fcf::devmgr::drot Namespace Reference

Classes
class	Drot
	The Drot class. More...
struct	DrotControllerData
	The drotControllerData struct. More...
class	DrotLcsIf
	Drot Local Control System (LCS) Interface (IF) class. More...

Enumerations
enum	{   HW_SUCCESS = 100 , HW_ERR_HW_NOT_OP , HW_ERR_WRONG_CMD , HW_ERR_INCONSISTENT ,   HW_ERR_INIT_FAILURE , HW_ERR_ENABLE_FAILURE , HW_ERR_DISABLE_FAILURE }
enum	{   RPC_SUCCESS = 0 , RPC_ERR_NOT_OP = -1 , RPC_ERR_NOT_OP_READY = -2 , RPC_ERR_NOT_OP_NOTREADY = -3 ,   RPC_ERR_MOTOR_LOCAL = -4 , RPC_ERR_MOTOR_LOWER_LIMIT = -5 , RPC_ERR_MOTOR_UPPER_LIMIT = -6 , RPC_ERR_NOT_TRACKING = -11 }

Functions
	REGISTER_DEVICE (Drot)

Variables
constexpr auto	LOGGER_NAME = "drot"
constexpr auto	CI_FOCUS_SIGN = "focus_sign"
constexpr auto	CI_DIR_SIGN = "dir_sign"
constexpr auto	CI_STAT_REF = "stat_ref"
constexpr auto	CI_STAT_SKY = "sky_ref"
constexpr auto	CI_STAT_ELEV = "elev_ref"
constexpr auto	CI_STAT_USER = "user_ref"
constexpr auto	CI_USER_PAR1 = "user_par1"
constexpr auto	CI_USER_PAR2 = "user_par2"
constexpr auto	CI_USER_PAR3 = "user_par3"
constexpr auto	CI_USER_PAR4 = "user_par4"
constexpr auto	CI_LATITUDE = "latitude"
constexpr auto	CI_LONGITUDE = "longitude"
constexpr auto	CI_TRK_PERIOD = "trk_period"
constexpr auto	CI_TRK_THRESHOLD = "trk_threshold"
constexpr auto	RPC_MOVE_ANGLE = "rpcMoveAngle"
constexpr auto	RPC_START_TRACK = "rpcStartTrack"
constexpr auto	RPC_TRACK_OFFSET = "rpcTrackOffset"
constexpr auto	RPC_STOP_TRACK = "rpcStopTrack"
constexpr int	SUBSTATE_RESETTING = 109
constexpr int	SUBSTATE_ENABLING = 110
constexpr int	SUBSTATE_OP_TRACKING = 220
constexpr int	SUBSTATE_OP_PRESETTING = 221
constexpr auto	SUBSTATE_RESETTING_STR = "Resetting"
constexpr auto	SUBSTATE_ENABLING_STR = "Enabling"
constexpr auto	SUBSTATE_OP_TRACKING_STR = "Tracking"
constexpr auto	SUBSTATE_OP_PRESETTING_STR = "Presetting"
const std::unordered_map< short, std::string >	SubstateMap
constexpr short	TRK_MODE_ENG = 0
constexpr short	TRK_MODE_STAT = 1
constexpr short	TRK_MODE_SKY = 2
constexpr short	TRK_MODE_ELEV = 3
constexpr short	TRK_MODE_USER = 4
constexpr auto	TRK_MODE_ENG_STR = "eng"
constexpr auto	TRK_MODE_STAT_STR = "stat"
constexpr auto	TRK_MODE_SKY_STR = "sky"
constexpr auto	TRK_MODE_ELEV_STR = "elev"
constexpr auto	TRK_MODE_USER_STR = "user"
const std::unordered_map< short, std::string >	TrkModeMap
constexpr auto	CI_STAT_TRACK_MODE = "track_mode"
constexpr auto	CI_STAT_TRACK_OFFSET = "track_offset"
constexpr auto	CI_STAT_ROTATION = "rotation"
constexpr auto	CI_STAT_PUPIL = "pupil"
constexpr auto	CI_STAT_ANGLE_ON_SKY = "angle_on_sky"
constexpr auto	FITS_PARAM_TRKMODE = "MODE"
constexpr auto	FITS_PARAM_ROTATION = "ROTATION"
constexpr auto	FITS_PARAM_PUPIL = "PUPIL"
constexpr auto	FITS_PARAM_POSANG = "POSANG"
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
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_OP_READY
RPC_ERR_NOT_OP_NOTREADY
RPC_ERR_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT
RPC_ERR_NOT_TRACKING

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

Function Documentation

REGISTER_DEVICE()

fcf::devmgr::drot::REGISTER_DEVICE

(

Drot

)

Variable Documentation

CI_DIR_SIGN

constexpr auto fcf::devmgr::drot::CI_DIR_SIGN = "dir_sign"

constexpr

CI_FOCUS_SIGN

constexpr auto fcf::devmgr::drot::CI_FOCUS_SIGN = "focus_sign"

constexpr

CI_LATITUDE

constexpr auto fcf::devmgr::drot::CI_LATITUDE = "latitude"

constexpr

CI_LONGITUDE

constexpr auto fcf::devmgr::drot::CI_LONGITUDE = "longitude"

constexpr

CI_STAT_ANGLE_ON_SKY

constexpr auto fcf::devmgr::drot::CI_STAT_ANGLE_ON_SKY = "angle_on_sky"

constexpr

CI_STAT_ELEV

constexpr auto fcf::devmgr::drot::CI_STAT_ELEV = "elev_ref"

constexpr

CI_STAT_PUPIL

constexpr auto fcf::devmgr::drot::CI_STAT_PUPIL = "pupil"

constexpr

CI_STAT_REF

constexpr auto fcf::devmgr::drot::CI_STAT_REF = "stat_ref"

constexpr

CI_STAT_ROTATION

constexpr auto fcf::devmgr::drot::CI_STAT_ROTATION = "rotation"

constexpr

CI_STAT_SKY

constexpr auto fcf::devmgr::drot::CI_STAT_SKY = "sky_ref"

constexpr

CI_STAT_TRACK_MODE

constexpr auto fcf::devmgr::drot::CI_STAT_TRACK_MODE = "track_mode"

constexpr

CI_STAT_TRACK_OFFSET

constexpr auto fcf::devmgr::drot::CI_STAT_TRACK_OFFSET = "track_offset"

constexpr

CI_STAT_USER

constexpr auto fcf::devmgr::drot::CI_STAT_USER = "user_ref"

constexpr

CI_TRK_PERIOD

constexpr auto fcf::devmgr::drot::CI_TRK_PERIOD = "trk_period"

constexpr

CI_TRK_THRESHOLD

constexpr auto fcf::devmgr::drot::CI_TRK_THRESHOLD = "trk_threshold"

constexpr

CI_USER_PAR1

constexpr auto fcf::devmgr::drot::CI_USER_PAR1 = "user_par1"

constexpr

CI_USER_PAR2

constexpr auto fcf::devmgr::drot::CI_USER_PAR2 = "user_par2"

constexpr

CI_USER_PAR3

constexpr auto fcf::devmgr::drot::CI_USER_PAR3 = "user_par3"

constexpr

CI_USER_PAR4

constexpr auto fcf::devmgr::drot::CI_USER_PAR4 = "user_par4"

constexpr

FITS_PARAM_POSANG

constexpr auto fcf::devmgr::drot::FITS_PARAM_POSANG = "POSANG"

constexpr

FITS_PARAM_PUPIL

constexpr auto fcf::devmgr::drot::FITS_PARAM_PUPIL = "PUPIL"

constexpr

FITS_PARAM_ROTATION

constexpr auto fcf::devmgr::drot::FITS_PARAM_ROTATION = "ROTATION"

constexpr

FITS_PARAM_TRKMODE

constexpr auto fcf::devmgr::drot::FITS_PARAM_TRKMODE = "MODE"

constexpr

hw_errors

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

Initial value:

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

LOGGER_NAME

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

constexpr

rpc_errors

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

Initial value:

= {
        {RPC_ERR_NOT_OP,               "Cannot disable Drot. Not in OP state"},
        {RPC_ERR_NOT_OP_READY,         "Cannot enable Drot. Not in NOT_OP_READY."},
        {RPC_ERR_NOT_OP_NOTREADY,      "Cannot init Drot. Not in NOT_OP_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."},
        {RPC_ERR_NOT_TRACKING,         "Offset rejected. Device is not tracking."}
      }

RPC_MOVE_ANGLE

constexpr auto fcf::devmgr::drot::RPC_MOVE_ANGLE = "rpcMoveAngle"

constexpr

RPC_START_TRACK

constexpr auto fcf::devmgr::drot::RPC_START_TRACK = "rpcStartTrack"

constexpr

RPC_STOP_TRACK

constexpr auto fcf::devmgr::drot::RPC_STOP_TRACK = "rpcStopTrack"

constexpr

RPC_TRACK_OFFSET

constexpr auto fcf::devmgr::drot::RPC_TRACK_OFFSET = "rpcTrackOffset"

constexpr

SUBSTATE_ENABLING

constexpr int fcf::devmgr::drot::SUBSTATE_ENABLING = 110

constexpr

SUBSTATE_ENABLING_STR

constexpr auto fcf::devmgr::drot::SUBSTATE_ENABLING_STR = "Enabling"

constexpr

SUBSTATE_OP_PRESETTING

constexpr int fcf::devmgr::drot::SUBSTATE_OP_PRESETTING = 221

constexpr

SUBSTATE_OP_PRESETTING_STR

constexpr auto fcf::devmgr::drot::SUBSTATE_OP_PRESETTING_STR = "Presetting"

constexpr

SUBSTATE_OP_TRACKING

constexpr int fcf::devmgr::drot::SUBSTATE_OP_TRACKING = 220

constexpr

SUBSTATE_OP_TRACKING_STR

constexpr auto fcf::devmgr::drot::SUBSTATE_OP_TRACKING_STR = "Tracking"

constexpr

SUBSTATE_RESETTING

constexpr int fcf::devmgr::drot::SUBSTATE_RESETTING = 109

constexpr

SUBSTATE_RESETTING_STR

constexpr auto fcf::devmgr::drot::SUBSTATE_RESETTING_STR = "Resetting"

constexpr

SubstateMap

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

Initial value:

= {
        {fcf::devmgr::common::SUBSTATE_NOTREADY,       fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
        {SUBSTATE_RESETTING,      SUBSTATE_RESETTING_STR},
        {fcf::devmgr::common::SUBSTATE_INITIALISING,   fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
        {fcf::devmgr::common::SUBSTATE_READY,          fcf::devmgr::common::SUBSTATE_READY_STR},
        {SUBSTATE_ENABLING,       SUBSTATE_ENABLING_STR},
        {fcf::devmgr::motor::SUBSTATE_ABORTING,       fcf::devmgr::motor::SUBSTATE_ABORTING_STR},
        {fcf::devmgr::common::SUBSTATE_ERROR,          fcf::devmgr::common::SUBSTATE_ERROR_STR},
        {fcf::devmgr::common::SUBSTATE_OP_DISABLING,   fcf::devmgr::common::SUBSTATE_OP_DISABLING_STR},
        {fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL,  fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR},
        {fcf::devmgr::motor::SUBSTATE_OP_MOVING,      fcf::devmgr::motor::SUBSTATE_OP_MOVING_STR},
        {SUBSTATE_OP_TRACKING,    SUBSTATE_OP_TRACKING_STR},
        {SUBSTATE_OP_PRESETTING,    SUBSTATE_OP_PRESETTING_STR},
        {fcf::devmgr::motor::SUBSTATE_OP_STOPPING,    fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR},
        {fcf::devmgr::common::SUBSTATE_OP_ERROR,     fcf::devmgr::common::SUBSTATE_OP_ERROR_STR},
      }

TRK_MODE_ELEV

constexpr short fcf::devmgr::drot::TRK_MODE_ELEV = 3

constexpr

TRK_MODE_ELEV_STR

constexpr auto fcf::devmgr::drot::TRK_MODE_ELEV_STR = "elev"

constexpr

TRK_MODE_ENG

constexpr short fcf::devmgr::drot::TRK_MODE_ENG = 0

constexpr

TRK_MODE_ENG_STR

constexpr auto fcf::devmgr::drot::TRK_MODE_ENG_STR = "eng"

constexpr

TRK_MODE_SKY

constexpr short fcf::devmgr::drot::TRK_MODE_SKY = 2

constexpr

TRK_MODE_SKY_STR

constexpr auto fcf::devmgr::drot::TRK_MODE_SKY_STR = "sky"

constexpr

TRK_MODE_STAT

constexpr short fcf::devmgr::drot::TRK_MODE_STAT = 1

constexpr

TRK_MODE_STAT_STR

constexpr auto fcf::devmgr::drot::TRK_MODE_STAT_STR = "stat"

constexpr

TRK_MODE_USER

constexpr short fcf::devmgr::drot::TRK_MODE_USER = 4

constexpr

TRK_MODE_USER_STR

constexpr auto fcf::devmgr::drot::TRK_MODE_USER_STR = "user"

constexpr

TrkModeMap

const std::unordered_map<short, std::string> fcf::devmgr::drot::TrkModeMap

Initial value:

= {
        {TRK_MODE_ENG,       TRK_MODE_ENG_STR},
        {TRK_MODE_STAT,      TRK_MODE_STAT_STR},
        {TRK_MODE_SKY,       TRK_MODE_SKY_STR},
        {TRK_MODE_ELEV,      TRK_MODE_ELEV_STR},
        {TRK_MODE_USER,      TRK_MODE_USER_STR},
      }