponent, DynamicProperty, object)

Called when the value of a dynamic property changes.

Declaration

public virtual void OnPropertyValueChanged(SmartComponent component, DynamicProperty changedProperty, object oldValue)

Parameters

Type	Name	Description
SmartComponent	component	Component that owns the changed property.
DynamicProperty	changedProperty	Changed property.
object	oldValue	Previous value of the changed property.

OnSimulationStart(SmartComponent)

Called when simulation is started.

Declaration

public virtual void OnSimulationStart(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Simulated component.

OnSimulationStep(SmartComponent, double, double)

Called when simulation steps to a new time.

Declaration

public virtual void OnSimulationStep(SmartComponent component, double simulationTime, double previousTime)

Parameters

Type	Name	Description
SmartComponent	component	Simulated component.
double	simulationTime	Time (in ms) for the current simulation step.
double	previousTime	Time (in ms) for the previous simulation step.

Remarks

This method is called before the Virtual Controller time step and before robots are moved.

OnSimulationStepEndAsync(SmartComponent, double)

Called after simulation steps to a new time.

Declaration

public virtual Task OnSimulationStepEndAsync(SmartComponent component, double simulationTime)

Parameters

Type	Name	Description
SmartComponent	component	Simulated component.
double	simulationTime	Time (in ms) for the current simulation step.

Returns

Type	Description
Task

Remarks

This method is called after the Virtual Controller time step and after robots are moved. It is allowed to return null if the method executes synchronously.

OnSimulationStop(SmartComponent)

Called when simulation is stopped.

Declaration

public virtual void OnSimulationStop(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Simulated component.

QueryCollection(SmartComponent)

Called to determine the objects contained by a SmartComponent that represents a collection.

Declaration

public virtual IEnumerable<ProjectObject> QueryCollection(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Component

Returns

Type	Description
IEnumerable<ProjectObject>	Objects in the collection, or the component itself if it is not a collection.

QueryInternalConnections(SmartComponent, IOSignal)

Called to determine the output signals affected by an input signal.

Declaration

public virtual IEnumerable<IOSignal> QueryInternalConnections(SmartComponent component, IOSignal input)

Parameters

Type	Name	Description
SmartComponent	component	Component
IOSignal	input	Input signal

Returns

Type	Description
IEnumerable<IOSignal>	Returns the output signals that are directly affected by the value of the input signal.

Remarks

This method is used to determine if an I/O connection can cause illegal cyclic behavior.

QueryPropertyAttributeValue(SmartComponent, DynamicProperty, string)

Called to retrieve the actual value of a property attribute with the dummy value '?'.

Declaration

public virtual string QueryPropertyAttributeValue(SmartComponent component, DynamicProperty owningProperty, string attributeName)

Parameters

Type	Name	Description
SmartComponent	component	Component that owns the property.
DynamicProperty	owningProperty	Property that owns the attribute.
string	attributeName	Name of the attribute to query.

Returns

Type	Description
string	Value of the attribute.

QueryPropertyValueValid(SmartComponent, DynamicProperty, object)

Called to validate the value of a dynamic property with the CustomValidation attribute.

Declaration

public virtual ValueValidationInfo QueryPropertyValueValid(SmartComponent component, DynamicProperty owningProperty, object newValue)

Parameters

Type	Name	Description
SmartComponent	component	Component that owns the changed property.
DynamicProperty	owningProperty	Property that owns the value to be validated.
object	newValue	Value to validate.

Returns

Type	Description
ValueValidationInfo	Result of the validation.

QuerySimulationState(SmartComponent)

Called to determine the state of a simulated component.

Declaration

public virtual SimulationActorState QuerySimulationState(SmartComponent component)

Parameters

Type	Name	Description
SmartComponent	component	Simulated component.

Returns

Type	Description
SimulationActorState	Simulation state of the component.

QuerySimulationStep(SmartComponent, double)

Called to determine the duration of the next time step during simulation.

Declaration

public virtual double QuerySimulationStep(SmartComponent component, double previousTime)

Parameters

Type	Name	Description
SmartComponent	component	Simulated component.
double	previousTime	Simulation time (in ms) for the previous step.

Returns

Type	Description
double	Returns the desired duration (in ms) of the next step, or 0 to use the default duration.