#include <deviceLcsIf.hpp>

Inheritance diagram for fcf::devmgr::common::DeviceLcsIf:

Public Types
enum	{ STAT_LOCAL = 1, STAT_ERROR = 2, STAT_HW_STATUS = 3, STAT_STATE = 4, STAT_SUBSTATE = 5 }

Public Member Functions
	DeviceLcsIf (std::shared_ptr< IDeviceConfig > config, DataContext &data_ctx)
	DeviceLcsIf constructor. More...

virtual void	RegisterComm (std::shared_ptr< fcf::common::IComm > comm_if, fcf::common::Dispatcher<> &failure, fcf::common::Dispatcher<> &normal)
	Register a communication interface. More...

virtual void	Connect ()
	Connect to the controller or simulator. More...

virtual void	Disconnect ()
	Disconnect from the controller of simulator. More...

virtual void	ReadConfig (const std::vector< std::string > &stat_map_vector, const std::vector< std::string > &rpc_map_vector)
	Read the configuration. More...

virtual bool	IsNotReady ()
	Check if controller is in Standby/NotReady state. More...

virtual bool	IsReady ()
	Check if controller is in Standby/Ready state. More...

virtual bool	IsDisabling ()
	Check if controller is in Disabling state. More...

virtual bool	IsOperational ()
	Check if controller is in Operational. More...

virtual bool	IsHwFailure ()
	Check if controller is in Hardware Failure. More...

virtual void	Init ()
	Executes the Init RPC. More...

virtual void	Enable ()
	Executes the Enable RPC. More...

virtual void	Disable ()
	Executes the Disable RPC. More...

virtual void	Stop ()
	Executes the Stop RPC. More...

virtual void	Reset ()
	Executes the Reset RPC. More...

virtual void	StartMonitoring ()
	Start monitoring of controller attributes. More...

virtual void	StopMonitoring ()
	Stop monitoring of controller attributes. More...

virtual void	Listener (fcf::common::VectorVariant &params)=0
	Callback for listening controller events. More...

virtual std::string	GetRpcError (const short error_code) const =0
	Get associated message from the RPC error code. More...

virtual std::string	GetHwError (int &error_code, const bool update=false)
	Get error message. More...

std::string	GetMapValue (std::string category, std::string key)
	Get mapping valLampConfigue. More...

fcf::common::Dispatcher < fcf::common::VectorVariant & > &	GetDispatcher ()

bool	IsConfigLoaded () const
	Check if configuration was loaded. More...

bool	IsConnected () const
	Check is the communication was established. More...

virtual std::shared_ptr < IDeviceConfig >	GetDeviceConfig ()
	Get a pointer of device configuration. More...

Protected Member Functions
void	LoadConfig ()
	Load the YAML configuration. More...

void	ExecuteRpc (const std::string &obj, const std::string &proc, fcf::common::VectorVariant &attr_list)

int	ReadErrorCode ()

void	GetStates (int &state, int &substate)
	Get states (state and substate) of the controller. More...

void	StoreUaNames (const std::vector< std::pair< std::string, unsigned int >> &ualist)
	StoreUaNames. More...

void	StoreAttribute (const std::string key, const fcf::common::Variant &value, int attribute)
	Store the updated into the DB. More...

Protected Attributes
YAML::Node	m_config_node
	YAML node for the device mapping file. More...

std::shared_ptr < fcf::common::IComm >	m_comm
	Shared pointer to the communication object. More...

std::shared_ptr< IDeviceConfig >	m_config
	Shared pointer to the device config object. More...

fcf::common::Dispatcher < fcf::common::VectorVariant & >	m_dispatcher
	Dispatcher for managing subscription events. More...

fcf::common::Dispatcher	m_failure
	Dispatcher for managing failures in the communication. More...

fcf::common::Dispatcher	m_normal
	Dispatcher for managing recovery of communication failures. More...

short	m_state
	Actual controller state. More...

short	m_substate
	Actual controller substate. More...

bool	m_config_loaded
	Flag indicating whether the configuration was successfully loaded. More...

bool	m_connected
	Flag indicating whether the LCS is connected. More...

devmgr::common::DataContext &	m_data_ctx

std::string	m_lcs_prefix
	Store the prefix for storing keys in the database. More...

elt::mal::Mal::Properties	m_mal_properties

std::string	m_pub_endpoint

std::unordered_map < std::string, short >	m_ua_status_map

std::vector< std::string >	m_ua_monitor_vector

std::unordered_map< short, std::string >	m_hw_errors

Member Enumeration Documentation

anonymous enum

Enumerator
STAT_LOCAL
STAT_ERROR
STAT_HW_STATUS
STAT_STATE
STAT_SUBSTATE

Constructor & Destructor Documentation

fcf::devmgr::common::DeviceLcsIf::DeviceLcsIf	(	std::shared_ptr< IDeviceConfig >	config,
		DataContext &	data_ctx
	)

explicit

DeviceLcsIf constructor.

Parameters

config	Shared pointer to the device configuration.
data_ctx	Data contex

Member Function Documentation

void fcf::devmgr::common::DeviceLcsIf::Connect ( )

virtual

Connect to the controller or simulator.

Exceptions

an	exception if an error ocurrs.

This method uses the registered communication interface to establish the connection.

void fcf::devmgr::common::DeviceLcsIf::Disable ( )

virtual

Executes the Disable RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call shall bring the controller to Standby/Ready state.

Reimplemented in testDeviceFacade::MyDeviceLcsIf, and MyDeviceLcsIf.

void fcf::devmgr::common::DeviceLcsIf::Disconnect ( )

virtual

Disconnect from the controller of simulator.

This method tries to disconnect from the controller or simulator. In case of error, the class will consider anyway the connection closed.

void fcf::devmgr::common::DeviceLcsIf::Enable ( )

virtual

Executes the Enable RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call shall bring the controller to Operational state.

Reimplemented in testDeviceFacade::MyDeviceLcsIf, and MyDeviceLcsIf.

void fcf::devmgr::common::DeviceLcsIf::ExecuteRpc	(	const std::string &	obj,
		const std::string &	proc,
		fcf::common::VectorVariant &	attr_list
	)

protected

std::shared_ptr< IDeviceConfig > fcf::devmgr::common::DeviceLcsIf::GetDeviceConfig ( )

virtual

Get a pointer of device configuration.

Returns: shared pointer of internal configuration object

fcf::common::Dispatcher< fcf::common::VectorVariant & > & fcf::devmgr::common::DeviceLcsIf::GetDispatcher ( )

std::string fcf::devmgr::common::DeviceLcsIf::GetHwError	(	int &	error_code,
		const bool	update = `false`
	)

virtual

Get error message.

Parameters

error_code	Input error code
update	Flag that indicate to read the error code.

Returns: error message associated to the error code read from the PLC.

This methods does a read to the PLC to obtain the error code.

Reimplemented in testDeviceFacade::MyDeviceLcsIf, testDeviceLcsIf::MyDeviceLcsIf, and MyDeviceLcsIf.

std::string fcf::devmgr::common::DeviceLcsIf::GetMapValue	(	std::string	category,
		std::string	key
	)

Get mapping valLampConfigue.

Parameters

category	attribute category
key	attribute key

Returns: string contaning the mapping value

This method delivers the attribute name at the controller (mapping). This is obtained from the mapping file and based on the category and key given. This mapping string represents the OPCUA name in the address space of the device.

The mapping file is a generalization of the address space of a particular type of device.

virtual std::string fcf::devmgr::common::DeviceLcsIf::GetRpcError ( const short error_code ) const

pure virtual

Get associated message from the RPC error code.

Parameters

[in] error_code

Returns: string with the associated error message.

Implemented in fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >, fcf::devmgr::adc::AdcLcsIf< TOPIC_TYPE >, fcf::devmgr::piezo::PiezoLcsIf< TOPIC_TYPE >, fcf::devmgr::actuator::ActuatorLcsIf< TOPIC_TYPE >, fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, fcf::devmgr::lamp::LampLcsIf< TOPIC_TYPE >, fcf::devmgr::shutter::ShutterLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

void fcf::devmgr::common::DeviceLcsIf::GetStates	(	int &	state,
		int &	substate
	)

protected

Get states (state and substate) of the controller.

Parameters

[in,out]	state	state of the controller
[in,out]	substate	substate of the controller

This is a generic method to read the state and substate attributes of the controller. The value of these attributes might be different depending of the device.

void fcf::devmgr::common::DeviceLcsIf::Init ( )

virtual

Executes the Init RPC.

Exceptions

an	exception if an error ocurrs.

Reimplemented in fcf::devmgr::adc::AdcLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, and MyDeviceLcsIf.

bool fcf::devmgr::common::DeviceLcsIf::IsConfigLoaded ( ) const

Check if configuration was loaded.

Returns: true when configuration was loaded, false otherwise.

bool fcf::devmgr::common::DeviceLcsIf::IsConnected ( ) const

Check is the communication was established.

Returns: true when is connected, false otherwise.

bool fcf::devmgr::common::DeviceLcsIf::IsDisabling ( )

virtual

Check if controller is in Disabling state.

Returns: true if condit// System headersion is met, false otherwise.

This is method is needed when Enabling a device. Sometimes a device is still disabling from the previous action and device must wait before attempting to enable again.

Reimplemented in fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >.

bool fcf::devmgr::common::DeviceLcsIf::IsHwFailure ( )

virtual

Check if controller is in Hardware Failure.

Returns: true if condition is met, false otherwise.

Sometimes the controller may enter into a failure state triggerd by a hardware error. The controller will enter into a specific state to signal this condition. This method is checking if this condition is met.

This method reads the substate attribute from the PLC.

Reimplemented in fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

bool fcf::devmgr::common::DeviceLcsIf::IsNotReady ( )

virtual

Check if controller is in Standby/NotReady state.

Returns: true if condition is met, false otherwise.

Reimplemented in fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, and testDeviceFacade::MyDeviceLcsIf.

bool fcf::devmgr::common::DeviceLcsIf::IsOperational ( )

virtual

Check if controller is in Operational.

Returns: true if condition is met, false otherwise.

Reimplemented in fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, fcf::devmgr::piezo::PiezoLcsIf< TOPIC_TYPE >, fcf::devmgr::lamp::LampLcsIf< TOPIC_TYPE >, fcf::devmgr::actuator::ActuatorLcsIf< TOPIC_TYPE >, fcf::devmgr::shutter::ShutterLcsIf< TOPIC_TYPE >, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

bool fcf::devmgr::common::DeviceLcsIf::IsReady ( )

virtual

Check if controller is in Standby/Ready state.

Returns: true if condition is met, false otherwise.

Reimplemented in fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, fcf::devmgr::piezo::PiezoLcsIf< TOPIC_TYPE >, fcf::devmgr::lamp::LampLcsIf< TOPIC_TYPE >, fcf::devmgr::actuator::ActuatorLcsIf< TOPIC_TYPE >, fcf::devmgr::shutter::ShutterLcsIf< TOPIC_TYPE >, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

virtual void fcf::devmgr::common::DeviceLcsIf::Listener ( fcf::common::VectorVariant & params )

pure virtual

Callback for listening controller events.

Parameters

params list of paramaters to be monitored.

Abstract method to be implemented by specific classes.

Implemented in fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >, fcf::devmgr::adc::AdcLcsIf< TOPIC_TYPE >, fcf::devmgr::piezo::PiezoLcsIf< TOPIC_TYPE >, fcf::devmgr::actuator::ActuatorLcsIf< TOPIC_TYPE >, fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, fcf::devmgr::lamp::LampLcsIf< TOPIC_TYPE >, fcf::devmgr::shutter::ShutterLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

void fcf::devmgr::common::DeviceLcsIf::LoadConfig ( )

protected

Load the YAML configuration.

Exceptions

rad::Exception in case of error

void fcf::devmgr::common::DeviceLcsIf::ReadConfig	(	const std::vector< std::string > &	stat_map_vector,
		const std::vector< std::string > &	rpc_map_vector
	)

virtual

Read the configuration.

Exceptions

an	exception if an error ocurrs.

This class reads the mapping configuration of the device with the purpose to verify the correctness of the LCS IF mapping before to continue.

Parameters are specific for each device and shall be called from child objects.

int fcf::devmgr::common::DeviceLcsIf::ReadErrorCode ( )

protected

void fcf::devmgr::common::DeviceLcsIf::RegisterComm	(	std::shared_ptr< fcf::common::IComm >	comm_if,
		fcf::common::Dispatcher<> &	failure,
		fcf::common::Dispatcher<> &	normal
	)

virtual

Register a communication interface.

Parameters

comm_if	shared pointer to the communication interface
failure	dispatcher for failure events
normal	dispatcher for recovering failure events

The communication object have to be created before using this class and registered using this method.

The constructor create a callback for the internal dispatcher and loads the configuration.

void fcf::devmgr::common::DeviceLcsIf::Reset ( )

virtual

Executes the Reset RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call shall bring the controller to Standby/NotReady state.

void fcf::devmgr::common::DeviceLcsIf::StartMonitoring ( )

virtual

Start monitoring of controller attributes.

Exceptions

an	exception if an error ocurrs.

This methods take cares of registering the attributes that will be monitored by the communication class. Most of the communication will be OPCUA and this monitoring means OPCUA subscription.

Reimplemented in fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

void fcf::devmgr::common::DeviceLcsIf::Stop ( )

virtual

Executes the Stop RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call stop any ongoing action of the controller.

The specific behaviour will depend on the controller.

void fcf::devmgr::common::DeviceLcsIf::StopMonitoring ( )

virtual

Stop monitoring of controller attributes.

Exceptions

an	exception if an error ocurrs.

This method will inform the communication interface to stop monitoring the shutter attributes. All OPCUA subscriptions will be removed.

Reimplemented in fcf::devmgr::adc::AdcLcsIf< TOPIC_TYPE >, fcf::devmgr::sensor::SensorLcsIf< TOPIC_TYPE >, testDeviceFacade::MyDeviceLcsIf, MyDeviceLcsIf, and testDeviceLcsIf::MyDeviceLcsIf.

void fcf::devmgr::common::DeviceLcsIf::StoreAttribute	(	const std::string	key,
		const fcf::common::Variant &	value,
		int	attribute
	)

protected

Store the updated into the DB.

Parameters

key	Key used to store the new value.
value	Variant value to be published.
attribute	Code of the attribute changed

This method store the value into the OLDB.

void fcf::devmgr::common::DeviceLcsIf::StoreUaNames ( const std::vector< std::pair< std::string, unsigned int >> & ualist )

protected

StoreUaNames.

Parameters

ualist

Member Data Documentation

std::shared_ptr<fcf::common::IComm> fcf::devmgr::common::DeviceLcsIf::m_comm

protected

Shared pointer to the communication object.

std::shared_ptr<IDeviceConfig> fcf::devmgr::common::DeviceLcsIf::m_config

protected

Shared pointer to the device config object.

bool fcf::devmgr::common::DeviceLcsIf::m_config_loaded

protected

Flag indicating whether the configuration was successfully loaded.

YAML::Node fcf::devmgr::common::DeviceLcsIf::m_config_node

protected

YAML node for the device mapping file.

bool fcf::devmgr::common::DeviceLcsIf::m_connected

protected

Flag indicating whether the LCS is connected.

devmgr::common::DataContext& fcf::devmgr::common::DeviceLcsIf::m_data_ctx

protected

fcf::common::Dispatcher<fcf::common::VectorVariant&> fcf::devmgr::common::DeviceLcsIf::m_dispatcher

protected

Dispatcher for managing subscription events.

fcf::common::Dispatcher fcf::devmgr::common::DeviceLcsIf::m_failure

protected

Dispatcher for managing failures in the communication.

std::unordered_map<short, std::string> fcf::devmgr::common::DeviceLcsIf::m_hw_errors

protected

std::string fcf::devmgr::common::DeviceLcsIf::m_lcs_prefix

protected

Store the prefix for storing keys in the database.

elt::mal::Mal::Properties fcf::devmgr::common::DeviceLcsIf::m_mal_properties

protected

fcf::common::Dispatcher fcf::devmgr::common::DeviceLcsIf::m_normal

protected

Dispatcher for managing recovery of communication failures.

std::string fcf::devmgr::common::DeviceLcsIf::m_pub_endpoint

protected

this map is used to convert NodeId received by the OPCUA notifications to an index value to avoid comparing strings fo r each notification.

short fcf::devmgr::common::DeviceLcsIf::m_state

protected

Actual controller state.

short fcf::devmgr::common::DeviceLcsIf::m_substate

protected

Actual controller substate.

std::vector<std::string> fcf::devmgr::common::DeviceLcsIf::m_ua_monitor_vector

protected

std::unordered_map<std::string, short> fcf::devmgr::common::DeviceLcsIf::m_ua_status_map

protected

This vector is used to prepare in advance the list of node_ids that will be monitored per device.

The documentation for this class was generated from the following files:

devmgr/common/src/include/fcf/devmgr/common/deviceLcsIf.hpp
devmgr/common/src/deviceLcsIf.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation