Adc Local Control System (LCS) Interface (IF) class. More...

#include <adcLcsIf.hpp>

Inheritance diagram for fcf::devmgr::adc::AdcLcsIf:

Public Member Functions
	AdcLcsIf (std::shared_ptr< fcf::devmgr::common::IDeviceConfig > config, fcf::devmgr::common::DataContext &data_ctx)
	adcLcsIf constructor. More...

virtual	~AdcLcsIf ()
	Default destructor. More...

virtual void	InitObject ()
	Initialize object. More...

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

void	UpdateTargetPosition (int axis_id, double position, std::string move_type)

void	MoveAbs (int axis_id, double position, double velocity)
	Executes the MoveAbs RPC. More...

void	MoveRel (int axis_id, double position, double velocity)
	Executes the MoveRel RPC. More...

void	MoveEncAbs (int axis_id, long int encoders)

void	MoveEncRel (int axis_id, long int encoders)

void	MoveVel (int axis_id, double velocity)
	Executes the MoveVel RPC. More...

void	StartTrack (const double &angle)
	Start ADC tracking. More...

void	StopTrack ()
	StopTrack. More...

void	MoveAngle (const double &angle)
	MoveAngle. More...

bool	IsTracking () const
	IsTracking. More...

bool	IsMoving () const
	IsMoving. More...

bool	IsInPosition (const int axis=-1) const
	IsInPosition. More...

bool	IsStandstill () const
	IsStandstill. More...

void	ReadConfig ()
	Read the configuration. More...

std::string	GetMotorMapValue (std::string motor, std::string category, std::string key)

virtual void	ReadStatus (AdcControllerData &status)
	Read status from the controller. More...

void	StartTrackMonitoring ()

void	StopTrackMonitoring ()

void	Listener (protocol::base::VectorVariant &params)
	Callback to manage changes on the monitored items. More...

virtual std::string	GetRpcError (const short error_code) const

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

virtual void	RegisterComm (std::shared_ptr< protocol::base::IComm > comm_if, protocol::base::Dispatcher<> &failure, protocol::base::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 bool	IsNotReady () const
	Check if controller is in Standby/NotReady state. More...

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

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

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

virtual bool	IsHwFailure () const
	Check if controller is in Hardware Failure. 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	ReadStatus (DeviceControllerData &status)
	ReadStatus. More...

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

std::string	GetMapValue (const std::string &category, const std::string &key) const
	Get mapping value. More...

protocol::base::Dispatcher< protocol::base::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 () const
	Get a pointer of device configuration. More...

const elt::configng::CiiConfigInstanceNamespace &	GetCfgInstance () const

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

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

Protected Member Functions inherited from fcf::devmgr::common::DeviceLcsIf
void	LoadConfig ()
	Load the YAML configuration. More...

void	ExecuteRpc (const std::string &obj, const std::string &proc, protocol::base::VectorVariant &attr_list)

int	ReadErrorCode ()

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

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

Protected Attributes
std::vector< std::string >	m_monitor_track_vector
	Special monitor vector of attributes to be monitored only in tracking mode. More...

std::unique_ptr< elt::configng::CiiConfigDocument >	m_motor_map_doc
	Config document for mapping file. More...

double	m_mot_actual_pos {0.0}

double	m_mot_actual_pos_axis [2] {0.0,0.0}

double	m_alpha {}

double	m_delta {}

short	m_track_mode {}

std::map< std::string, fcf::devmgr::motor::MotorControllerData >	m_motors_status

Protected Attributes inherited from fcf::devmgr::common::DeviceLcsIf
std::unique_ptr< elt::configng::CiiConfigDocument >	m_config_doc
	Config document for mapping file. More...

std::shared_ptr< protocol::base::IComm >	m_comm
	Shared pointer to the communication object. More...

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

protocol::base::Dispatcher< protocol::base::VectorVariant & >	m_dispatcher
	Dispatcher for managing subscription events. More...

protocol::base::Dispatcher	m_failure
	Dispatcher for managing failures in the communication. More...

protocol::base::Dispatcher	m_normal
	Dispatcher for managing recovery of communication failures. More...

int	m_state {}
	Actual controller state. More...

int	m_substate {}
	Actual controller substate. More...

bool	m_local {false}
	Actual local flag. More...

bool	m_error_code {false}
	Actual error code. More...

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

bool	m_connected {false}
	Flag indicating whether the LCS is connected. More...

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

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

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

Additional Inherited Members
Public Types inherited from fcf::devmgr::common::DeviceLcsIf
enum	{ STAT_LOCAL = 1 , STAT_ERROR = 2 , STAT_HW_STATUS = 3 , STAT_STATE = 4 , STAT_SUBSTATE = 5 }

Detailed Description

Adc Local Control System (LCS) Interface (IF) class.

This class manages the Adc connection to the LCS encapsulating all basic communication with the controller or the simulator.

Each RPC call is synchronous but it only starts the action in the controller. The controller will return successfully if the action can be started, not that the action was completed.

The completion of the action must be monitored by reading the status of the controller but this is out of the scope of this class.

Constructor & Destructor Documentation

◆ AdcLcsIf()

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

adcLcsIf constructor.

Parameters

[in,out]	config	Shared pointer to the device configuration.
[in,out]	data_ctx	Reference to the data context object.
[in]	initialise	Flag to control the initialization. This flag is used when using child classes.
[in]	with_publisher	Flag to be used in unit tests to avoid crash of CII.

◆ ~AdcLcsIf()

virtual fcf::devmgr::adc::AdcLcsIf::~AdcLcsIf ( )

inlinevirtual

Default destructor.

Member Function Documentation

◆ GetMotorMapValue()

std::string fcf::devmgr::adc::AdcLcsIf::GetMotorMapValue	(	std::string	motor,
		std::string	category,
		std::string	key
	)

◆ GetRpcError()

std::string fcf::devmgr::adc::AdcLcsIf::GetRpcError ( const short error_code ) const

virtual

Parameters

error_code Error code

Returns: Associated error text to the passed error code.

Implements fcf::devmgr::common::DeviceLcsIf.

◆ Init()

void fcf::devmgr::adc::AdcLcsIf::Init ( )

virtual

Executes the Init RPC.

Exceptions

an	exception if an error ocurrs.

Reimplemented from fcf::devmgr::common::DeviceLcsIf.

◆ InitObject()

void fcf::devmgr::adc::AdcLcsIf::InitObject ( )

virtual

Initialize object.

Exceptions

an	exception if an error ocurrs.

This method carries out basic object initialization. It is done in a separate method to allow overriden this functionality in children classes.

Reimplemented from fcf::devmgr::common::DeviceLcsIf.

◆ IsInPosition()

bool fcf::devmgr::adc::AdcLcsIf::IsInPosition ( const int axis = -1 ) const

IsInPosition.

Parameters

axis

Returns

◆ IsMoving()

bool fcf::devmgr::adc::AdcLcsIf::IsMoving ( ) const

IsMoving.

Returns

◆ IsStandstill()

bool fcf::devmgr::adc::AdcLcsIf::IsStandstill ( ) const

IsStandstill.

Returns

◆ IsTracking()

bool fcf::devmgr::adc::AdcLcsIf::IsTracking ( ) const

IsTracking.

Returns

◆ Listener()

void fcf::devmgr::adc::AdcLcsIf::Listener ( protocol::base::VectorVariant & params )

virtual

Callback to manage changes on the monitored items.

Parameters

[in] params Vector containing the list of atributes that have changed

This method implement the actions associated to the events originated from the monitoring of attributes.

This method is storing in the database the values that have changed. It also publish the events for the clients via zeroMQ.

Reimplemented from fcf::devmgr::common::DeviceLcsIf.

◆ LoadConfig()

void fcf::devmgr::adc::AdcLcsIf::LoadConfig ( )

protected

Load the YAML configuration.

Exceptions

rad::runtime_error in case of error

◆ MoveAbs()

void fcf::devmgr::adc::AdcLcsIf::MoveAbs	(	int	axis_id,
		double	position,
		double	velocity
	)

Executes the MoveAbs RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in absolute user units.

◆ MoveAngle()

void fcf::devmgr::adc::AdcLcsIf::MoveAngle ( const double & angle )

MoveAngle.

Parameters

angle

◆ MoveEncAbs()

void fcf::devmgr::adc::AdcLcsIf::MoveEncAbs	(	int	axis_id,
		long int	encoders
	)

◆ MoveEncRel()

void fcf::devmgr::adc::AdcLcsIf::MoveEncRel	(	int	axis_id,
		long int	encoders
	)

◆ MoveRel()

void fcf::devmgr::adc::AdcLcsIf::MoveRel	(	int	axis_id,
		double	position,
		double	velocity
	)

Executes the MoveRel RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in relative user units.

◆ MoveVel()

void fcf::devmgr::adc::AdcLcsIf::MoveVel	(	int	axis_id,
		double	velocity
	)

Executes the MoveVel RPC.

Parameters

axis_id	Axis identifier.
velocity	Speed in which the motor will be moved.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in velocity mode.

◆ ReadConfig()

void fcf::devmgr::adc::AdcLcsIf::ReadConfig ( )

Read the configuration.

This class reads the mapping configuration of the device.

◆ ReadStatus()

void fcf::devmgr::adc::AdcLcsIf::ReadStatus ( AdcControllerData & status )

virtual

Read status from the controller.

Parameters

status structure containing the status of the controller.

Warning: : The unpacking of the data shall follow the proper order or there is the risk of having an exception related to the boost conversion to variant.

◆ StartTrack()

void fcf::devmgr::adc::AdcLcsIf::StartTrack ( const double & angle )

Start ADC tracking.

Parameters

angle offset position angle.

◆ StartTrackMonitoring()

void fcf::devmgr::adc::AdcLcsIf::StartTrackMonitoring ( )

◆ StopTrack()

void fcf::devmgr::adc::AdcLcsIf::StopTrack ( )

StopTrack.

◆ StopTrackMonitoring()

void fcf::devmgr::adc::AdcLcsIf::StopTrackMonitoring ( )

◆ UpdateTargetPosition()

void fcf::devmgr::adc::AdcLcsIf::UpdateTargetPosition	(	int	axis_id,
		double	position,
		std::string	move_type
	)

Member Data Documentation

◆ m_alpha

double fcf::devmgr::adc::AdcLcsIf::m_alpha {}

protected

◆ m_delta

double fcf::devmgr::adc::AdcLcsIf::m_delta {}

protected

◆ m_monitor_track_vector

std::vector<std::string> fcf::devmgr::adc::AdcLcsIf::m_monitor_track_vector

protected

Special monitor vector of attributes to be monitored only in tracking mode.

◆ m_mot_actual_pos

double fcf::devmgr::adc::AdcLcsIf::m_mot_actual_pos {0.0}

protected

◆ m_mot_actual_pos_axis

double fcf::devmgr::adc::AdcLcsIf::m_mot_actual_pos_axis[2] {0.0,0.0}

protected

◆ m_motor_map_doc

std::unique_ptr<elt::configng::CiiConfigDocument> fcf::devmgr::adc::AdcLcsIf::m_motor_map_doc

protected

Config document for mapping file.

◆ m_motors_status

std::map<std::string, fcf::devmgr::motor::MotorControllerData> fcf::devmgr::adc::AdcLcsIf::m_motors_status

protected

◆ m_track_mode

short fcf::devmgr::adc::AdcLcsIf::m_track_mode {}

protected

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

devmgr/devices/src/include/fcf/devmgr/devices/adcLcsIf.hpp
devmgr/devices/src/adcLcsIf.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AdcLcsIf()

◆ ~AdcLcsIf()

Member Function Documentation

◆ GetMotorMapValue()

◆ GetRpcError()

◆ Init()

◆ InitObject()

◆ IsInPosition()

◆ IsMoving()

◆ IsStandstill()

◆ IsTracking()

◆ Listener()

◆ LoadConfig()

◆ MoveAbs()

◆ MoveAngle()

◆ MoveEncAbs()

◆ MoveEncRel()

◆ MoveRel()

◆ MoveVel()

◆ ReadConfig()

◆ ReadStatus()

◆ StartTrack()

◆ StartTrackMonitoring()

◆ StopTrack()

◆ StopTrackMonitoring()

◆ UpdateTargetPosition()

Member Data Documentation

◆ m_alpha

◆ m_delta

◆ m_monitor_track_vector

◆ m_mot_actual_pos

◆ m_mot_actual_pos_axis

◆ m_motor_map_doc

◆ m_motors_status

◆ m_track_mode