ifw::fcf::devmgr::drot Namespace Reference

Drot class source file. More...

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 >	SUBSTATE_MAP
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 >	TRK_MODE_MAP
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

Detailed Description

Drot class source file.

drotLcsIf class header file.

Drot class header file.

DrotLcsIf class source file.

Copyright

SPDX-FileCopyrightText: 2026 European Southern Observatory (ESO) SPDX-License-Identifier: LGPL-3.0-only

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_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT
RPC_ERR_NOT_TRACKING

Function Documentation

REGISTER_DEVICE()

ifw::fcf::devmgr::drot::REGISTER_DEVICE

(

Drot

)

Variable Documentation

CI_DIR_SIGN

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

constexpr

CI_FOCUS_SIGN

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

constexpr

CI_LATITUDE

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

constexpr

CI_LONGITUDE

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

constexpr

CI_STAT_ANGLE_ON_SKY

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

constexpr

CI_STAT_ELEV

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

constexpr

CI_STAT_PUPIL

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

constexpr

CI_STAT_REF

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

constexpr

CI_STAT_ROTATION

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

constexpr

CI_STAT_SKY

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

constexpr

CI_STAT_TRACK_MODE

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

constexpr

CI_STAT_TRACK_OFFSET

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

constexpr

CI_STAT_USER

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

constexpr

CI_TRK_PERIOD

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

constexpr

CI_TRK_THRESHOLD

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

constexpr

CI_USER_PAR1

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

constexpr

CI_USER_PAR2

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

constexpr

CI_USER_PAR3

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

constexpr

CI_USER_PAR4

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

constexpr

FITS_PARAM_POSANG

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

constexpr

FITS_PARAM_PUPIL

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

constexpr

FITS_PARAM_ROTATION

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

constexpr

FITS_PARAM_TRKMODE

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

constexpr

HW_ERRORS

const std::unordered_map<short, std::string> ifw::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

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

constexpr

RPC_ERRORS

const std::unordered_map<short, std::string> ifw::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

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

constexpr

RPC_START_TRACK

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

constexpr

RPC_STOP_TRACK

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

constexpr

RPC_TRACK_OFFSET

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

constexpr

SUBSTATE_ENABLING

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

constexpr

SUBSTATE_ENABLING_STR

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

constexpr

SUBSTATE_MAP

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

Initial value:

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

SUBSTATE_OP_PRESETTING

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

constexpr

SUBSTATE_OP_PRESETTING_STR

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

constexpr

SUBSTATE_OP_TRACKING

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

constexpr

SUBSTATE_OP_TRACKING_STR

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

constexpr

SUBSTATE_RESETTING

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

constexpr

SUBSTATE_RESETTING_STR

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

constexpr

TRK_MODE_ELEV

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

constexpr

TRK_MODE_ELEV_STR

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

constexpr

TRK_MODE_ENG

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

constexpr

TRK_MODE_ENG_STR

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

constexpr

TRK_MODE_MAP

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

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},
      }

TRK_MODE_SKY

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

constexpr

TRK_MODE_SKY_STR

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

constexpr

TRK_MODE_STAT

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

constexpr

TRK_MODE_STAT_STR

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

constexpr

TRK_MODE_USER

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

constexpr

TRK_MODE_USER_STR

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

constexpr