ifw-fcf  4.1.0-pre2
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motorConfig.hpp File Reference
FCF Device Manager » Device Library

MotorConfig class header file. More...

#include <string>
#include <unordered_map>
#include <yaml-cpp/yaml.h>
#include <utils/bat/logger.hpp>
#include <fcf/common/iComm.hpp>
#include <fcf/devmgr/common/configSet.hpp>
#include <fcf/devmgr/common/dataContext.hpp>
#include <fcf/devmgr/devices/motorBaseConfig.hpp>
#include <fcf/devmgr/devices/motorRpcErrors.hpp>
#include <fcf/devmgr/devices/motorHwErrors.hpp>

Go to the source code of this file.

Classes

struct  fcf::devmgr::motor::InitAction
 
class  fcf::devmgr::motor::MotorConfig
 Motor Configuration class. More...
 

Namespaces

 fcf
 
 fcf::devmgr
 
 fcf::devmgr::motor
 

Enumerations

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

Variables

constexpr auto fcf::devmgr::motor::LOGGER_NAME = "motor"
 
constexpr auto fcf::devmgr::motor::CI_BRAKE = "brake"
 
constexpr auto fcf::devmgr::motor::CI_BACKLASH = "backlash"
 
constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE = "axis_type"
 
constexpr auto fcf::devmgr::motor::CI_CHECK_INPOS = "check_inpos"
 
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 auto fcf::devmgr::motor::CI_DISABLE = "disable"
 
constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_BRAKE = "low_brake"
 
constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_INPOS = "low_inpos"
 
constexpr auto fcf::devmgr::motor::CI_ACTIVE_LOW_STOP = "active_low_lstop"
 
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_INDEX = "active_low_index"
 
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 auto fcf::devmgr::motor::CI_EXEC_PRE_INIT = "exec_pre_init"
 
constexpr auto fcf::devmgr::motor::CI_EXEC_POST_INIT = "exec_post_init"
 
constexpr auto fcf::devmgr::motor::CI_EXEC_PRE_MOVE = "exec_pre_move"
 
constexpr auto fcf::devmgr::motor::CI_EXEC_POST_MOVE = "exec_post_move"
 
constexpr auto fcf::devmgr::motor::CI_INITIALISATION = "initialisation"
 
constexpr auto fcf::devmgr::motor::CI_INIT_SEQUENCE = "sequence"
 
constexpr auto fcf::devmgr::motor::CI_INIT_ACTION = "step"
 
constexpr auto fcf::devmgr::motor::CI_INIT_VALUE_1 = "value1"
 
constexpr auto fcf::devmgr::motor::CI_INIT_VALUE_2 = "value2"
 
constexpr int fcf::devmgr::motor::CI_AXIS_TYPE_LINEAR = 1
 
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_LINEAR_STR = "LINEAR"
 
constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE_CIRCULAR_STR = "CIRCULAR"
 
constexpr auto fcf::devmgr::motor::CI_AXIS_TYPE_CIRCULAR_OPT_STR = "CIRCULAR_OPT"
 
constexpr int fcf::devmgr::motor::CI_AXIS_MODE_INPOS = 0
 
constexpr int fcf::devmgr::motor::CI_AXIS_MODE_INVEL = 1
 
constexpr auto fcf::devmgr::motor::CI_AXIS_MODE_INPOS_STR = "InPosition"
 
constexpr auto fcf::devmgr::motor::CI_AXIS_MODE_INVEL_STR = "InVelocity"
 
const std::unordered_map< int, std::string > fcf::devmgr::motor::AxisModeMap
 
constexpr int fcf::devmgr::motor::CI_MAX_INIT_STEPS = 10
 
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_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_LHW = "FIND_LHW"
 
constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_FIND_UHW = "FIND_UHW"
 
constexpr auto fcf::devmgr::motor::CI_INIT_ACTION_DELAY = "DELAY"
 
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_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_STAT_SCALE_FACTOR = "scale_factor"
 
constexpr auto fcf::devmgr::motor::CI_STAT_BACKLASH_STEP = "backlash_step"
 
constexpr auto fcf::devmgr::motor::CI_STAT_MODE = "mode"
 
constexpr auto fcf::devmgr::motor::CI_STAT_INIT_STEP = "init_step"
 
constexpr auto fcf::devmgr::motor::CI_STAT_INIT_ACTION = "init_action"
 
constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_READY = "axis_ready"
 
constexpr auto fcf::devmgr::motor::CI_STAT_AXIS_ENABLE = "axis_enable"
 
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_BRAKE = "axis_brake"
 
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_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_SIGNAL_LSTOP = "signal_lstop"
 
constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_LHW = "signal_lhw"
 
constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_REF = "signal_ref"
 
constexpr auto fcf::devmgr::motor::CI_STAT_SIGNAL_INDEX = "signal_index"
 
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::FITS_PARAM_BRAKE = "BRAKE"
 
constexpr auto fcf::devmgr::motor::FITS_PARAM_LOCK = "LOCK"
 
const std::unordered_map< std::string, int > fcf::devmgr::motor::AxisTypeMap
 
const std::unordered_map< std::string, int > fcf::devmgr::motor::InitActionsMap
 
const std::unordered_map< int, std::string > fcf::devmgr::motor::InitActions2Map
 

Detailed Description

MotorConfig class header file.

Copyright
ESO - European Southern Observatory
Author
mkiekebu
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