fcf::devmgr::drot Namespace Reference

Classes
class	Drot
	The Drot class. More...
class	DrotConfig
	drot Configuration 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, 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 }
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, 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 (Drot)

Variables
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_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 >	SubstateMap
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 >	TrkModeMap
constexpr auto	CI_STAT_TRACK_MODE = "track_mode"
constexpr auto	CI_STAT_ALPHA = "alpha"
constexpr auto	CI_STAT_DELTA = "delta"
constexpr auto	CI_STAT_ANGLE_ON_SKY = "angle_on_sky"
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_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT

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_MOTOR_LOCAL
RPC_ERR_MOTOR_LOWER_LIMIT
RPC_ERR_MOTOR_UPPER_LIMIT

Function Documentation

REGISTER_DEVICE()

fcf::devmgr::drot::REGISTER_DEVICE

(

Drot

)

Variable Documentation

cfgMapping

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

Initial value:

= {
      }

CI_DIR_SIGN

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

constexpr

CI_FOCUS_SIGN

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

constexpr

CI_LATITUDE

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

constexpr

CI_LONGITUDE

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

constexpr

CI_STAT_ALPHA

constexpr auto fcf::devmgr::drot::CI_STAT_ALPHA = "alpha"

constexpr

CI_STAT_ANGLE_ON_SKY

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

constexpr

CI_STAT_DELTA

constexpr auto fcf::devmgr::drot::CI_STAT_DELTA = "delta"

constexpr

CI_STAT_ELEV

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

constexpr

CI_STAT_REF

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

constexpr

CI_STAT_SKY

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

constexpr

CI_STAT_TRACK_MODE

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

constexpr

CI_STAT_USER

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

constexpr

CI_TRK_PERIOD

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

constexpr

CI_TRK_THRESHOLD

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

constexpr

CI_USER_PAR1

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

constexpr

CI_USER_PAR2

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

constexpr

CI_USER_PAR3

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

constexpr

CI_USER_PAR4

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

constexpr

hw_errors

const std::unordered_map<short, std::string> 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"},
      }

rpc_errors

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

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

constexpr

RPC_START_TRACK

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

constexpr

RPC_STOP_TRACK

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

constexpr

rpcMapping

const std::vector<std::string> fcf::devmgr::drot::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_MOVE_ANGLE,
        RPC_START_TRACK,
        RPC_STOP_TRACK
      }

statMapping

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

Initial value:

= {
        fcf::devmgr::common::CI_STAT_SUBSTATE,
        fcf::devmgr::common::CI_STAT_STATE,
        fcf::devmgr::common::CI_STAT_LOCAL,
        CI_STAT_TRACK_MODE,
        CI_STAT_ALPHA,
        CI_STAT_DELTA,
        CI_STAT_ANGLE_ON_SKY,
        fcf::devmgr::motor::CI_STAT_TARGET_POS,
        fcf::devmgr::motor::CI_STAT_ACTUAL_POS,
        fcf::devmgr::motor::CI_STAT_ACTUAL_VEL,
        fcf::devmgr::common::CI_STAT_ERROR_CODE,
        fcf::devmgr::motor::CI_STAT_SCALE_FACTOR
      }

SUBSTATE_ENABLING

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

constexpr

SUBSTATE_ENABLING_STR

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

constexpr

SUBSTATE_OP_PRESETTING

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

constexpr

SUBSTATE_OP_PRESETTING_STR

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

constexpr

SUBSTATE_OP_TRACKING

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

constexpr

SUBSTATE_OP_TRACKING_STR

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

constexpr

SUBSTATE_RESETTING

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

constexpr

SUBSTATE_RESETTING_STR

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

constexpr

SubstateMap

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

Initial value:

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

TRK_MODE_ELEV

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

constexpr

TRK_MODE_ELEV_STR

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

constexpr

TRK_MODE_ENG

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

constexpr

TRK_MODE_ENG_STR

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

constexpr

TRK_MODE_SKY

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

constexpr

TRK_MODE_SKY_STR

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

constexpr

TRK_MODE_STAT

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

constexpr

TRK_MODE_STAT_STR

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

constexpr

TRK_MODE_USER

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

constexpr

TRK_MODE_USER_STR

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

constexpr

TrkModeMap

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

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},
      }