Drot Local Control System (LCS) Interface (IF) class. More...

#include <drotLcsIf.hpp>

Inheritance diagram for fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >:

Public Member Functions
	DrotLcsIf (std::shared_ptr< fcf::devmgr::common::IDeviceConfig > config, fcf::devmgr::common::DataContext &data_ctx, bool initialise=true)
	drotLcsIf constructor. More...

virtual	~DrotLcsIf ()
	Default destructor. More...

void	MoveAngle (double angle)
	Move drot to a position angle. More...

bool	IsTracking ()
	Check if drot is tracking. More...

void	StartTrack (short mode, double angle)
	Start derotator tracking. More...

void	StopTrack ()
	Stop derotator tracking. More...

void	Listener (fcf::common::VectorVariant &params)
	Callback to manage changes on the monitored items. More...

virtual std::string	GetRpcError (const short error_code) const

void	ReadStatus (DrotControllerData &status, bool force_read=true)

Public Member Functions inherited from fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >
	MotorLcsIf (std::shared_ptr< fcf::devmgr::common::IDeviceConfig > config, fcf::devmgr::common::DataContext &data_ctx, bool initialise=true)
	MotorLcsIf constructor. More...

virtual	~MotorLcsIf ()
	Default destructor. More...

void	MoveAbs (double position, double velocity)
	Executes the MoveAbs RPC. More...

void	MoveRel (double position, double velocity)
	Executes the MoveRel RPC. More...

void	MoveVel (double velocity)
	Executes the MoveVel RPC. More...

virtual bool	IsDisabling ()
	Check if controller is disabling the motor. More...

bool	IsMoving ()
	Check if motor is moving. More...

bool	IsStandstill ()
	Check if motor is on. More...

virtual void	ReadStatus (MotorControllerData &status, bool force_read=true)
	Read status from the controller. More...

void	Listener (fcf::common::VectorVariant &params)
	Callback to manage changes on the monitored items. More...

Public Member Functions inherited from fcf::devmgr::common::DeviceLcsIf
	DeviceLcsIf (std::shared_ptr< IDeviceConfig > config, DataContext &data_ctx)
	DeviceLcsIf constructor. More...

virtual void	RegisterComm (std::shared_ptr< fcf::common::IComm > comm_if, fcf::common::Dispatcher<> &failure, fcf::common::Dispatcher<> &normal)
	Register a communication interface. More...

virtual void	Connect ()
	Connect to the controller or simulator. More...

virtual void	Disconnect ()
	Disconnect from the controller of simulator. More...

virtual void	ReadConfig (const std::vector< std::string > &stat_map_vector, const std::vector< std::string > &rpc_map_vector)
	Read the configuration. More...

virtual bool	IsNotReady ()
	Check if controller is in Standby/NotReady state. More...

virtual bool	IsReady ()
	Check if controller is in Standby/Ready state. More...

virtual bool	IsOperational ()
	Check if controller is in Operational. More...

virtual bool	IsHwFailure ()
	Check if controller is in Hardware Failure. More...

virtual void	Init ()
	Executes the Init RPC. More...

virtual void	Enable ()
	Executes the Enable RPC. More...

virtual void	Disable ()
	Executes the Disable RPC. More...

virtual void	Stop ()
	Executes the Stop RPC. More...

virtual void	Reset ()
	Executes the Reset RPC. More...

virtual void	StartMonitoring ()
	Start monitoring of controller attributes. More...

virtual void	StopMonitoring ()
	Stop monitoring of controller attributes. More...

virtual std::string	GetHwError (int &error_code, const bool update=false)
	Get error message. More...

std::string	GetMapValue (std::string category, std::string key)
	Get mapping valLampConfigue. More...

fcf::common::Dispatcher< fcf::common::VectorVariant & > &	GetDispatcher ()

bool	IsConfigLoaded () const
	Check if configuration was loaded. More...

bool	IsConnected () const
	Check is the communication was established. More...

virtual std::shared_ptr< IDeviceConfig >	GetDeviceConfig ()
	Get a pointer of device configuration. More...

Protected Attributes
double	m_alpha {}

double	m_delta {}

short	m_track_mode {}

double	m_angle_on_sky {}

Protected Attributes inherited from fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >
std::unique_ptr< rad::cii::Publisher< fcfif::MotorPositionTopic > >	m_motor_publisher

std::unique_ptr< rad::cii::Publisher< TOPIC_TYPE > >	m_publisher

double	m_mot_actual_pos {}

double	m_mot_target_pos {}

double	m_mot_pos_error {}

double	m_mot_actual_vel {}

double	m_mot_scale {1.0}

bool	m_mot_initialised {false}

int	m_mot_init_step {}

int	m_mot_init_action {}

int	m_mot_mode {}

short	m_mot_axis_info1 {}

short	m_mot_axis_info2 {}

bool	m_mot_axis_ready {false}

bool	m_mot_axis_enable {false}

bool	m_mot_axis_brake {false}

bool	m_mot_axis_lock {false}

bool	m_mot_axis_inpos {false}

bool	m_mot_signal_lstop {false}

bool	m_mot_signal_lhw {false}

bool	m_mot_signal_ref {false}

bool	m_mot_signal_index {false}

bool	m_mot_signal_uhw {false}

bool	m_mot_signal_ustop {false}

Protected Attributes inherited from fcf::devmgr::common::DeviceLcsIf
YAML::Node	m_config_node
	YAML node for the device mapping file. More...

std::shared_ptr< fcf::common::IComm >	m_comm
	Shared pointer to the communication object. More...

std::shared_ptr< IDeviceConfig >	m_config
	Shared pointer to the device config object. More...

fcf::common::Dispatcher< fcf::common::VectorVariant & >	m_dispatcher
	Dispatcher for managing subscription events. More...

fcf::common::Dispatcher	m_failure
	Dispatcher for managing failures in the communication. More...

fcf::common::Dispatcher	m_normal
	Dispatcher for managing recovery of communication failures. More...

int	m_state {}
	Actual controller state. More...

int	m_substate {}
	Actual controller substate. More...

bool	m_local {false}
	Actual local flag. More...

bool	m_error_code {false}
	Actual error code. More...

bool	m_config_loaded {false}
	Flag indicating whether the configuration was successfully loaded. More...

bool	m_connected {false}
	Flag indicating whether the LCS is connected. More...

fcf::devmgr::common::DataContext &	m_data_ctx

std::string	m_lcs_prefix
	Store the prefix for storing keys in the database. More...

elt::mal::Mal::Properties	m_mal_properties

std::string	m_pub_endpoint

std::unordered_map< std::string, short >	m_ua_status_map

std::vector< std::string >	m_ua_monitor_vector

std::unordered_map< short, std::string >	m_hw_errors

Additional Inherited Members
Public Types inherited from fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >
enum	{ STAT_LOCAL = 1, STAT_ERROR = 2, STAT_HW_STATUS = 3, STAT_STATE = 4, STAT_SUBSTATE = 5, STAT_ACTUAL_POS = 6, STAT_TARGET_POS = 7, STAT_POS_ERROR = 8, STAT_ACTUAL_VEL = 9, STAT_TARGET_VEL = 10, STAT_AXIS_BRAKE = 11, STAT_AXIS_ENABLE = 12, STAT_AXIS_LOCK = 13, STAT_MODE = 14, STAT_AXIS_READY = 15, STAT_AXIS_INPOS = 16, STAT_AXIS_INFO1 = 17, STAT_AXIS_INFO2 = 18, STAT_INITIALISED = 19, STAT_INIT_STEP = 20, STAT_INIT_ACTION = 21, STAT_SIGNAL_LSTOP = 22, STAT_SIGNAL_LHW = 23, STAT_SIGNAL_REF = 24, STAT_SIGNAL_INDEX = 25, STAT_SIGNAL_UHW = 26, STAT_SIGNAL_USTOP = 27, STAT_SCALE_FACTOR = 28, STAT_MOTOR_END }

Public Types inherited from fcf::devmgr::common::DeviceLcsIf
enum	{ STAT_LOCAL = 1, STAT_ERROR = 2, STAT_HW_STATUS = 3, STAT_STATE = 4, STAT_SUBSTATE = 5 }

Protected Member Functions inherited from fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >
void	StoreAttribute (const std::string key, const fcf::common::Variant &value, bool publish, int attribute)
	Store the updated into the DB. More...

void	PublishPosition (const fcf::common::Variant &value, int attribute)
	Publish Position. More...

Protected Member Functions inherited from fcf::devmgr::common::DeviceLcsIf
void	LoadConfig ()
	Load the YAML configuration. More...

void	ExecuteRpc (const std::string &obj, const std::string &proc, fcf::common::VectorVariant &attr_list)

int	ReadErrorCode ()

void	GetStates (int &state, int &substate)
	Get states (state and substate) of the controller. More...

void	StoreUaNames (const std::vector< std::pair< std::string, unsigned int >> &ualist)
	StoreUaNames. More...

void	StoreAttribute (const std::string key, const fcf::common::Variant &value, int attribute)
	Store the updated into the DB. More...

Detailed Description

template<typename TOPIC_TYPE>
class fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >

Drot Local Control System (LCS) Interface (IF) class.

This class manages the Drot connection to the LCS encapsulating all basic communication with the controller or the simulator.

Each RPC call is synchronous but it only starts the action in the controller. The controller will return successfully if the action can be started, not that the action was completed.

The completion of the action must be monitored by reading the status of the controller but this is out of the scope of this class.

Constructor & Destructor Documentation

◆ DrotLcsIf()

template<typename TOPIC_TYPE >

fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::DrotLcsIf	(	std::shared_ptr< fcf::devmgr::common::IDeviceConfig >	config,
		fcf::devmgr::common::DataContext &	data_ctx,
		bool	initialise = `true`
	)

drotLcsIf constructor.

Parameters

[in,out]	config	Shared pointer to the device configuration.
[in,out]	data_ctx	Reference to the data context object.
[in]	initialise	Flag to control the initialization. This flag is used when using child classes.

◆ ~DrotLcsIf()

template<typename TOPIC_TYPE >

virtual fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::~DrotLcsIf ( )

inlinevirtual

Default destructor.

Member Function Documentation

◆ GetRpcError()

template<typename TOPIC_TYPE >

virtual std::string fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::GetRpcError ( const short error_code ) const

virtual

Parameters

error_code Error code

Returns: Associated error text to the passed error code.

Reimplemented from fcf::devmgr::motor::MotorLcsIf< TOPIC_TYPE >.

◆ IsTracking()

template<typename TOPIC_TYPE >

bool fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::IsTracking ( )

Check if drot is tracking.

◆ Listener()

template<typename TOPIC_TYPE >

void fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::Listener ( fcf::common::VectorVariant & params )

virtual

Callback to manage changes on the monitored items.

Parameters

[in] params Vector containing the list of atributes that have changed

This method implement the actions associated to the events originated from the monitoring of attributes.

This method is storing in the database the values that have changed. It also publish the events for the clients via zeroMQ.

Implements fcf::devmgr::common::DeviceLcsIf.

◆ MoveAngle()

template<typename TOPIC_TYPE >

void fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::MoveAngle ( double angle )

Move drot to a position angle.

Parameters

angle position angle.

◆ ReadStatus()

template<typename TOPIC_TYPE >

void fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::ReadStatus	(	DrotControllerData &	status,
		bool	force_read = `true`
	)

◆ StartTrack()

template<typename TOPIC_TYPE >

void fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::StartTrack	(	short	mode,
		double	angle
	)

Start derotator tracking.

Parameters

mode	tracking mode.
angle	offset rotation angle.

The controller is not setting alpha and delta. These parameters will be obtained from CCS (or CCS simulator).

◆ StopTrack()

template<typename TOPIC_TYPE >

void fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::StopTrack ( )

Stop derotator tracking.

Member Data Documentation

◆ m_alpha

template<typename TOPIC_TYPE >

double fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::m_alpha {}

protected

◆ m_angle_on_sky

template<typename TOPIC_TYPE >

double fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::m_angle_on_sky {}

protected

◆ m_delta

template<typename TOPIC_TYPE >

double fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::m_delta {}

protected

◆ m_track_mode

template<typename TOPIC_TYPE >

short fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >::m_track_mode {}

protected

The documentation for this class was generated from the following file:

devmgr/devices/src/include/fcf/devmgr/devices/drotLcsIf.hpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename TOPIC_TYPE> class fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >

Constructor & Destructor Documentation

◆ DrotLcsIf()

◆ ~DrotLcsIf()

Member Function Documentation

◆ GetRpcError()

◆ IsTracking()

◆ Listener()

◆ MoveAngle()

◆ ReadStatus()

◆ StartTrack()

◆ StopTrack()

Member Data Documentation

◆ m_alpha

◆ m_angle_on_sky

◆ m_delta

◆ m_track_mode

template<typename TOPIC_TYPE>
class fcf::devmgr::drot::DrotLcsIf< TOPIC_TYPE >