ifw::fcf::devmgr::matrk Namespace Reference

MAtrk class header file. More...

Classes
class	MAtrk
	The MAtrk class. More...
class	MAtrkConfig
	adc Configuration class More...
struct	MAtrkControllerData
	The adcControllerData struct. More...
class	MAtrkLcsIf
	MAtrk Local Control System (LCS) Interface (IF) class. More...

Typedefs
using	VectorAttributes = std::vector <std::pair<std::string, unsigned int>>

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 }

Functions
	REGISTER_DEVICE (MAtrk)

Variables
constexpr auto	LOGGER_NAME = "matrk"
constexpr auto	CI_AXES = "motors"
constexpr auto	CI_FOCUS_SIGN = "focus_sign"
constexpr auto	CI_DIR_SIGN = "dir_sign"
constexpr auto	CI_STAT_REF = "off_ref"
constexpr auto	CI_STAT_AUTO = "auto_ref"
constexpr auto	CI_MODES = "modes"
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_MOVE_USER = "rpcMoveUser"
constexpr auto	RPC_START_TRACK = "rpcStartTrack"
constexpr auto	RPC_STOP_TRACK = "rpcStopTrack"
constexpr auto	RPC_TRACK_OFFSET = "rpcTrackOffset"
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_OFF = 1
constexpr short	TRK_MODE_AUTO = 2
constexpr auto	TRK_MODE_ENG_STR = "eng"
constexpr auto	TRK_MODE_OFF_STR = "off"
constexpr auto	TRK_MODE_AUTO_STR = "auto"
const std::unordered_map< short, std::string >	TRK_MODE_MAP
constexpr auto	CI_STAT_TRACK_MODE = "track_mode"
const std::unordered_map< short, std::string >	HW_ERRORS
const std::unordered_map< short, std::string >	RPC_ERRORS

Detailed Description

MAtrk class header file.

MAtrk class source file.

adcLcsIf class header file.

MAtrkConfig class header file.

Copyright

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

Typedef Documentation

VectorAttributes

using ifw::fcf::devmgr::matrk::VectorAttributes = std::vector <std::pair<std::string, unsigned int>>

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

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()

ifw::fcf::devmgr::matrk::REGISTER_DEVICE

(

MAtrk

)

Variable Documentation

CI_AXES

auto ifw::fcf::devmgr::matrk::CI_AXES = "motors"

constexpr

CI_DIR_SIGN

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

constexpr

CI_FOCUS_SIGN

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

constexpr

CI_LATITUDE

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

constexpr

CI_LONGITUDE

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

constexpr

CI_MODES

auto ifw::fcf::devmgr::matrk::CI_MODES = "modes"

constexpr

CI_STAT_AUTO

auto ifw::fcf::devmgr::matrk::CI_STAT_AUTO = "auto_ref"

constexpr

CI_STAT_REF

auto ifw::fcf::devmgr::matrk::CI_STAT_REF = "off_ref"

constexpr

CI_STAT_TRACK_MODE

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

constexpr

CI_TRK_PERIOD

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

constexpr

CI_TRK_THRESHOLD

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

constexpr

HW_ERRORS

const std::unordered_map<short, std::string> ifw::fcf::devmgr::matrk::HW_ERRORS

Initial value:

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

LOGGER_NAME

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

constexpr

RPC_ERRORS

const std::unordered_map<short, std::string> ifw::fcf::devmgr::matrk::RPC_ERRORS

Initial value:

= {
        {RPC_ERR_NOT_OP,               "Cannot disable MAtrk. Not in OP state"},
        {RPC_ERR_NOT_OP_READY,         "Cannot enable MAtrk. Not in NOT_OP_READY."},
        {RPC_ERR_NOT_OP_NOTREADY,      "Cannot init MAtrk. 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_MOVE_ANGLE

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

constexpr

RPC_MOVE_USER

auto ifw::fcf::devmgr::matrk::RPC_MOVE_USER = "rpcMoveUser"

constexpr

RPC_START_TRACK

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

constexpr

RPC_STOP_TRACK

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

constexpr

RPC_TRACK_OFFSET

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

constexpr

SUBSTATE_ENABLING

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

constexpr

SUBSTATE_ENABLING_STR

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

constexpr

SUBSTATE_MAP

const std::unordered_map<short, std::string> ifw::fcf::devmgr::matrk::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::matrk::SUBSTATE_OP_PRESETTING = 221

constexpr

SUBSTATE_OP_PRESETTING_STR

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

constexpr

SUBSTATE_OP_TRACKING

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

constexpr

SUBSTATE_OP_TRACKING_STR

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

constexpr

SUBSTATE_RESETTING

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

constexpr

SUBSTATE_RESETTING_STR

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

constexpr

TRK_MODE_AUTO

short ifw::fcf::devmgr::matrk::TRK_MODE_AUTO = 2

constexpr

TRK_MODE_AUTO_STR

auto ifw::fcf::devmgr::matrk::TRK_MODE_AUTO_STR = "auto"

constexpr

TRK_MODE_ENG

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

constexpr

TRK_MODE_ENG_STR

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

constexpr

TRK_MODE_MAP

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

Initial value:

= {
    {TRK_MODE_ENG,       TRK_MODE_ENG_STR},
    {TRK_MODE_OFF,       TRK_MODE_OFF_STR},
    {TRK_MODE_AUTO,      TRK_MODE_AUTO_STR},
  }

TRK_MODE_OFF

short ifw::fcf::devmgr::matrk::TRK_MODE_OFF = 1

constexpr

TRK_MODE_OFF_STR

auto ifw::fcf::devmgr::matrk::TRK_MODE_OFF_STR = "off"

constexpr