This is the Deformable Mirror Service Interface. More...

#include <Device.h>

Inheritance diagram for Basda::DmDevice:

Collaboration diagram for Basda::DmDevice:

Public Member Functions
	DmDevice (const Nice::JointPtr &_config)

	DmDevice (const unsigned int _totalActuators, const std::vector< unsigned int > &_blankActuators, const unsigned short int _voltageLimitMin, const unsigned short int _voltageLimitMax, const double _maxPiston, const double _maxPistonStep, const std::vector< double > &_nonliniearityVector, const std::vector< double > &_sensitivityVector, const std::vector< double > &_flatPatternVector, const std::vector< std::vector< double > > &_injectionMatrix)
	constructor initialize the DM with following parameters More...

virtual	~DmDevice ()
	default destructor More...

virtual void	reset (Basda::DeviceAsync &=Basda::Device::s_async)
	reset the device More...

virtual void	version ()
	version More...

virtual void	init (Basda::DeviceAsync &=Basda::Device::s_async)
	init the device More...

virtual void	deinit (Basda::DeviceAsync &=Basda::Device::s_async)
	deinit the device More...

virtual void	activate (DeviceAsync &=Basda::Device::s_async)
	activate the device More...

virtual void	deactivate (DeviceAsync &=Basda::Device::s_async)
	deactivate the device More...

virtual void	open (char *_devicePath)=0
	Opens the DM device. More...

void	open (const Nice::Completion &_c)

virtual void	open ()
	open device More...

void	close (const Nice::Completion &_c)
	Closes an open DM device. More...

virtual void	close ()
	close device More...

unsigned short int	getNodeID ()
	Returns the Reflective Memory device node ID. More...

virtual unsigned short int	readNodeID ()=0

unsigned int	getBoardID ()
	Returns the ID of the Reflective Memory board. More...

virtual unsigned int	readBoardID ()=0

unsigned int	getMemorySize ()
	Returns the total amount of memory space available on the Reflective Memory device. More...

virtual unsigned int	readMemorySize ()=0

std::string	getDeviceName ()
	Returns the Reflective Memory device name. More...

virtual std::string	readDeviceName ()=0

std::string	getDriverVersion ()
	Returns the Reflective Memory device driver version. More...

virtual std::string	readDriverVersion ()=0

Nice::CompletionState	setNonlinearity (const std::vector< double > &_nonliniearityVector, Nice::PropertyFoo *)
	Set the weighting factor for the non-linearities. More...

void	setNonlinearity (const std::vector< double > &_nonliniearityVector)
	Set the weighting factor for the non-linearities. More...

std::vector< Ice::Double >	getNonlinearity ()
	Returns the weighting factor for the non-linearities. More...

Nice::CompletionState	setSensitivity (const std::vector< double > &_sensitivityVector, Nice::PropertyFoo *)
	Set the vector of the different sensibilities of the single actuators. More...

void	setSensitivity (const std::vector< double > &_sensitivityVector)
	Set the vector of the different sensibilities of the single actuators. More...

std::vector< Ice::Double >	getSensitivity ()
	Returns the vector of the different sensibilities of the single actuators. More...

Nice::CompletionState	setFlatPattern (const std::vector< double > &_flatPatternVector, Nice::PropertyFoo *)
	Set the flat pattern vector. More...

void	setFlatPattern (const std::vector< double > &_flatPattern)
	Set the flat pattern vector. More...

std::vector< Ice::Double >	getFlatPattern ()
	Returns the flat pattern vector. More...

Nice::CompletionState	setInjection (const std::vector< std::vector< double > > &_injectionMatrix, Nice::PropertyFoo *)
	Set the injection matrix. More...

void	setInjection (const std::vector< std::vector< double > > &_injectionMatrix)
	Set the injection matrix. More...

std::vector< std::vector< double > >	getInjection ()
	Returns the injection matrix. More...

Nice::CompletionState	setActuatorPositions (const std::vector< double > &_actuatorStrokesPercent, Nice::PropertyFoo *)
	Sends the position of each actuator to the Deformable Mirror. More...

virtual void	setActuatorPositions (const std::vector< double > &_actuatorStrokesPercent, const bool _pistonStep, const bool _addSensitivity, const bool _addNonLinearity, const bool _addFlatPattern)
	Sends the position of each actuator to the Deformable Mirror. More...

virtual void	applyStroke ()=0

virtual void	readStroke ()=0

void	readActuatorPositions (const Nice::Completion &_c)

void	getActuatorPositions (std::vector< double > &_actuatorStrokesPercent)

Nice::CompletionState	setModesAmplitude (const std::vector< double > &_modesAmplitude, Nice::PropertyFoo *)
	Compute the actuator positions based on amplitude vector and injection matrix and sends the position of each actuator to the Deformable Mirror. More...

void	setModesAmplitude (const std::vector< double > &_modesAmplitude, const bool _pistonStep, const bool _addSensitivity, const bool _addNonLinearity, const bool _addFlatPattern)
	Sends the position of each actuator to the Deformable Mirror. More...

bool	getLedStatus ()
	Retrieves the current ON/OFF state of the Reflective Memory board's STATUS LED. More...

virtual bool	readLedStatus ()=0

Nice::CompletionState	setLedStatus (const bool &_ledStatus, Nice::PropertyFoo *)
	Sets the ON/OFF state of the Reflective Memory board's STATUS LED. More...

void	setLedStatus (const bool &_ledStatus)
	Sets the ON/OFF state of the Reflective Memory board's STATUS LED. More...

virtual void	writeLedStatus (const bool &_ledStatus)=0

Public Member Functions inherited from Basda::Device
	Device (const Nice::JointPtr &_config)
	constructor. This is an elementary (lazy) action which stores the name and gets configuration. More...

virtual	~Device ()
	destructor Does nothing More...

virtual void	setConfig (const Nice::JointPtr &_config)
	init with config tree ptr More...

Nice::JointPtr &	config ()
	retrieve the property tree More...

std::string &	name ()
	retrieve the name set at ctor time. More...

	Device (const Nice::JointPtr &_config)
	constructor. This is an elementary (lazy) action which stores the name and gets configuration. More...

virtual	~Device ()
	destructor Does nothing More...

virtual void	setConfig (const Nice::JointPtr &_config)
	init with config tree ptr More...

Nice::JointPtr &	config ()
	retrieve the property tree More...

std::string &	name ()
	retrieve the name set at ctor time. More...

Protected Attributes
Nice::U32	m_lowestOffset

std::vector< double >	m_actuatorStrokesPercent
	/** More...

std::vector< Nice::U16 >	m_actuatorStrokesVoltage
	This member holds voltage values of each actuators. More...

Nice::U16	m_voltageLimitMin
	This member holds minimum voltage limit for actuators. More...

Nice::U16	m_voltageLimitMean
	This member holds mean voltage limit for actuators. More...

Nice::U16	m_voltageLimitMax
	This member holds maximum voltage limit for actuators. More...

double	m_actuatorStrokesMeanLast
	This member holds last mean actuator strokes. More...

Nice::U32	m_totalActuators
	Member to store the total number of actuators inclusive blanks. More...

Nice::U32	m_presentActuators
	Member to store the present number of actuators exclusive blanks. More...

std::vector< bool >	m_blankActuators
	List, which stores the blank actuators. More...

std::vector< double >	m_nonliniearityVector
	Member to store the weight vector for the non-linearities. More...

double	m_maxPiston
	Member to store the maximum value of the allowed piston. More...

double	m_maxPistonStep
	Member to store the maximum piston step between two successive commands. More...

std::vector< double >	m_sensitivityVector
	Member to store the sensitivity vector. More...

std::vector< double >	m_flatPatternVector
	Member to store the flat pattern. More...

std::vector< std::vector< double > >	m_injectionMatrix
	Member to store the injection matrix. More...

Nice::U32	m_injectionModes
	Member to store the number of modes. More...

Nice::JointPtrVector	m_moduleNodes

bool	m_connected
	Member variable indicates the status of the connection. More...

Protected Attributes inherited from Basda::Device
Nice::JointPtr	m_config

Nice::JointPtr	m_cfg

Nice::JointPtr	m_var

std::string	m_name

Private Member Functions
void	addSensitivity ()
	The sensitivity of each actuator are add to the current actuator strokes. More...

void	addNonLinearity ()
	The non-linearities of each actuator are add to the current actuator strokes. More...

void	addFlatPattern ()
	The flat pattern are add to the current actuator strokes. More...

void	checkPiston (const bool _pistonStep)
	This method checks the piston and the maximum piston step of the Deformable Mirror. More...

void	convert2Voltage ()
	This method convert the percental strokes of each actuators to the voltage values of each actuators. More...

void	convert2Percent (std::vector< double > &_actuatorStrokesPercent)
	This method convert the voltage values of each actuators to the percental strokes of each actuators. More...

double	mean ()
	This method comnpute the mean value of m_actuatorStrokesPercent. More...

Private Attributes
::Nice::Mutex	m_mutex
	Mutex to avoid reading and writing at the same time. More...

Additional Inherited Members
Static Public Attributes inherited from Basda::Device
static DeviceAsyncImpl	s_async

Detailed Description

This is the Deformable Mirror Service Interface.

This service contains all necessary logic and intelligence to control the Deformable Mirror (DM). It uses the Reflective Memory (RFM2G) as interface to the DM.

Author: Frank Kittmann

Version: 07.10.25

Date: 2007.10.25

See also: Carma::Rfm::DrvI

Todo:

Add #Nice::App::Application (Currently the Nice common software doesnt support this).

Setup a configuration file with the initial parameters.

Add an ICE interface and a server for remote connection. (Currently the Nice common software doesnt support this).

Constructor & Destructor Documentation

◆ DmDevice() [1/2]

Basda::DmDevice::DmDevice ( const Nice::JointPtr & _config )

◆ DmDevice() [2/2]

Basda::DmDevice::DmDevice	(	const unsigned int	_totalActuators,
		const std::vector< unsigned int > &	_blankActuators,
		const unsigned short int	_voltageLimitMin,
		const unsigned short int	_voltageLimitMax,
		const double	_maxPiston,
		const double	_maxPistonStep,
		const std::vector< double > &	_nonliniearityVector,
		const std::vector< double > &	_sensitivityVector,
		const std::vector< double > &	_flatPatternVector,
		const std::vector< std::vector< double > > &	_injectionMatrix
	)

constructor initialize the DM with following parameters

Parameters

_totalActuators	the total number of actuators inclusive blanks
_blankActuators	a vector with the IDs of the Blank actuators
_voltageLimitMin	the minimum voltage limit
_voltageLimitMax	the maximum voltage limit
_maxPiston	the maximum value of the allowed piston
_maxPistonStep	the maximum piston step between two successive commands
_nonliniearityVector	weighting vector for the non-linearities
_sensitivityVector	vector of the different sensibilities of the single actuators
_flatPatternVector	vector contains the flat pattern
_injectionMatrix	matrix contains the injection parameter

Exceptions

Basda::Dm::vectorSizeException
Basda::Dm::multibleBlanksException
Basda::Dm::zeroSensitivtyException
Basda::Dm::matrixSizeException

◆ ~DmDevice()

Basda::DmDevice::~DmDevice ( )

virtual

default destructor

Parameters

-

Member Function Documentation

◆ activate()

virtual void Basda::DmDevice::activate ( DeviceAsync & = Basda::Device::s_async )

inlinevirtual

activate the device

Implements Basda::Device.

◆ addFlatPattern()

void Basda::DmDevice::addFlatPattern ( )

private

The flat pattern are add to the current actuator strokes.

This method change the private member m_actuatorStrokesPercent.

Parameters

-

Returns: -

See also: m_actuatorStrokesPercent; m_flatPatternVector

◆ addNonLinearity()

void Basda::DmDevice::addNonLinearity ( )

private

The non-linearities of each actuator are add to the current actuator strokes.

This method change the private member m_actuatorStrokesPercent.

Parameters

-

Returns: -

See also: m_actuatorStrokesPercent; m_factorNonliniear

◆ addSensitivity()

void Basda::DmDevice::addSensitivity ( )

private

The sensitivity of each actuator are add to the current actuator strokes.

This method change the private member m_actuatorStrokesPercent.

Parameters

-

Returns: -

See also: m_actuatorStrokesPercent; m_sensitivityVector

◆ applyStroke()

virtual void Basda::DmDevice::applyStroke ( )

pure virtual

◆ checkPiston()

void Basda::DmDevice::checkPiston ( const bool _pistonStep )

private

This method checks the piston and the maximum piston step of the Deformable Mirror.

Depends on the mode the piston of the Deformable Mirror is checked. In case the piston is to high the percental strokes of each actuators (m_actuatorStrokesPercent) are adjust to the maximal possible.

Parameters

_pistonStep see setActuatorPositions()

Returns: -

See also: Basda::Dm::serviceI::m_actuatorStrokesPercent

◆ close() [1/2]

void Basda::DmDevice::close ( const Nice::Completion & _c )

Closes an open DM device.

Parameters

-

Returns: -

See also: Basda::Rfm::DrvI::close

◆ close() [2/2]

virtual void Basda::DmDevice::close ( )

inlinevirtual

close device

Implements Basda::Device.

◆ convert2Percent()

void Basda::DmDevice::convert2Percent ( std::vector< double > & _actuatorStrokesPercent )

private

This method convert the voltage values of each actuators to the percental strokes of each actuators.

Parameters

_actuatorStrokesPercent see getActuatorPositions()

Returns: -

◆ convert2Voltage()

void Basda::DmDevice::convert2Voltage ( )

private

This method convert the percental strokes of each actuators to the voltage values of each actuators.

This method change the private member m_actuatorStrokesVoltage.

Parameters

-

Returns: -

◆ deactivate()

virtual void Basda::DmDevice::deactivate ( DeviceAsync & = Basda::Device::s_async )

inlinevirtual

deactivate the device

Implements Basda::Device.

◆ deinit()

virtual void Basda::DmDevice::deinit ( Basda::DeviceAsync & = Basda::Device::s_async )

inlinevirtual

deinit the device

Implements Basda::Device.

◆ getActuatorPositions()

void Basda::DmDevice::getActuatorPositions ( std::vector< double > & _actuatorStrokesPercent )

◆ getBoardID()

unsigned int Basda::DmDevice::getBoardID ( )

Returns the ID of the Reflective Memory board.

Parameters

-

Returns: boardId - Board ID of the currently opened RFM2g device.

Exceptions

Carma::Dm::closeDeviceException

See also: Carma::Rfm::DrvI::getBoardID

◆ getDeviceName()

std::string Basda::DmDevice::getDeviceName ( )

Returns the Reflective Memory device name.

Parameters

-

Returns: device name - a null-terminated string containing the first 64 characters of the device file name.

Exceptions

Carma::Dm::closeDeviceException

See also: Carma::Rfm::DrvI::getDeviceName

◆ getDriverVersion()

std::string Basda::DmDevice::getDriverVersion ( )

Returns the Reflective Memory device driver version.

Parameters

-

Returns: driver version - an ASCII string with which an application program can determine the GE Fanuc Embedded Systems production release version of the underlying RFM2g device driver.

Exceptions

Carma::Dm::closeDeviceException

See also: Carma::Rfm::DrvI::getDeviceName

◆ getFlatPattern()

std::vector< double > Basda::DmDevice::getFlatPattern ( )

Returns the flat pattern vector.

Parameters

-

Returns: vector contains the flat pattern

◆ getInjection()

std::vector< std::vector< double > > Basda::DmDevice::getInjection ( )

Returns the injection matrix.

Parameters

-

Returns: matrix contains the different modes for each actuator

◆ getLedStatus()

bool Basda::DmDevice::getLedStatus ( )

Retrieves the current ON/OFF state of the Reflective Memory board's STATUS LED.

Parameters

-

Returns: led status - true led is switched on; false led is switched off

Exceptions

Carma::Dm::closeDeviceException

See also: Carma::Rfm::DrvI::getLedStatus

◆ getMemorySize()

unsigned int Basda::DmDevice::getMemorySize ( )

Returns the total amount of memory space available on the Reflective Memory device.

Parameters

-

Returns: memory size - the total amount of memory space available on the Reflective Memory device.

Exceptions

Carma::Dm::closeDeviceException

See also: Carma::Rfm::DrvI::getMemorySize

◆ getNodeID()

unsigned short int Basda::DmDevice::getNodeID ( )

Returns the Reflective Memory device node ID.

Parameters

-

Returns: nodeId - Node ID of the currently opened RFM2g device.

Exceptions

Carma::Dm::closeDeviceException

See also: Carma::Rfm::DrvI::getNodeID

◆ getNonlinearity()

std::vector< double > Basda::DmDevice::getNonlinearity ( )

Returns the weighting factor for the non-linearities.

Parameters

-

Returns: weighting factor for the non-linearities

◆ getSensitivity()

std::vector< double > Basda::DmDevice::getSensitivity ( )

Returns the vector of the different sensibilities of the single actuators.

Parameters

-

Returns: vector of the different sensibilities of the single actuators

◆ init()

void Basda::DmDevice::init ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

init the device

Implements Basda::Device.

◆ mean()

double Basda::DmDevice::mean ( )

private

This method comnpute the mean value of m_actuatorStrokesPercent.

Parameters

-

Returns: the mean value

◆ open() [1/3]

virtual void Basda::DmDevice::open ( char * _devicePath )

pure virtual

Opens the DM device.

Parameters

_devicePath Path to special device file. Refer to your driver-specific manual for the format of DevicePath.

Returns: -

Exceptions

Basda::Dm::closeDeviceException

See also: Basda::Rfm::DrvI::open

◆ open() [2/3]

void Basda::DmDevice::open ( const Nice::Completion & _c )

◆ open() [3/3]

virtual void Basda::DmDevice::open ( )

inlinevirtual

open device

Implements Basda::Device.

◆ readActuatorPositions()

void Basda::DmDevice::readActuatorPositions ( const Nice::Completion & _c )

◆ readBoardID()

virtual unsigned int Basda::DmDevice::readBoardID ( )

pure virtual

◆ readDeviceName()

virtual std::string Basda::DmDevice::readDeviceName ( )

pure virtual

◆ readDriverVersion()

virtual std::string Basda::DmDevice::readDriverVersion ( )

pure virtual

◆ readLedStatus()

virtual bool Basda::DmDevice::readLedStatus ( )

pure virtual

◆ readMemorySize()

virtual unsigned int Basda::DmDevice::readMemorySize ( )

pure virtual

◆ readNodeID()

virtual unsigned short int Basda::DmDevice::readNodeID ( )

pure virtual

◆ readStroke()

virtual void Basda::DmDevice::readStroke ( )

pure virtual

◆ reset()

virtual void Basda::DmDevice::reset ( Basda::DeviceAsync & = Basda::Device::s_async )

inlinevirtual

reset the device

Implements Basda::Device.

◆ setActuatorPositions() [1/2]

Nice::CompletionState Basda::DmDevice::setActuatorPositions	(	const std::vector< double > &	_actuatorStrokesPercent,
		Nice::PropertyFoo *
	)

Sends the position of each actuator to the Deformable Mirror.

The unit of the positions is percent and are in range of -1 .. +1.

Parameters

_actuatorStrokesPercent Pointer to where data is copied to Reflective Memory. Variable containing the current stroke values of all actuator. The values are in a range of -1 .. +1. The size of this vector depends on the amount of the Deformable Mirror actuator and have to be defined in the configuration file.

Returns: -

Exceptions

Basda::Dm::closeDeviceException
Basda::Dm::vectorSizeException

See also: Basda::Rfm::DrvI::write

◆ setActuatorPositions() [2/2]

void Basda::DmDevice::setActuatorPositions	(	const std::vector< double > &	_actuatorStrokesPercent,
		const bool	_pistonStep,
		const bool	_addSensitivity,
		const bool	_addNonLinearity,
		const bool	_addFlatPattern
	)

virtual

Sends the position of each actuator to the Deformable Mirror.

The unit of the positions is percent and are in range of -1 .. +1.

Parameters

_actuatorStrokesPercent	Pointer to where data is copied to Reflective Memory. Variable containing the current stroke values of all actuator. The values are in a range of -1 .. +1. The size of this vector depends on the amount of the Deformable Mirror actuator and have to be defined in the configuration file.
_pistonStep	The flag can be used to switch between the two modes: false - The Deformable Mirror moves around the home position. true - The Deformable Mirror can be move forward and backward (very slowly!!). The maximal piston step is defined in the configuration file.
_addSensitivity	The flag can be used to switch between the two modes: true - add the sensitivity vector to the actuator strokes false - do not add the sensitivity vector to the actuator strokes
_addNonLinearity	The flag can be used to switch between the two modes: true - add the non-linearity vector to the actuator strokes false - do not add the non-linearity vector to the actuator strokes
_addFlatPattern	The flag can be used to switch between the two modes: true - add the flat pattern vector to the actuator strokes false - do not add the flat pattern vector to the actuator strokes

Returns: -

Exceptions

Basda::Dm::closeDeviceException
Basda::Dm::vectorSizeException

See also: Basda::Rfm::DrvI::write

◆ setFlatPattern() [1/2]

Nice::CompletionState Basda::DmDevice::setFlatPattern	(	const std::vector< double > &	_flatPatternVector,
		Nice::PropertyFoo *
	)

Set the flat pattern vector.

Parameters

_flatPattern vector contains the flat pattern

Returns: -

Exceptions

Basda::Dm::vectorSizeException

◆ setFlatPattern() [2/2]

void Basda::DmDevice::setFlatPattern ( const std::vector< double > & _flatPattern )

Set the flat pattern vector.

Parameters

_flatPattern vector contains the flat pattern

Returns: -

Exceptions

Basda::Dm::vectorSizeException

◆ setInjection() [1/2]

Nice::CompletionState Basda::DmDevice::setInjection	(	const std::vector< std::vector< double > > &	_injectionMatrix,
		Nice::PropertyFoo *
	)

Set the injection matrix.

Parameters

_injectionMatrix matrix contains the different modes for each actuator

Returns: -

Exceptions

Basda::Dm::matrixSizeException

◆ setInjection() [2/2]

void Basda::DmDevice::setInjection ( const std::vector< std::vector< double > > & _injectionMatrix )

Set the injection matrix.

Parameters

_injectionMatrix matrix contains the different modes for each actuator

Returns: -

Exceptions

Basda::Dm::matrixSizeException

◆ setLedStatus() [1/2]

Nice::CompletionState Basda::DmDevice::setLedStatus	(	const bool &	_ledStatus,
		Nice::PropertyFoo *
	)

Sets the ON/OFF state of the Reflective Memory board's STATUS LED.

Returns: -

See also: Basda::Rfm::DrvI::setLedStatus

◆ setLedStatus() [2/2]

void Basda::DmDevice::setLedStatus ( const bool & _ledStatus )

Sets the ON/OFF state of the Reflective Memory board's STATUS LED.

Parameters

_ledStatus The state of the LED: true -> on, false -> off

Returns: -

Exceptions

Basda::Dm::closeDeviceException

See also: Basda::Rfm::DrvI::setLedStatus

◆ setModesAmplitude() [1/2]

Nice::CompletionState Basda::DmDevice::setModesAmplitude	(	const std::vector< double > &	_modesAmplitude,
		Nice::PropertyFoo *
	)

Compute the actuator positions based on amplitude vector and injection matrix and sends the position of each actuator to the Deformable Mirror.

Parameters

_modesAmplitude the amplitudes of the different modes

Returns: -

Exceptions

Basda::Dm::closeDeviceException

See also: Basda::Dm::ServiceI::setActuatorPositions

◆ setModesAmplitude() [2/2]

void Basda::DmDevice::setModesAmplitude	(	const std::vector< double > &	_modesAmplitude,
		const bool	_pistonStep,
		const bool	_addSensitivity,
		const bool	_addNonLinearity,
		const bool	_addFlatPattern
	)

Sends the position of each actuator to the Deformable Mirror.

The unit of the positions is percent and are in range of -1 .. +1.

Parameters

_actuatorStrokesPercent	Pointer to where data is copied to Reflective Memory. Variable containing the current stroke values of all actuator. The values are in a range of -1 .. +1. The size of this vector depends on the amount of the Deformable Mirror actuator and have to be defined in the configuration file.
_pistonStep	The flag can be used to switch between the two modes: false - The Deformable Mirror moves around the home position. true - The Deformable Mirror can be move forward and backward (very slowly!!). The maximal piston step is defined in the configuration file.
_addSensitivity	The flag can be used to switch between the two modes: true - add the sensitivity vector to the actuator strokes false - do not add the sensitivity vector to the actuator strokes
_addNonLinearity	The flag can be used to switch between the two modes: true - add the non-linearity vector to the actuator strokes false - do not add the non-linearity vector to the actuator strokes
_addFlatPattern	The flag can be used to switch between the two modes: true - add the flat pattern vector to the actuator strokes false - do not add the flat pattern vector to the actuator strokes

Returns: -

Exceptions

Basda::Dm::closeDeviceException
Basda::Dm::vectorSizeException

See also: Basda::Rfm::DrvI::write

◆ setNonlinearity() [1/2]

Nice::CompletionState Basda::DmDevice::setNonlinearity	(	const std::vector< double > &	_nonliniearityVector,
		Nice::PropertyFoo *
	)

Set the weighting factor for the non-linearities.

Parameters

_nonliniearityVector weighting vector for the non-linearities

Returns: -

◆ setNonlinearity() [2/2]

void Basda::DmDevice::setNonlinearity ( const std::vector< double > & _nonliniearityVector )

Set the weighting factor for the non-linearities.

Parameters

_nonliniearityVector weighting vector for the non-linearities

Returns: -

◆ setSensitivity() [1/2]

Nice::CompletionState Basda::DmDevice::setSensitivity	(	const std::vector< double > &	_sensitivityVector,
		Nice::PropertyFoo *
	)

Set the vector of the different sensibilities of the single actuators.

Parameters

_sensitivityVector vector of the different sensibilities of the single actuators

Returns: -

Exceptions

Basda::Dm::vectorSizeException
Basda::Dm::zeroSensitivtyException

◆ setSensitivity() [2/2]

void Basda::DmDevice::setSensitivity ( const std::vector< double > & _sensitivityVector )

Set the vector of the different sensibilities of the single actuators.

Parameters

_sensitivityVector vector of the different sensibilities of the single actuators

Returns: -

Exceptions

Basda::Dm::vectorSizeException
Basda::Dm::zeroSensitivtyException

◆ version()

virtual void Basda::DmDevice::version ( void )

inlinevirtual

version

Implements Basda::Device.

◆ writeLedStatus()

virtual void Basda::DmDevice::writeLedStatus ( const bool & _ledStatus )

pure virtual

Member Data Documentation

◆ m_actuatorStrokesMeanLast

double Basda::DmDevice::m_actuatorStrokesMeanLast

protected

This member holds last mean actuator strokes.

This is necessary to know check the piston step distance.

◆ m_actuatorStrokesPercent

std::vector<double> Basda::DmDevice::m_actuatorStrokesPercent

protected

/**

This member holds percental strokes of each actuators.

The size of this vector depends on the amount of the Deformable Mirror actuator and have to be defined in the configuration file.

◆ m_actuatorStrokesVoltage

std::vector<Nice::U16> Basda::DmDevice::m_actuatorStrokesVoltage

protected

This member holds voltage values of each actuators.

The size of this vector depends on the amount of the Deformable Mirror actuator and have to be defined in the configuration file.

◆ m_blankActuators

std::vector<bool> Basda::DmDevice::m_blankActuators

protected

List, which stores the blank actuators.

It have to be defined in the configuration file.

◆ m_connected

bool Basda::DmDevice::m_connected

protected

Member variable indicates the status of the connection.

true - connected; false - disconnected

◆ m_flatPatternVector

std::vector<double> Basda::DmDevice::m_flatPatternVector

protected

Member to store the flat pattern.

It have to be defined in the configuration file.

◆ m_injectionMatrix

std::vector<std::vector<double> > Basda::DmDevice::m_injectionMatrix

protected

Member to store the injection matrix.

It have to be defined in the configuration file.

◆ m_injectionModes

Nice::U32 Basda::DmDevice::m_injectionModes

protected

Member to store the number of modes.

◆ m_lowestOffset

Nice::U32 Basda::DmDevice::m_lowestOffset

protected

◆ m_maxPiston

double Basda::DmDevice::m_maxPiston

protected

Member to store the maximum value of the allowed piston.

It have to be defined in the configuration file.

◆ m_maxPistonStep

double Basda::DmDevice::m_maxPistonStep

protected

Member to store the maximum piston step between two successive commands.

It have to be defined in the configuration file.

◆ m_moduleNodes

Nice::JointPtrVector Basda::DmDevice::m_moduleNodes

protected

◆ m_mutex

::Nice::Mutex Basda::DmDevice::m_mutex

private

Mutex to avoid reading and writing at the same time.

◆ m_nonliniearityVector

std::vector<double> Basda::DmDevice::m_nonliniearityVector

protected

Member to store the weight vector for the non-linearities.

It have to be defined in the configuration file.

◆ m_presentActuators

Nice::U32 Basda::DmDevice::m_presentActuators

protected

Member to store the present number of actuators exclusive blanks.

It have to be defined in the configuration file.

◆ m_sensitivityVector

std::vector<double> Basda::DmDevice::m_sensitivityVector

protected

Member to store the sensitivity vector.

It have to be defined in the configuration file.

◆ m_totalActuators

Nice::U32 Basda::DmDevice::m_totalActuators

protected

Member to store the total number of actuators inclusive blanks.

It have to be defined in the configuration file.

◆ m_voltageLimitMax

Nice::U16 Basda::DmDevice::m_voltageLimitMax

protected

This member holds maximum voltage limit for actuators.

The conversion from percental strokes to voltage values and voltage to percental strokes based on this value.

◆ m_voltageLimitMean

Nice::U16 Basda::DmDevice::m_voltageLimitMean

protected

This member holds mean voltage limit for actuators.

The conversion from percental strokes to voltage values and voltage to percental strokes based on this value.

◆ m_voltageLimitMin

Nice::U16 Basda::DmDevice::m_voltageLimitMin

protected

This member holds minimum voltage limit for actuators.

The conversion from percental strokes to voltage values and voltage to percental strokes based on this value.

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

TwiceAsNice/basda-misda/src/Interface/Basda/Dm/Device.h
TwiceAsNice/basda-misda/src/Interface/Basda/Dm/Device.cc

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DmDevice() [1/2]

◆ DmDevice() [2/2]

◆ ~DmDevice()

Member Function Documentation

◆ activate()

◆ addFlatPattern()

◆ addNonLinearity()

◆ addSensitivity()

◆ applyStroke()

◆ checkPiston()

◆ close() [1/2]

◆ close() [2/2]

◆ convert2Percent()

◆ convert2Voltage()

◆ deactivate()

◆ deinit()

◆ getActuatorPositions()

◆ getBoardID()

◆ getDeviceName()

◆ getDriverVersion()

◆ getFlatPattern()

◆ getInjection()

◆ getLedStatus()

◆ getMemorySize()

◆ getNodeID()

◆ getNonlinearity()

◆ getSensitivity()

◆ init()

◆ mean()

◆ open() [1/3]

◆ open() [2/3]

◆ open() [3/3]

◆ readActuatorPositions()

◆ readBoardID()

◆ readDeviceName()

◆ readDriverVersion()

◆ readLedStatus()

◆ readMemorySize()

◆ readNodeID()

◆ readStroke()

◆ reset()

◆ setActuatorPositions() [1/2]

◆ setActuatorPositions() [2/2]

◆ setFlatPattern() [1/2]

◆ setFlatPattern() [2/2]

◆ setInjection() [1/2]

◆ setInjection() [2/2]

◆ setLedStatus() [1/2]

◆ setLedStatus() [2/2]

◆ setModesAmplitude() [1/2]

◆ setModesAmplitude() [2/2]

◆ setNonlinearity() [1/2]

◆ setNonlinearity() [2/2]

◆ setSensitivity() [1/2]

◆ setSensitivity() [2/2]

◆ version()

◆ writeLedStatus()

Member Data Documentation

◆ m_actuatorStrokesMeanLast

◆ m_actuatorStrokesPercent

◆ m_actuatorStrokesVoltage

◆ m_blankActuators

◆ m_connected

◆ m_flatPatternVector

◆ m_injectionMatrix

◆ m_injectionModes

◆ m_lowestOffset

◆ m_maxPiston

◆ m_maxPistonStep

◆ m_moduleNodes

◆ m_mutex

◆ m_nonliniearityVector

◆ m_presentActuators