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

#include <smaractLcsIf.hpp>

Inheritance diagram for fcf::devmgr::smaract::SmaractLcsIf:

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

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

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

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

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::motor::MotorBaseLcsIf
	MotorBaseLcsIf (std::shared_ptr< fcf::devmgr::common::IDeviceConfig > config, fcf::devmgr::common::DataContext &data_ctx)
	MotorLcsIf constructor. More...

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

void	MoveAbs (double position)
	Executes the MoveAbs RPC. More...

void	MoveEncAbs (int encoders)
	Executes the MoveAbs RPC. More...

void	MoveRel (double position)
	Executes the MoveRel RPC. More...

void	MoveEncRel (int encoders)
	Executes the MoveRel RPC. More...

void	MoveByName (std::string namedpos)
	Executes the MovePos RPC. More...

void	MoveVel (double velocity)
	Executes the MoveVel RPC. More...

virtual bool	IsDisabling ()
	Check if controller is disabling the motor. More...

bool	IsMoving () const
	Check if motor is moving. More...

bool	IsStandstill () const
	Check if motor is on. More...

bool	IsInPosition () const
	Check if motor is in position. More...

bool	IsMovingInRightDirection () const
	Check if motor is moving in the right direction. More...

void	SetTargetNamedPosition (const std::string named_position)

const std::string	GetTargetNamedPosition ()

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	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	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	StorePosition (const protocol::base::Variant &value, int attribute)
	Store Position. More...

Protected Member Functions inherited from fcf::devmgr::motor::MotorBaseLcsIf
void	MovePos (double position, double velocity, std::string move_type=RPC_MOVE_ABS)

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...

Additional Inherited Members
Public Types inherited from fcf::devmgr::motor::MotorBaseLcsIf
enum	{ STAT_LOCAL = 1 , STAT_ERROR = 2 , STAT_HW_STATUS = 3 , STAT_STATE = 4 , STAT_SUBSTATE = 5 , STAT_ACTUAL_POS = 6 , STAT_TARGET_POS = 7 , STAT_POS_ERROR = 8 , STAT_ACTUAL_VEL = 9 , STAT_TARGET_VEL = 10 , STAT_INITIALISED = 11 , STAT_MOTOR_BASE_END }

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 }

Protected Attributes inherited from fcf::devmgr::motor::MotorBaseLcsIf
double	m_mot_actual_pos {0.0}

double	m_mot_actual_enc {0.0}

std::string	m_mot_target_name {""}

std::string	m_mot_actual_name {""}

double	m_mot_target_pos {0.0}

double	m_mot_pos_error {0.0}

double	m_mot_target_vel {0.0}

double	m_mot_actual_vel {0.0}

double	m_mot_scale {1.0}

bool	m_mot_initialised {false}

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

Detailed Description

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

This class manages the motor 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

◆ SmaractLcsIf()

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

MotorLcsIf 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.

◆ ~SmaractLcsIf()

virtual fcf::devmgr::smaract::SmaractLcsIf::~SmaractLcsIf ( )

inlinevirtual

Default destructor.

Member Function Documentation

◆ GetRpcError()

std::string fcf::devmgr::smaract::SmaractLcsIf::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.

◆ InitObject()

void fcf::devmgr::smaract::SmaractLcsIf::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.

◆ Listener()

void fcf::devmgr::smaract::SmaractLcsIf::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.

◆ ReadStatus()

void fcf::devmgr::smaract::SmaractLcsIf::ReadStatus ( SmaractControllerData & status )

virtual

Read status from the controller.

Parameters

status structure containing the status of the controller.

Exceptions

an	exception if an error ocurrs.

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.

◆ StorePosition()

void fcf::devmgr::smaract::SmaractLcsIf::StorePosition	(	const protocol::base::Variant &	value,
		int	attribute
	)

protected

Store Position.

Parameters

value	Variant value to be stored in the OLDB.
attribute	Code of the attribute changed

This method update the OLDB with the position information.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SmaractLcsIf()

◆ ~SmaractLcsIf()

Member Function Documentation

◆ GetRpcError()

◆ InitObject()

◆ Listener()

◆ ReadStatus()

◆ StorePosition()