fcf::devmgr::actuator Namespace Reference

Classes
class	Actuator
	The actuator class. More...
class	ActuatorConfig
	actuator Configuration class More...
struct	ActuatorControllerData
	The actuatorControllerData struct. More...
class	ActuatorLcsIf
	actuator Local Control System (LCS) Interface (IF) class More...

Enumerations
enum	{   HW_SUCCESS = 0, HW_ERR_HW_NOT_OP = -1, HW_ERR_WRONG_CMD = -2, HW_ERR_INCONSISTENT = -3,   HW_ERR_INIT_FAILURE = -4, HW_ERR_ENABLE_FAILURE = -5, HW_ERR_DISABLE_FAILURE = -6, RPC_SUCCESS = 0,   RPC_ERR_NOT_OP = -1, RPC_ERR_NOT_OP_READY = -2, RPC_ERR_NOT_OP_NOTREADY = -3, RPC_ERR_SWITCHING_ON = -4,   RPC_ERR_SWITCHING_OFF = -5, RPC_ERR_LOCAL = -7 }
enum	{   HW_SUCCESS = 0, HW_ERR_HW_NOT_OP = -1, HW_ERR_WRONG_CMD = -2, HW_ERR_INCONSISTENT = -3,   HW_ERR_INIT_FAILURE = -4, HW_ERR_ENABLE_FAILURE = -5, HW_ERR_DISABLE_FAILURE = -6, RPC_SUCCESS = 0,   RPC_ERR_NOT_OP = -1, RPC_ERR_NOT_OP_READY = -2, RPC_ERR_NOT_OP_NOTREADY = -3, RPC_ERR_SWITCHING_ON = -4,   RPC_ERR_SWITCHING_OFF = -5, RPC_ERR_LOCAL = -7 }

Functions
	REGISTER_DEVICE (Actuator)

Variables
constexpr auto	CI_ACTIVE_LOW_ON = "low_on"
constexpr auto	CI_ACTIVE_LOW_SWITCH = "low_switch"
constexpr auto	CI_INVERT_ANALOG = "invert_analog"
constexpr auto	CI_ANALOG_THRESHOLD = "analog_threshold"
constexpr auto	CI_MAX_ON = "maxon"
constexpr auto	CI_INITIAL_STATE = "initial_state"
constexpr auto	CI_AUTO_OP = "auto_operational"
constexpr auto	CI_TIMEOUT = "timeout"
constexpr auto	CI_SIG_STABLE_PERIOD = "signal_stable_period"
const std::string	RPC_ON = "rpcSwitchOn"
const std::string	RPC_OFF = "rpcSwitchOff"
constexpr int	SUBSTATE_READY_OFF = 103
constexpr int	SUBSTATE_READY_ON = 104
constexpr int	SUBSTATE_SWITCHING_OFF = 109
constexpr int	SUBSTATE_SWITCHING_ON = 110
constexpr int	SUBSTATE_OP_DISABLING = 205
constexpr int	SUBSTATE_OP_OFF = 206
constexpr int	SUBSTATE_OP_SWITCHING_OFF = 207
constexpr int	SUBSTATE_OP_ON = 209
constexpr int	SUBSTATE_OP_SWITCHING_ON = 210
constexpr auto	SUBSTATE_NOTREADY_STR = "NotReady"
constexpr auto	SUBSTATE_READY_OFF_STR = "Ready/Off"
constexpr auto	SUBSTATE_READY_ON_STR = "Ready/On"
constexpr auto	SUBSTATE_SWITCHING_OFF_STR = "Ready/Swit_off"
constexpr auto	SUBSTATE_SWITCHING_ON_STR = "Ready/Swit_on"
constexpr auto	SUBSTATE_OP_OFF_STR = "Off"
constexpr auto	SUBSTATE_OP_SWITCHING_OFF_STR = "Switching_off"
constexpr auto	SUBSTATE_OP_ON_STR = "On"
constexpr auto	SUBSTATE_OP_SWITCHING_ON_STR = "Switching_on"
const std::unordered_map< short, std::string >	SubstateMap
const std::vector< std::string >	cfgMapping
const std::vector< std::string >	statMapping
const std::vector< std::string >	rpcMapping
const std::unordered_map< short, std::string >	hw_errors
const std::unordered_map< short, std::string >	rpc_errors

Enumeration Type Documentation

anonymous enum [1/2]

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
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_OP_READY
RPC_ERR_NOT_OP_NOTREADY
RPC_ERR_SWITCHING_ON
RPC_ERR_SWITCHING_OFF
RPC_ERR_LOCAL

anonymous enum [2/2]

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
RPC_SUCCESS
RPC_ERR_NOT_OP
RPC_ERR_NOT_OP_READY
RPC_ERR_NOT_OP_NOTREADY
RPC_ERR_SWITCHING_ON
RPC_ERR_SWITCHING_OFF
RPC_ERR_LOCAL

Function Documentation

REGISTER_DEVICE()

fcf::devmgr::actuator::REGISTER_DEVICE

(

Actuator

)

Variable Documentation

cfgMapping

const std::vector<std::string> fcf::devmgr::actuator::cfgMapping

Initial value:

= {
      }

CI_ACTIVE_LOW_ON

constexpr auto fcf::devmgr::actuator::CI_ACTIVE_LOW_ON = "low_on"

constexpr

CI_ACTIVE_LOW_SWITCH

constexpr auto fcf::devmgr::actuator::CI_ACTIVE_LOW_SWITCH = "low_switch"

constexpr

CI_ANALOG_THRESHOLD

constexpr auto fcf::devmgr::actuator::CI_ANALOG_THRESHOLD = "analog_threshold"

constexpr

CI_AUTO_OP

constexpr auto fcf::devmgr::actuator::CI_AUTO_OP = "auto_operational"

constexpr

CI_INITIAL_STATE

constexpr auto fcf::devmgr::actuator::CI_INITIAL_STATE = "initial_state"

constexpr

CI_INVERT_ANALOG

constexpr auto fcf::devmgr::actuator::CI_INVERT_ANALOG = "invert_analog"

constexpr

CI_MAX_ON

constexpr auto fcf::devmgr::actuator::CI_MAX_ON = "maxon"

constexpr

CI_SIG_STABLE_PERIOD

constexpr auto fcf::devmgr::actuator::CI_SIG_STABLE_PERIOD = "signal_stable_period"

constexpr

CI_TIMEOUT

constexpr auto fcf::devmgr::actuator::CI_TIMEOUT = "timeout"

constexpr

hw_errors

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

Initial value:

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

rpc_errors

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

Initial value:

= {
    {RPC_ERR_NOT_OP,               "Cannot disable lamp. Not in OP state"},
    {RPC_ERR_NOT_OP_READY,    "Cannot enable lamp. Not in READY."},
    {RPC_ERR_NOT_OP_NOTREADY, "Cannot init lamp. Not in NOTREADY or hardware FAILURE."},
    {RPC_ERR_SWITCHING_ON ,        "Not allowed to switch ON while switching OFF"},
    {RPC_ERR_SWITCHING_OFF,        "Not allowed to switch OFF while switching ON"},
    {RPC_ERR_LOCAL,                "RPC calls are not allowed in Local mode"},
  }

RPC_OFF

const std::string fcf::devmgr::actuator::RPC_OFF = "rpcSwitchOff"

RPC_ON

const std::string fcf::devmgr::actuator::RPC_ON = "rpcSwitchOn"

rpcMapping

const std::vector<std::string> fcf::devmgr::actuator::rpcMapping

Initial value:

= {
        fcf::devmgr::common::RPC_INIT,
        fcf::devmgr::common::RPC_ENABLE,
        fcf::devmgr::common::RPC_DISABLE,
        fcf::devmgr::common::RPC_RESET,
        fcf::devmgr::common::RPC_STOP,
        RPC_OFF,
        RPC_ON
      }

statMapping

const std::vector<std::string> fcf::devmgr::actuator::statMapping

Initial value:

= {
        fcf::devmgr::common::CI_STAT_SUBSTATE,
        fcf::devmgr::common::CI_STAT_STATE,
        fcf::devmgr::common::CI_STAT_LOCAL,
        fcf::devmgr::common::CI_STAT_ERROR_CODE
      }

SUBSTATE_NOTREADY_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_NOTREADY_STR = "NotReady"

constexpr

SUBSTATE_OP_DISABLING

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_DISABLING = 205

constexpr

SUBSTATE_OP_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_OFF = 206

constexpr

SUBSTATE_OP_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_OFF_STR = "Off"

constexpr

SUBSTATE_OP_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_ON = 209

constexpr

SUBSTATE_OP_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_ON_STR = "On"

constexpr

SUBSTATE_OP_SWITCHING_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_OFF = 207

constexpr

SUBSTATE_OP_SWITCHING_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_OFF_STR = "Switching_off"

constexpr

SUBSTATE_OP_SWITCHING_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_ON = 210

constexpr

SUBSTATE_OP_SWITCHING_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_OP_SWITCHING_ON_STR = "Switching_on"

constexpr

SUBSTATE_READY_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_READY_OFF = 103

constexpr

SUBSTATE_READY_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_READY_OFF_STR = "Ready/Off"

constexpr

SUBSTATE_READY_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_READY_ON = 104

constexpr

SUBSTATE_READY_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_READY_ON_STR = "Ready/On"

constexpr

SUBSTATE_SWITCHING_OFF

constexpr int fcf::devmgr::actuator::SUBSTATE_SWITCHING_OFF = 109

constexpr

SUBSTATE_SWITCHING_OFF_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_SWITCHING_OFF_STR = "Ready/Swit_off"

constexpr

SUBSTATE_SWITCHING_ON

constexpr int fcf::devmgr::actuator::SUBSTATE_SWITCHING_ON = 110

constexpr

SUBSTATE_SWITCHING_ON_STR

constexpr auto fcf::devmgr::actuator::SUBSTATE_SWITCHING_ON_STR = "Ready/Swit_on"

constexpr

SubstateMap

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

Initial value:

= {
        {fcf::devmgr::common::SUBSTATE_NOTREADY,       fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
        {fcf::devmgr::common::SUBSTATE_INITIALISING,   fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
        {SUBSTATE_READY_OFF,       SUBSTATE_READY_OFF_STR},
        {SUBSTATE_READY_ON,        SUBSTATE_READY_ON_STR},
        {SUBSTATE_SWITCHING_OFF,   SUBSTATE_SWITCHING_OFF_STR},
        {SUBSTATE_SWITCHING_ON,    SUBSTATE_SWITCHING_ON_STR},
        {fcf::devmgr::common::SUBSTATE_ERROR,           fcf::devmgr::common::SUBSTATE_ERROR_STR},
        {SUBSTATE_OP_OFF,          SUBSTATE_OP_OFF_STR},
        {SUBSTATE_OP_SWITCHING_OFF,SUBSTATE_OP_SWITCHING_OFF_STR},
        {SUBSTATE_OP_ON,           SUBSTATE_OP_ON_STR},
        {SUBSTATE_OP_SWITCHING_ON, SUBSTATE_OP_SWITCHING_ON_STR},
        {fcf::devmgr::common::SUBSTATE_OP_ERROR,        fcf::devmgr::common::SUBSTATE_OP_ERROR_STR}
      }