FB_EntitiesHandler - AddTargetGenerator (Method)

Overview

Type:	Method
Available as of:	V1.6.0.0

This chapter provides information on:

Add a new target generator.

The method AddTargetGenerator adds a new target generator entity to the function block.

NOTE: It is possible to reconfigure an already added targets generator by calling the method again for the same targets generator ID.

Input	Data type	Description
i_stData	ST_TrackingSystemData	Structure containing the data on the target generator to add.

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic: q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING(80)	Event-triggered message that gives additional information on the diagnostic state.

q_etDiag	q_etDiagExt	Enumeration value of q_etDiagExt	Description
Ok	Ok	0	Ok
Ok	TargetsGeneratorReconfigured	251	The selected targets generator is already added and is reconfigured.
ExecutionAborted	MaxNumberOfTargetGeneratorExceeded	170	The maximum number of configurable target generators is reached.
InputParameterInvalid	OrientationConventionInvalid	38	Invalid orientation convention.
InputParameterInvalid	TargetGeneratorIdDuplicated	172	A target generator entity already exists with the same ID.
InputParameterInvalid	TargetGeneratorIdInvalid	171	A provided target generator ID is invalid.
InputParameterInvalid	TargetGeneratorNameInvalid	173	The name assigned to a target generator entity is invalid.

Enumeration name:	MaxNumberOfTargetGeneratorExceeded
Enumeration value:	170
Description:	The maximum number of configurable target generators is reached.

Issue	Cause	Solution
A target generator has not been added to the list.	It is not possible to add a new target generator since the maximum number of target generators has been reached.	Ensure not to add more than SERT.Gc_udiMaxNumberOfTargetGenerators target generators to the function block.

Enumeration name:	OrientationConventionInvalid
Enumeration value:	38
Description:	Invalid orientation convention.

Issue	Cause	Solution
A target generator has not been added to the list.	i_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value.	Ensure that the orientation convention has one of the following values: ROB.ET_OrientationConvention.XYZ ROB.ET_OrientationConvention.ZYX

Issue

Cause

Solution

A target generator has not been added to the list.

i_stData.stBasePose.etOrientationConvention contains an invalid orientation convention value.

Ensure that the orientation convention has one of the following values:

Enumeration name:	TargetGeneratorIdDuplicated
Enumeration value:	172
Description:	A target generator entity already exists with the same ID.

Issue	Cause	Solution
A target generator has not been added to the list.	The function block already contains a target generator with the same ID.	Ensure that every ID assigned to the target generators is unique.

Enumeration name:	TargetGeneratorIdInvalid
Enumeration value:	171
Description:	A provided target generator ID is invalid.

Issue	Cause	Solution
A target generator has not been added to the list.	i_stData.etSystemId contains an invalid value.	Ensure that the tracking system ID is in the range ET_SystemEntity.TargetGenerator1...ET_SystemEntity.TargetGenerator30.

Enumeration name:	TargetGeneratorNameInvalid
Enumeration value:	173
Description:	The name assigned to a target generator entity is invalid.

Issue	Cause	Solution
A target generator has not been added to the list.	i_stData.sName contains an empty string or a target generator with the same string has already been assigned.	Ensure that the name of the target generator is not an empty string. Ensure that the name of the target generator is unique.

Enumeration name:	TargetsGeneratorReconfigured
Enumeration value:	251
Description:	The selected targets generator is already added and is reconfigured.

Status message: Adding and reconfiguring the selected targets generator was successful.