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motorConfig.hpp File Reference
Device Library

MotorConfig class header file. More...

#include <string>
#include <unordered_map>
#include <yaml-cpp/yaml.h>
#include <fcf/common/iComm.hpp>
#include <fcf/devmgr/common/deviceConfig.hpp>
#include <fcf/devmgr/common/configSet.hpp>
#include <fcf/devmgr/common/dataContext.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::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::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
}
 

Variables

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_DEF_VEL = "velocity"
 
constexpr auto fcf::devmgr::motor::CI_MAX_POS = "max_pos"
 
constexpr auto fcf::devmgr::motor::CI_MIN_POS = "min_pos"
 
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_TIMEOUT_INIT = "tout_init"
 
constexpr auto fcf::devmgr::motor::CI_TIMEOUT_MOVE = "tout_move"
 
constexpr auto fcf::devmgr::motor::CI_TIMEOUT_SWITCH = "tout_switch"
 
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 = "action"
 
constexpr auto fcf::devmgr::motor::CI_INIT_VALUE_1 = "value1"
 
constexpr auto fcf::devmgr::motor::CI_INIT_VALUE_2 = "value2"
 
constexpr auto fcf::devmgr::motor::CI_POSITIONS = "positions"
 
constexpr auto fcf::devmgr::motor::CI_POS_NAMES = "posnames"
 
constexpr auto fcf::devmgr::motor::CI_NAME_POS_TOLERANCE = "tolerance"
 
constexpr auto fcf::devmgr::motor::CI_SCALE_FACTOR = "scale_factor"
 
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::RPC_MOVE_ABS = "rpcMoveAbs"
 
constexpr auto fcf::devmgr::motor::RPC_MOVE_REL = "rpcMoveRel"
 
constexpr auto fcf::devmgr::motor::RPC_MOVE_VEL = "rpcMoveVel"
 
constexpr int fcf::devmgr::motor::SUBSTATE_ABORTING = 107
 
constexpr int fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL = 216
 
constexpr int fcf::devmgr::motor::SUBSTATE_OP_MOVING = 217
 
constexpr int fcf::devmgr::motor::SUBSTATE_OP_SETTING_POS = 218
 
constexpr int fcf::devmgr::motor::SUBSTATE_OP_STOPPING = 219
 
constexpr auto fcf::devmgr::motor::SUBSTATE_READY_STR = "Ready"
 
constexpr auto fcf::devmgr::motor::SUBSTATE_ABORTING_STR = "Aborting"
 
constexpr auto fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR = "Standstill"
 
constexpr auto fcf::devmgr::motor::SUBSTATE_OP_MOVING_STR = "Moving"
 
constexpr auto fcf::devmgr::motor::SUBSTATE_OP_SETTING_POS_STR = "SettingPos"
 
constexpr auto fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR = "Stopping"
 
const std::unordered_map
< short, std::string > 		fcf::devmgr::motor::SubstateMap
 
constexpr auto fcf::devmgr::motor::CI_STAT_ENC_POS = "pos_enc"
 
constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_ENC = "target_enc"
 
constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_POSNAME = "pos_target_name"
 
constexpr auto fcf::devmgr::motor::CI_STAT_ACTUAL_POSNAME = "pos_actual_name"
 
constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_POS = "pos_target"
 
constexpr auto fcf::devmgr::motor::CI_STAT_ACTUAL_POS = "pos_actual"
 
constexpr auto fcf::devmgr::motor::CI_STAT_POS_ERROR = "pos_error"
 
constexpr auto fcf::devmgr::motor::CI_STAT_ACTUAL_VEL = "vel_actual"
 
constexpr auto fcf::devmgr::motor::CI_STAT_TARGET_VEL = "vel_target"
 
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_INITIALISED = "initialised"
 
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_POSNAME = "POSNAME"
 
constexpr auto fcf::devmgr::motor::FITS_PARAM_POS = "POS"
 
constexpr auto fcf::devmgr::motor::FITS_PARAM_BRAKE = "BRAKE"
 
constexpr auto fcf::devmgr::motor::FITS_PARAM_LOCK = "LOCK"
 
constexpr auto fcf::devmgr::motor::UndefinedNamedPos = "undefined"
 
const std::vector< std::string > fcf::devmgr::motor::cfgMapping
 
const std::vector< std::string > fcf::devmgr::motor::statMapping
 
const std::vector< std::string > fcf::devmgr::motor::rpcMapping
 
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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