Get XBot Group Status

Use this command to receive the status of the group, including the group state (bonded or unbonded), the number of XBots in the group, and XBot IDs of the XBots in the group.

Fieldbus Interface

PMC_GetGroupStatus

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
GroupID	USINT	Group ID corresponding to which group to get status for
PM_Controller	PMControllerType	Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.

Outputs

Name	Data Type	Description
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.
State	USINT	0: Group is not bonded; 1: Group is bonded
nXbots	USINT	Number of XBots in the group
XbotID	USINT[0..31]	Array of size 32, contains up to 32 group member XBot IDs

Ethernet Interface

GroupCtrlReturn GetGroupStatus(int groupID)

Parameters

Name	Type	Description
groupID	int	Group ID

Returns

Name	Type	Description
GroupCtrlReturn.PmcRtn	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.
GroupCtrlReturn.groupInfo	struct	int groupID: ID of the group this return is describing int groupStatus: 0 = group is bonded; 1 = group is unbonded int groupMembersCount: number of XBots in this group int[] groupMembersIDs: array of the IDs of the XBots in this group

Conditions

Operating Conditions
Preconditions	The specified group exists.
Postconditions	The group information will be provided in the output.

Description

Use this command to receive the status of the group, including the group state (bonded or unbonded), the number of XBots in the group, and XBot IDs of the XBots in the group.