numMotionsQueued(3)

NAME
numMotionsQueued, checkMotionQueue -- get information about the RCCL motion queue.

USAGE
#include <rccl.h>

numMotionsQueued (mnp)
  MANIP *mnp;

checkMotionQueue (mnp, pos)
  MANIP *mnp;
  POS *pos;

ARGUMENTS

mnp --
    Manipulator reference structure.

pos --
    Target position data structure.

RESTRICTIONS
checkMotionQueue() can only be called from the planning level.

DESCRIPTION
numMotionsQueued() returns, for a particular manipulator, the number of motion requests on the motion queue awaiting execution.

checkMotionQueue() returns true if there is enough space on the motion queue to contain a motion request
        move (mnp, pos)

The position structure needs to be included in the calculation because the motion request will contain a copy of the position structure, and the size of this can vary. If the proposed motion request is movej(), then pos can be given as NULL. If the proposed motion request is stop(), then pos should be the position structure for the most recent move() command, or NULL if the most recent non-stop request is a movej().

DIAGNOSTICS
checkMotionQueue() will abort the program if called from the control level.

SEE ALSO
rcclCreate(3), setMotionQueueSize(3), move(3), rcclSetOptions(3).