fcf::devmgr::motor Namespace Reference

Classes
class	Motor
	The Motor class. More...
struct	InitAction
class	MotorConfig
	Motor Configuration class. More...
struct	MotorControllerData
	The MotorControllerData struct. More...
class	MotorLcsIf
	Motor Local Control System (LCS) Interface (IF) class. More...

Enumerations
enum	Signal : short {   Signal::LSTOP = 0, Signal::LHW = 1, Signal::REF = 2, Signal::INDEX = 3,   Signal::UHW = 4, Signal::USTOP = 5 }
enum	{   INIT_ACTION_END = 0, INIT_ACTION_FIND_INDEX = 1, INIT_ACTION_FIND_REF_LE = 2, INIT_ACTION_FIND_REF_UE = 3,   INIT_ACTION_FIND_LHW = 4, INIT_ACTION_FIND_UHW = 5, INIT_ACTION_DELAY = 6, INIT_ACTION_MOVE_ABS = 7,   INIT_ACTION_MOVE_REL = 8, INIT_ACTION_CALIB_ABS = 9, INIT_ACTION_CALIB_REL = 10, INIT_ACTION_CALIB_SWITCH = 11 }
enum	{   HW_SUCCESS = 0, HW_ERR_HW_NOT_OP = 1, HW_ERR_LOCAL = 2, HW_ERR_INIT_ABORTED = 3,   HW_ERR_TIMEOUT_INIT = 4, HW_ERR_TIMEOUT_MOVE = 5, HW_ERR_TIMEOUT_RESET = 6, HW_ERR_TIMEOUT_SETPOS = 7,   HW_ERR_TIMEOUT_USER_PREINIT = 8, HW_ERR_TIMEOUT_USER_POSTINIT = 9, HW_ERR_TIMEOUT_USER_PREMOVE = 10, HW_ERR_TIMEOUT_USER_POSTMOVE = 11,   HW_ERR_SETPOS = 12, HW_ERR_STOP = 13, HW_ERR_ABORT = 14, HW_ERR_SW_LIMIT_LOWER = 15,   HW_ERR_SW_LIMIT_UPPER = 16, HW_ERR_BRAKE_ACTIVE = 17, HW_ERR_BRAKE_ENGAGE = 18, HW_ERR_BRAKE_DISENGAGE = 19,   HW_ERR_SWITCH_NOT_USED = 20, HW_ERR_ENABLE = 21, HW_ERR_NOVRAM_READ = 22, HW_ERR_NOVRAM_WRITE = 23,   HW_ERR_SWITCH_EXIT = 24, HW_ERR_STOP_LIMITS_BOTH = 25, HW_ERR_HW_LIMITS_BOTH = 26, HW_ERR_HW_IN_POS = 27,   HW_ERR_HW_LOCKED = 28, HW_ERR_SOE_ADS = 29, HW_ERR_SOE_SERCOS = 30, HW_ERR_TC_VEL = 16929,   HW_ERR_TC_NOT_READY_FOR_STAR = 16933, HW_ERR_TC_DISABLED_MOVE = 16992, HW_ERR_TC_BISECTION = 17022, HW_ERR_TC_MODULO_POS = 17026,   HW_ERR_TC_STOP_ACTIVE = 17135, HW_ERR_TC_VEL_NEG = 17241, HW_ERR_TC_TARGET_LSW = 17504, HW_ERR_TC_TARGET_USW = 17505,   HW_ERR_TC_FOLLOWING_ERROR = 17744, HW_ERR_TC_NOT_READY = 18000, HW_ERR_TC_IN_POS_6_SEC = 19207 }
enum	{   RPC_SUCCESS = 0, RPC_ERR_NOT_OP = -1, RPC_ERR_NOT_STANDBY_READY = -2, RPC_ERR_NOT_STANDBY_NOTREADY = -3,   RPC_ERR_MOTOR_LOCAL = -4, RPC_ERR_MOTOR_LOWER_LIMIT = -5, RPC_ERR_MOTOR_UPPER_LIMIT = -6 }

Functions
	REGISTER_DEVICE (Motor)

Variables
constexpr auto	CI_BRAKE = "brake"
constexpr auto	CI_BACKLASH = "backlash"
constexpr auto	CI_AXIS_TYPE = "axis_type"
constexpr auto	CI_DEF_VEL = "velocity"
constexpr auto	CI_MAX_POS = "max_pos"
constexpr auto	CI_MIN_POS = "min_pos"
constexpr auto	CI_CHECK_INPOS = "check_inpos"
constexpr auto	CI_LOCK = "lock"
constexpr auto	CI_LOCK_POS = "lock_pos"
constexpr auto	CI_LOCK_TOLERANCE = "lock_tolerance"
constexpr auto	CI_DISABLE = "disable"
constexpr auto	CI_TIMEOUT_INIT = "tout_init"
constexpr auto	CI_TIMEOUT_MOVE = "tout_move"
constexpr auto	CI_TIMEOUT_SWITCH = "tout_switch"
constexpr auto	CI_ACTIVE_LOW_BRAKE = "low_brake"
constexpr auto	CI_ACTIVE_LOW_INPOS = "low_inpos"
constexpr auto	CI_ACTIVE_LOW_STOP = "active_low_lstop"
constexpr auto	CI_ACTIVE_LOW_LHW = "active_low_lhw"
constexpr auto	CI_ACTIVE_LOW_REF = "active_low_ref"
constexpr auto	CI_ACTIVE_LOW_INDEX = "active_low_index"
constexpr auto	CI_ACTIVE_LOW_UHW = "active_low_uhw"
constexpr auto	CI_ACTIVE_LOW_USTOP = "active_low_ustop"
constexpr auto	CI_EXEC_PRE_INIT = "exec_pre_init"
constexpr auto	CI_EXEC_POST_INIT = "exec_post_init"
constexpr auto	CI_EXEC_PRE_MOVE = "exec_pre_move"
constexpr auto	CI_EXEC_POST_MOVE = "exec_post_move"
constexpr auto	CI_INITIALISATION = "initialisation"
constexpr auto	CI_INIT_SEQUENCE = "sequence"
constexpr auto	CI_INIT_ACTION = "action"
constexpr auto	CI_INIT_VALUE_1 = "value1"
constexpr auto	CI_INIT_VALUE_2 = "value2"
constexpr auto	CI_POSITIONS = "positions"
constexpr auto	CI_POS_NAMES = "posnames"
constexpr auto	CI_NAME_POS_TOLERANCE = "tolerance"
constexpr auto	CI_SCALE_FACTOR = "scale_factor"
constexpr int	CI_AXIS_TYPE_LINEAR = 1
constexpr int	CI_AXIS_TYPE_CIRCULAR = 2
constexpr int	CI_AXIS_TYPE_CIRCULAR_OPT = 3
constexpr auto	CI_AXIS_TYPE_LINEAR_STR = "LINEAR"
constexpr auto	CI_AXIS_TYPE_CIRCULAR_STR = "CIRCULAR"
constexpr auto	CI_AXIS_TYPE_CIRCULAR_OPT_STR = "CIRCULAR_OPT"
constexpr int	CI_AXIS_MODE_INPOS = 0
constexpr int	CI_AXIS_MODE_INVEL = 1
constexpr auto	CI_AXIS_MODE_INPOS_STR = "InPosition"
constexpr auto	CI_AXIS_MODE_INVEL_STR = "InVelocity"
const std::unordered_map< int, std::string >	AxisModeMap
constexpr int	CI_MAX_INIT_STEPS = 10
constexpr auto	CI_INIT_ACTION_END = "END"
constexpr auto	CI_INIT_ACTION_FIND_INDEX = "FIND_INDEX"
constexpr auto	CI_INIT_ACTION_FIND_REF_LE = "FIND_REF_LE"
constexpr auto	CI_INIT_ACTION_FIND_REF_UE = "FIND_REF_UE"
constexpr auto	CI_INIT_ACTION_FIND_LHW = "FIND_LHW"
constexpr auto	CI_INIT_ACTION_FIND_UHW = "FIND_UHW"
constexpr auto	CI_INIT_ACTION_DELAY = "DELAY"
constexpr auto	CI_INIT_ACTION_MOVE_ABS = "MOVE_ABS"
constexpr auto	CI_INIT_ACTION_MOVE_REL = "MOVE_REL"
constexpr auto	CI_INIT_ACTION_CALIB_ABS = "CALIB_ABS"
constexpr auto	CI_INIT_ACTION_CALIB_REL = "CALIB_REL"
constexpr auto	CI_INIT_ACTION_CALIB_SWITCH = "CALIB_SWITCH"
constexpr auto	RPC_MOVE_ABS = "rpcMoveAbs"
constexpr auto	RPC_MOVE_REL = "rpcMoveRel"
constexpr auto	RPC_MOVE_VEL = "rpcMoveVel"
constexpr int	SUBSTATE_ABORTING = 107
constexpr int	SUBSTATE_OP_STANDSTILL = 216
constexpr int	SUBSTATE_OP_MOVING = 217
constexpr int	SUBSTATE_OP_SETTING_POS = 218
constexpr int	SUBSTATE_OP_STOPPING = 219
constexpr auto	SUBSTATE_READY_STR = "Ready"
constexpr auto	SUBSTATE_ABORTING_STR = "Aborting"
constexpr auto	SUBSTATE_OP_STANDSTILL_STR = "Standstill"
constexpr auto	SUBSTATE_OP_MOVING_STR = "Moving"
constexpr auto	SUBSTATE_OP_SETTING_POS_STR = "SettingPos"
constexpr auto	SUBSTATE_OP_STOPPING_STR = "Stopping"
const std::unordered_map < short, std::string >	SubstateMap
constexpr auto	CI_STAT_ENC_POS = "pos_enc"
constexpr auto	CI_STAT_TARGET_ENC = "target_enc"
constexpr auto	CI_STAT_TARGET_POSNAME = "pos_target_name"
constexpr auto	CI_STAT_ACTUAL_POSNAME = "pos_actual_name"
constexpr auto	CI_STAT_TARGET_POS = "pos_target"
constexpr auto	CI_STAT_ACTUAL_POS = "pos_actual"
constexpr auto	CI_STAT_POS_ERROR = "pos_error"
constexpr auto	CI_STAT_ACTUAL_VEL = "vel_actual"
constexpr auto	CI_STAT_TARGET_VEL = "vel_target"
constexpr auto	CI_STAT_SCALE_FACTOR = "scale_factor"
constexpr auto	CI_STAT_BACKLASH_STEP = "backlash_step"
constexpr auto	CI_STAT_MODE = "mode"
constexpr auto	CI_STAT_INITIALISED = "initialised"
constexpr auto	CI_STAT_INIT_STEP = "init_step"
constexpr auto	CI_STAT_INIT_ACTION = "init_action"
constexpr auto	CI_STAT_AXIS_READY = "axis_ready"
constexpr auto	CI_STAT_AXIS_ENABLE = "axis_enable"
constexpr auto	CI_STAT_AXIS_INPOS = "axis_inposition"
constexpr auto	CI_STAT_AXIS_LOCK = "axis_lock"
constexpr auto	CI_STAT_AXIS_BRAKE = "axis_brake"
constexpr auto	CI_STAT_AXIS_STOP_NEG = "axis_stop_pos"
constexpr auto	CI_STAT_AXIS_STOP_POS = "axis_stop_neg"
constexpr auto	CI_STAT_AXIS_INFO_DATA_1 = "axis_info_data1"
constexpr auto	CI_STAT_AXIS_INFO_DATA_2 = "axis_info_data2"
constexpr auto	CI_STAT_SIGNAL_LSTOP = "signal_lstop"
constexpr auto	CI_STAT_SIGNAL_LHW = "signal_lhw"
constexpr auto	CI_STAT_SIGNAL_REF = "signal_ref"
constexpr auto	CI_STAT_SIGNAL_INDEX = "signal_index"
constexpr auto	CI_STAT_SIGNAL_UHW = "signal_uhw"
constexpr auto	CI_STAT_SIGNAL_USTOP = "signal_ustop"
constexpr auto	FITS_PARAM_POSNAME = "POSNAME"
constexpr auto	FITS_PARAM_POS = "POS"
constexpr auto	FITS_PARAM_BRAKE = "BRAKE"
constexpr auto	FITS_PARAM_LOCK = "LOCK"
constexpr auto	UndefinedNamedPos = "undefined"
const std::vector< std::string >	cfgMapping
const std::vector< std::string >	statMapping
const std::vector< std::string >	rpcMapping
const std::unordered_map < std::string, int >	AxisTypeMap
const std::unordered_map < std::string, int >	InitActionsMap
const std::unordered_map< int, std::string >	InitActions2Map
const std::unordered_map < short, std::string >	hw_errors
const std::unordered_map < short, std::string >	rpc_errors

Enumeration Type Documentation

anonymous enum

Enumerator
INIT_ACTION_END
INIT_ACTION_FIND_INDEX
INIT_ACTION_FIND_REF_LE
INIT_ACTION_FIND_REF_UE
INIT_ACTION_FIND_LHW
INIT_ACTION_FIND_UHW
INIT_ACTION_DELAY
INIT_ACTION_MOVE_ABS
INIT_ACTION_MOVE_REL
INIT_ACTION_CALIB_ABS
INIT_ACTION_CALIB_REL
INIT_ACTION_CALIB_SWITCH

anonymous enum

Enumerator
HW_SUCCESS
HW_ERR_HW_NOT_OP
HW_ERR_LOCAL
HW_ERR_INIT_ABORTED
HW_ERR_TIMEOUT_INIT
HW_ERR_TIMEOUT_MOVE
HW_ERR_TIMEOUT_RESET
HW_ERR_TIMEOUT_SETPOS
HW_ERR_TIMEOUT_USER_PREINIT
HW_ERR_TIMEOUT_USER_POSTINIT
HW_ERR_TIMEOUT_USER_PREMOVE
HW_ERR_TIMEOUT_USER_POSTMOVE
HW_ERR_SETPOS
HW_ERR_STOP
HW_ERR_ABORT
HW_ERR_SW_LIMIT_LOWER
HW_ERR_SW_LIMIT_UPPER
HW_ERR_BRAKE_ACTIVE
HW_ERR_BRAKE_ENGAGE
HW_ERR_BRAKE_DISENGAGE
HW_ERR_SWITCH_NOT_USED
HW_ERR_ENABLE
HW_ERR_NOVRAM_READ
HW_ERR_NOVRAM_WRITE
HW_ERR_SWITCH_EXIT
HW_ERR_STOP_LIMITS_BOTH
HW_ERR_HW_LIMITS_BOTH
HW_ERR_HW_IN_POS
HW_ERR_HW_LOCKED
HW_ERR_SOE_ADS
HW_ERR_SOE_SERCOS
HW_ERR_TC_VEL
HW_ERR_TC_NOT_READY_FOR_STAR
HW_ERR_TC_DISABLED_MOVE
HW_ERR_TC_BISECTION
HW_ERR_TC_MODULO_POS
HW_ERR_TC_STOP_ACTIVE
HW_ERR_TC_VEL_NEG
HW_ERR_TC_TARGET_LSW
HW_ERR_TC_TARGET_USW
HW_ERR_TC_FOLLOWING_ERROR
HW_ERR_TC_NOT_READY
HW_ERR_TC_IN_POS_6_SEC

anonymous enum

Enumerator
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_STANDBY_READY
RPC_ERR_NOT_STANDBY_NOTREADY
RPC_ERR_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT

enum fcf::devmgr::motor::Signal : short

strong

Enumerator
LSTOP
LHW
REF
INDEX
UHW
USTOP

Function Documentation

fcf::devmgr::motor::REGISTER_DEVICE

(

Motor

)

Variable Documentation

const std::unordered_map<int, std::string> fcf::devmgr::motor::AxisModeMap

Initial value:

= {
    {CI_AXIS_MODE_INPOS, CI_AXIS_MODE_INPOS_STR},
    {CI_AXIS_MODE_INVEL, CI_AXIS_MODE_INVEL_STR}
  }

const std::unordered_map<std::string, int> fcf::devmgr::motor::AxisTypeMap

Initial value:

= {
    {CI_AXIS_TYPE_LINEAR_STR,       CI_AXIS_TYPE_LINEAR},
    {CI_AXIS_TYPE_CIRCULAR_STR,     CI_AXIS_TYPE_CIRCULAR},
    {CI_AXIS_TYPE_CIRCULAR_OPT_STR,  CI_AXIS_TYPE_CIRCULAR_OPT}
  }

const std::vector<std::string> fcf::devmgr::motor::cfgMapping

Initial value:

= {
    CI_ACTIVE_LOW_STOP
  }

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_BRAKE = "low_brake"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_INDEX = "active_low_index"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_INPOS = "low_inpos"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_LHW = "active_low_lhw"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_REF = "active_low_ref"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_STOP = "active_low_lstop"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_UHW = "active_low_uhw"

constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_USTOP = "active_low_ustop"

constexpr int fcf::devmgr::motor::CI_AXIS_MODE_INPOS = 0

constexpr auto fcf::devmgr::motor::CI_AXIS_MODE_INPOS_STR = "InPosition"

constexpr int fcf::devmgr::motor::CI_AXIS_MODE_INVEL = 1

constexpr auto fcf::devmgr::motor::CI_AXIS_MODE_INVEL_STR = "InVelocity"

constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE = "axis_type"

constexpr int fcf::devmgr::motor::CI_AXIS_TYPE_CIRCULAR = 2

constexpr int fcf::devmgr::motor::CI_AXIS_TYPE_CIRCULAR_OPT = 3

constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE_CIRCULAR_OPT_STR = "CIRCULAR_OPT"

constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE_CIRCULAR_STR = "CIRCULAR"

constexpr int fcf::devmgr::motor::CI_AXIS_TYPE_LINEAR = 1

constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE_LINEAR_STR = "LINEAR"

constexpr auto fcf::devmgr::motor::CI_BACKLASH = "backlash"

constexpr auto fcf::devmgr::motor::CI_BRAKE = "brake"

constexpr auto fcf::devmgr::motor::CI_CHECK_INPOS = "check_inpos"

constexpr auto fcf::devmgr::motor::CI_DEF_VEL = "velocity"

constexpr auto fcf::devmgr::motor::CI_DISABLE = "disable"

constexpr auto fcf::devmgr::motor::CI_EXEC_POST_INIT = "exec_post_init"

constexpr auto fcf::devmgr::motor::CI_EXEC_POST_MOVE = "exec_post_move"

constexpr auto fcf::devmgr::motor::CI_EXEC_PRE_INIT = "exec_pre_init"

constexpr auto fcf::devmgr::motor::CI_EXEC_PRE_MOVE = "exec_pre_move"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION = "action"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_CALIB_ABS = "CALIB_ABS"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_CALIB_REL = "CALIB_REL"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_CALIB_SWITCH = "CALIB_SWITCH"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_DELAY = "DELAY"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_END = "END"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_FIND_INDEX = "FIND_INDEX"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_FIND_LHW = "FIND_LHW"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_FIND_REF_LE = "FIND_REF_LE"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_FIND_REF_UE = "FIND_REF_UE"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_FIND_UHW = "FIND_UHW"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_MOVE_ABS = "MOVE_ABS"

constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_MOVE_REL = "MOVE_REL"

constexpr auto fcf::devmgr::motor::CI_INIT_SEQUENCE = "sequence"

constexpr auto fcf::devmgr::motor::CI_INIT_VALUE_1 = "value1"

constexpr auto fcf::devmgr::motor::CI_INIT_VALUE_2 = "value2"

constexpr auto fcf::devmgr::motor::CI_INITIALISATION = "initialisation"

constexpr auto fcf::devmgr::motor::CI_LOCK = "lock"

constexpr auto fcf::devmgr::motor::CI_LOCK_POS = "lock_pos"

constexpr auto fcf::devmgr::motor::CI_LOCK_TOLERANCE = "lock_tolerance"

constexpr int fcf::devmgr::motor::CI_MAX_INIT_STEPS = 10

constexpr auto fcf::devmgr::motor::CI_MAX_POS = "max_pos"

constexpr auto fcf::devmgr::motor::CI_MIN_POS = "min_pos"

constexpr auto fcf::devmgr::motor::CI_NAME_POS_TOLERANCE = "tolerance"

constexpr auto fcf::devmgr::motor::CI_POS_NAMES = "posnames"

constexpr auto fcf::devmgr::motor::CI_POSITIONS = "positions"

constexpr auto fcf::devmgr::motor::CI_SCALE_FACTOR = "scale_factor"

constexpr auto fcf::devmgr::motor::CI_STAT_ACTUAL_POS = "pos_actual"

constexpr auto fcf::devmgr::motor::CI_STAT_ACTUAL_POSNAME = "pos_actual_name"

constexpr auto fcf::devmgr::motor::CI_STAT_ACTUAL_VEL = "vel_actual"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_BRAKE = "axis_brake"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_ENABLE = "axis_enable"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_INFO_DATA_1 = "axis_info_data1"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_INFO_DATA_2 = "axis_info_data2"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_INPOS = "axis_inposition"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_LOCK = "axis_lock"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_READY = "axis_ready"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_STOP_NEG = "axis_stop_pos"

constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_STOP_POS = "axis_stop_neg"

constexpr auto fcf::devmgr::motor::CI_STAT_BACKLASH_STEP = "backlash_step"

constexpr auto fcf::devmgr::motor::CI_STAT_ENC_POS = "pos_enc"

constexpr auto fcf::devmgr::motor::CI_STAT_INIT_ACTION = "init_action"

constexpr auto fcf::devmgr::motor::CI_STAT_INIT_STEP = "init_step"

constexpr auto fcf::devmgr::motor::CI_STAT_INITIALISED = "initialised"

constexpr auto fcf::devmgr::motor::CI_STAT_MODE = "mode"

constexpr auto fcf::devmgr::motor::CI_STAT_POS_ERROR = "pos_error"

constexpr auto fcf::devmgr::motor::CI_STAT_SCALE_FACTOR = "scale_factor"

constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_INDEX = "signal_index"

constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_LHW = "signal_lhw"

constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_LSTOP = "signal_lstop"

constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_REF = "signal_ref"

constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_UHW = "signal_uhw"

constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_USTOP = "signal_ustop"

constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_ENC = "target_enc"

constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_POS = "pos_target"

constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_POSNAME = "pos_target_name"

constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_VEL = "vel_target"

constexpr auto fcf::devmgr::motor::CI_TIMEOUT_INIT = "tout_init"

constexpr auto fcf::devmgr::motor::CI_TIMEOUT_MOVE = "tout_move"

constexpr auto fcf::devmgr::motor::CI_TIMEOUT_SWITCH = "tout_switch"

constexpr auto fcf::devmgr::motor::FITS_PARAM_BRAKE = "BRAKE"

constexpr auto fcf::devmgr::motor::FITS_PARAM_LOCK = "LOCK"

constexpr auto fcf::devmgr::motor::FITS_PARAM_POS = "POS"

constexpr auto fcf::devmgr::motor::FITS_PARAM_POSNAME = "POSNAME"

const std::unordered_map<short, std::string> fcf::devmgr::motor::hw_errors

const std::unordered_map<int, std::string> fcf::devmgr::motor::InitActions2Map

Initial value:

= {
    {INIT_ACTION_END,         CI_INIT_ACTION_END},
    {INIT_ACTION_FIND_INDEX,  CI_INIT_ACTION_FIND_INDEX},
    {INIT_ACTION_FIND_REF_LE, CI_INIT_ACTION_FIND_REF_LE},
    {INIT_ACTION_FIND_REF_UE, CI_INIT_ACTION_FIND_REF_UE},
    {INIT_ACTION_FIND_LHW,    CI_INIT_ACTION_FIND_LHW},
    {INIT_ACTION_FIND_UHW,    CI_INIT_ACTION_FIND_UHW},
    {INIT_ACTION_DELAY,       CI_INIT_ACTION_DELAY},
    {INIT_ACTION_MOVE_ABS,    CI_INIT_ACTION_MOVE_ABS},
    {INIT_ACTION_MOVE_REL,    CI_INIT_ACTION_MOVE_REL},
    {INIT_ACTION_CALIB_ABS,   CI_INIT_ACTION_CALIB_ABS},
    {INIT_ACTION_CALIB_REL,   CI_INIT_ACTION_CALIB_REL},
    {INIT_ACTION_CALIB_SWITCH, CI_INIT_ACTION_CALIB_SWITCH}
  }

const std::unordered_map<std::string, int> fcf::devmgr::motor::InitActionsMap

Initial value:

= {
    {CI_INIT_ACTION_END,        INIT_ACTION_END},
    {CI_INIT_ACTION_FIND_INDEX,  INIT_ACTION_FIND_INDEX},
    {CI_INIT_ACTION_FIND_REF_LE,  INIT_ACTION_FIND_REF_LE},
    {CI_INIT_ACTION_FIND_REF_UE,  INIT_ACTION_FIND_REF_UE},
    {CI_INIT_ACTION_FIND_LHW,    INIT_ACTION_FIND_LHW},
    {CI_INIT_ACTION_FIND_UHW,    INIT_ACTION_FIND_UHW},
    {CI_INIT_ACTION_DELAY,      INIT_ACTION_DELAY},
    {CI_INIT_ACTION_MOVE_ABS,    INIT_ACTION_MOVE_ABS},
    {CI_INIT_ACTION_MOVE_REL,    INIT_ACTION_MOVE_REL},
    {CI_INIT_ACTION_CALIB_ABS,   INIT_ACTION_CALIB_ABS},
    {CI_INIT_ACTION_CALIB_REL,   INIT_ACTION_CALIB_REL},
    {CI_INIT_ACTION_CALIB_SWITCH,INIT_ACTION_CALIB_SWITCH}
  }

const std::unordered_map<short, std::string> fcf::devmgr::motor::rpc_errors

Initial value:

= {
    {RPC_ERR_NOT_OP,               "Cannot disable motor. Not in OP state"},
    {RPC_ERR_NOT_STANDBY_READY,    "Cannot enable motor. Not in READY."},
    {RPC_ERR_NOT_STANDBY_NOTREADY, "Cannot init motor. Not in NOTREADY or FAILURE."},
    {RPC_ERR_MOTOR_LOCAL,          "RPC calls are not allowed in Local mode."},
    {RPC_ERR_MOTOR_LOWER_LIMIT,    "Move rejected. Target position beyond lower SW limit."},
    {RPC_ERR_MOTOR_UPPER_LIMIT,    "Move rejected. Target position beyond upper SW limit."}
  }

constexpr auto fcf::devmgr::motor::RPC_MOVE_ABS = "rpcMoveAbs"

constexpr auto fcf::devmgr::motor::RPC_MOVE_REL = "rpcMoveRel"

constexpr auto fcf::devmgr::motor::RPC_MOVE_VEL = "rpcMoveVel"

const std::vector<std::string> fcf::devmgr::motor::rpcMapping

Initial value:

= {
    fcf::devmgr::common::RPC_INIT,
    fcf::devmgr::common::RPC_ENABLE,
    fcf::devmgr::common::RPC_DISABLE,
    fcf::devmgr::common::RPC_RESET,
    fcf::devmgr::common::RPC_STOP,
    RPC_MOVE_ABS,
    RPC_MOVE_REL,
    RPC_MOVE_VEL
  }

const std::vector<std::string> fcf::devmgr::motor::statMapping

Initial value:

= {
    devmgr::common::CI_STAT_SUBSTATE,
    devmgr::common::CI_STAT_STATE,
    devmgr::common::CI_STAT_LOCAL,
    CI_STAT_TARGET_POS,
    CI_STAT_ACTUAL_POS,
    CI_STAT_ACTUAL_VEL,
    devmgr::common::CI_STAT_ERROR_CODE,
    CI_STAT_SCALE_FACTOR,
    CI_STAT_AXIS_BRAKE,
    CI_STAT_AXIS_ENABLE,
    CI_STAT_AXIS_LOCK,
    
    
    
    
    
    
    
    
    
    
    
    
  }

Warning

The order of this vector is important. It is used by the ReadStatus method. This method converts the variant attributes to the real datatypes so the other counts, be careful when updating it. It should match what it is expected by ReadStatus.

See Also

ReadStatus

constexpr int fcf::devmgr::motor::SUBSTATE_ABORTING = 107

constexpr auto fcf::devmgr::motor::SUBSTATE_ABORTING_STR = "Aborting"

constexpr int fcf::devmgr::motor::SUBSTATE_OP_MOVING = 217

constexpr auto fcf::devmgr::motor::SUBSTATE_OP_MOVING_STR = "Moving"

constexpr int fcf::devmgr::motor::SUBSTATE_OP_SETTING_POS = 218

constexpr auto fcf::devmgr::motor::SUBSTATE_OP_SETTING_POS_STR = "SettingPos"

constexpr int fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL = 216

constexpr auto fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR = "Standstill"

constexpr int fcf::devmgr::motor::SUBSTATE_OP_STOPPING = 219

constexpr auto fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR = "Stopping"

constexpr auto fcf::devmgr::motor::SUBSTATE_READY_STR = "Ready"

const std::unordered_map<short, std::string> fcf::devmgr::motor::SubstateMap

Initial value:

= {
    {fcf::devmgr::common::SUBSTATE_NOTREADY,       fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
    {fcf::devmgr::common::SUBSTATE_INITIALISING,   fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
    {fcf::devmgr::common::SUBSTATE_READY,          fcf::devmgr::common::SUBSTATE_READY_STR},
    {fcf::devmgr::common::SUBSTATE_ERROR,          fcf::devmgr::common::SUBSTATE_ERROR_STR},
    {SUBSTATE_ABORTING,       SUBSTATE_ABORTING_STR},
    {SUBSTATE_OP_STANDSTILL,  SUBSTATE_OP_STANDSTILL_STR},
    {SUBSTATE_OP_MOVING,      SUBSTATE_OP_MOVING_STR},
    {SUBSTATE_OP_SETTING_POS, SUBSTATE_OP_SETTING_POS_STR},
    {SUBSTATE_OP_STOPPING,    SUBSTATE_OP_STOPPING_STR},
    {fcf::devmgr::common::SUBSTATE_OP_ERROR,       fcf::devmgr::common::SUBSTATE_OP_ERROR_STR},
  }

constexpr auto fcf::devmgr::motor::UndefinedNamedPos = "undefined"