fcf::devmgr::actuator Namespace Reference

Classes
class	Actuator
	The actuator class. More...
struct	ActuatorControllerData
	The actuatorControllerData struct. More...
class	ActuatorLcsIf
	actuator Local Control System (LCS) Interface (IF) class More...

Enumerations
enum	{   HW_SUCCESS = 0 , HW_ERR_HW_NOT_OP = -1 , HW_ERR_WRONG_CMD = -2 , HW_ERR_INCONSISTENT = -3 ,   HW_ERR_INIT_FAILURE = -4 , HW_ERR_ENABLE_FAILURE = -5 , HW_ERR_DISABLE_FAILURE = -6 }
enum	{   RPC_SUCCESS = 0 , RPC_ERR_NOT_OP = -1 , RPC_ERR_NOT_OP_READY = -2 , RPC_ERR_NOT_OP_NOTREADY = -3 ,   RPC_ERR_SWITCHING_ON = -4 , RPC_ERR_SWITCHING_OFF = -5 , RPC_ERR_LOCAL = -7 }

Functions
	REGISTER_DEVICE (Actuator)

Variables
constexpr auto	LOGGER_NAME = "actuator"
constexpr auto	CI_ACTIVE_LOW_ON = "low_on"
constexpr auto	CI_ACTIVE_LOW_SWITCH = "low_switch"
constexpr auto	CI_INVERT_ANALOG = "invert_analog"
constexpr auto	CI_ANALOG_THRESHOLD = "analog_threshold"
constexpr auto	CI_MAX_ON = "maxon"
constexpr auto	CI_INITIAL_STATE = "initial_state"
constexpr auto	CI_AUTO_OP = "auto_operational"
constexpr auto	CI_TIMEOUT = "timeout"
constexpr auto	CI_SIG_STABLE_PERIOD = "signal_stable_period"
const std::string	RPC_ON = "rpcSwitchOn"
const std::string	RPC_OFF = "rpcSwitchOff"
constexpr int	SUBSTATE_READY_OFF = 103
constexpr int	SUBSTATE_READY_ON = 104
constexpr int	SUBSTATE_SWITCHING_OFF = 109
constexpr int	SUBSTATE_SWITCHING_ON = 110
constexpr int	SUBSTATE_OP_DISABLING = 205
constexpr int	SUBSTATE_OP_OFF = 206
constexpr int	SUBSTATE_OP_SWITCHING_OFF = 207
constexpr int	SUBSTATE_OP_ON = 209
constexpr int	SUBSTATE_OP_SWITCHING_ON = 210
constexpr auto	SUBSTATE_NOTREADY_STR = "NotReady"
constexpr auto	SUBSTATE_READY_OFF_STR = "Ready/Off"
constexpr auto	SUBSTATE_READY_ON_STR = "Ready/On"
constexpr auto	SUBSTATE_SWITCHING_OFF_STR = "Ready/Swit_off"
constexpr auto	SUBSTATE_SWITCHING_ON_STR = "Ready/Swit_on"
constexpr auto	SUBSTATE_OP_OFF_STR = "Off"
constexpr auto	SUBSTATE_OP_SWITCHING_OFF_STR = "Switching_off"
constexpr auto	SUBSTATE_OP_ON_STR = "On"
constexpr auto	SUBSTATE_OP_SWITCHING_ON_STR = "Switching_on"
const std::unordered_map< short, std::string >	SubstateMap
const std::unordered_map< short, std::string >	hw_errors
const std::unordered_map< short, std::string >	rpc_errors

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
HW_SUCCESS
HW_ERR_HW_NOT_OP
HW_ERR_WRONG_CMD
HW_ERR_INCONSISTENT
HW_ERR_INIT_FAILURE
HW_ERR_ENABLE_FAILURE
HW_ERR_DISABLE_FAILURE

anonymous enum

anonymous enum

Enumerator
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_OP_READY
RPC_ERR_NOT_OP_NOTREADY
RPC_ERR_SWITCHING_ON
RPC_ERR_SWITCHING_OFF
RPC_ERR_LOCAL

Function Documentation

REGISTER_DEVICE()

fcf::devmgr::actuator::REGISTER_DEVICE

(

Actuator

)

Variable Documentation

CI_ACTIVE_LOW_ON

constexpr auto fcf::devmgr::actuator::CI_ACTIVE_LOW_ON = "low_on"

constexpr

CI_ACTIVE_LOW_SWITCH

constexpr auto fcf::devmgr::actuator::CI_ACTIVE_LOW_SWITCH = "low_switch"

constexpr

CI_ANALOG_THRESHOLD

constexpr auto fcf::devmgr::actuator::CI_ANALOG_THRESHOLD = "analog_threshold"

constexpr

CI_AUTO_OP

constexpr auto fcf::devmgr::actuator::CI_AUTO_OP = "auto_operational"

constexpr

CI_INITIAL_STATE

constexpr auto fcf::devmgr::actuator::CI_INITIAL_STATE = "initial_state"

constexpr

CI_INVERT_ANALOG

constexpr auto fcf::devmgr::actuator::CI_INVERT_ANALOG = "invert_analog"

constexpr

CI_MAX_ON

constexpr auto fcf::devmgr::actuator::CI_MAX_ON = "maxon"

constexpr

CI_SIG_STABLE_PERIOD

constexpr auto fcf::devmgr::actuator::CI_SIG_STABLE_PERIOD = "signal_stable_period"

constexpr

CI_TIMEOUT

constexpr auto fcf::devmgr::actuator::CI_TIMEOUT = "timeout"

constexpr

hw_errors

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

Initial value:

= {
      {HW_ERR_HW_NOT_OP,       "TwinCAT not in OP state or CouplerState not mapped"},
      {HW_ERR_WRONG_CMD,       "actuator unknown command"},
      {HW_ERR_INCONSISTENT,    "actuator inconsistent hardware signals"},
      {HW_ERR_INIT_FAILURE,    "actuator init failure"},
      {HW_ERR_ENABLE_FAILURE,  "actuator enable failure"},
      {HW_ERR_DISABLE_FAILURE, "actuator disable failure"},
    }

LOGGER_NAME

constexpr auto fcf::devmgr::actuator::LOGGER_NAME = "actuator"

constexpr

rpc_errors

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

Initial value:

= {
    {RPC_ERR_NOT_OP,               "Cannot disable device. Not in OP state"},
    {RPC_ERR_NOT_OP_READY,    "Cannot enable device. Not in READY."},
    {RPC_ERR_NOT_OP_NOTREADY, "Cannot init device. Not in NOTREADY or hardware FAILURE."},
    {RPC_ERR_SWITCHING_ON ,        "Not allowed to switch ON while switching OFF"},
    {RPC_ERR_SWITCHING_OFF,        "Not allowed to switch OFF while switching ON"},
    {RPC_ERR_LOCAL,                "RPC calls are not allowed in Local mode"},
  }

RPC_OFF

const std::string fcf::devmgr::actuator::RPC_OFF = "rpcSwitchOff"

RPC_ON

const std::string fcf::devmgr::actuator::RPC_ON = "rpcSwitchOn"

SUBSTATE_NOTREADY_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_NOTREADY_STR = "NotReady"

constexpr

SUBSTATE_OP_DISABLING

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_DISABLING = 205

constexpr

SUBSTATE_OP_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_OFF = 206

constexpr

SUBSTATE_OP_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_OFF_STR = "Off"

constexpr

SUBSTATE_OP_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_ON = 209

constexpr

SUBSTATE_OP_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_ON_STR = "On"

constexpr

SUBSTATE_OP_SWITCHING_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_OFF = 207

constexpr

SUBSTATE_OP_SWITCHING_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_OFF_STR = "Switching_off"

constexpr

SUBSTATE_OP_SWITCHING_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_ON = 210

constexpr

SUBSTATE_OP_SWITCHING_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_ON_STR = "Switching_on"

constexpr

SUBSTATE_READY_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_READY_OFF = 103

constexpr

SUBSTATE_READY_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_READY_OFF_STR = "Ready/Off"

constexpr

SUBSTATE_READY_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_READY_ON = 104

constexpr

SUBSTATE_READY_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_READY_ON_STR = "Ready/On"

constexpr

SUBSTATE_SWITCHING_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_SWITCHING_OFF = 109

constexpr

SUBSTATE_SWITCHING_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_SWITCHING_OFF_STR = "Ready/Swit_off"

constexpr

SUBSTATE_SWITCHING_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_SWITCHING_ON = 110

constexpr

SUBSTATE_SWITCHING_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_SWITCHING_ON_STR = "Ready/Swit_on"

constexpr

SubstateMap

const std::unordered_map<short, std::string> fcf::devmgr::actuator::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},
    {SUBSTATE_READY_OFF,       SUBSTATE_READY_OFF_STR},
    {SUBSTATE_READY_ON,        SUBSTATE_READY_ON_STR},
    {SUBSTATE_SWITCHING_OFF,   SUBSTATE_SWITCHING_OFF_STR},
    {SUBSTATE_SWITCHING_ON,    SUBSTATE_SWITCHING_ON_STR},
    {fcf::devmgr::common::SUBSTATE_ERROR,           fcf::devmgr::common::SUBSTATE_ERROR_STR},
    {SUBSTATE_OP_OFF,          SUBSTATE_OP_OFF_STR},
    {SUBSTATE_OP_SWITCHING_OFF,SUBSTATE_OP_SWITCHING_OFF_STR},
    {SUBSTATE_OP_ON,           SUBSTATE_OP_ON_STR},
    {SUBSTATE_OP_SWITCHING_ON, SUBSTATE_OP_SWITCHING_ON_STR},
    {fcf::devmgr::common::SUBSTATE_OP_ERROR,        fcf::devmgr::common::SUBSTATE_OP_ERROR_STR}
  }