Basda::MoConCard Class Reference

This is the implementation of the MoCon card commands. More...

#include <Card.h>

Inheritance diagram for Basda::MoConCard:

Collaboration diagram for Basda::MoConCard:

Classes
struct	MoConCardEvent
	This is the implementation of the handler for the incoming events and function errors. More...

Public Member Functions
	MoConCard (std::string _name, Nice::JointPtr _config, MPIACoreProtocolPtr _protocol)
	Constructor. More...
	~MoConCard ()
	Destructor. More...
void	lockCard ()
	This method lock the card for an exclusive access for one client. More...
void	unlockCard ()
	This method unlock the card. More...
void	setMultiUpdateSettings (const int _modules)
	This method define which motor have to be move synchronously when the method moveMultiUpdate() is called. More...
void	moveMultiUpdate ()
	This command starts the motors synchronously. More...
void	setDigitalOutBit (const unsigned int _selectID, const unsigned int _bit)
	This methods sets a bit on the digital out bus. More...
void	setDigitalOutByte (const unsigned int _selectID, const unsigned int _byte)
	This methods sets a byte on the digital out bus. More...
void	setDigitalOutWord (const unsigned int _selectID, const unsigned int _word)
	This methods sets a word on the digital out bus. More...
void	setDigitalOutLong (const unsigned int _selectID, const unsigned int _long)
	This methods defines all bits on the digital bus. More...
unsigned int	getDigitalInBit (const unsigned int _selectID)
	This methods reads a bit from the digital bus. More...
unsigned int	getDigitalInByte (const unsigned int _selectID)
	This methods reads a byte from the digital bus. More...
unsigned int	getDigitalInWord (const unsigned int _selectID)
	This methods reads a word from the digital bus. More...
unsigned int	getDigitalInLong (const unsigned int _selectID)
	This methods reads all bits from the digital bus. More...
void	setTimeTraceSampleRate (const unsigned int _sampleRate)
	This methods sets the sample rate of the time based trace. More...
void	setTimeTraceNumberOfSamples (const unsigned int _numberOfSamples)
	This methods sets the number of samples of the time based trace. More...
void	setTimeTraceSampleMode (const Basda::ValueTraceSampleMode::Constant _mode)
	This methods sets the sample mode of the time based trace. More...
void	timeTraceStart ()
	This methods starts the time based trace. More...
void	timeTraceStop ()
	This methods stops the time based trace. More...
void	clearTimeTraceBuffer ()
	This methods clear and freed the data buffer of the time based trace. More...
int	getTraceInfo (Nice::JointPtr _config)
	This method returns the current status of the time based trace. More...
void	setEventTraceSampleRate (const unsigned int _sampleRate)
	This methods sets the sample rate of the event based trace. More...
void	eventTraceStart ()
	This methods starts the event based trace. More...
void	eventTraceStop ()
	This methods stops the event based trace. More...
	MoConCard (std::string _name, Nice::JointPtr _config, MPIACoreProtocolPtr _protocol)
	Constructor. More...
	~MoConCard ()
	Destructor. More...
void	lockCard ()
	This method lock the card for an exclusive access for one client. More...
void	unlockCard ()
	This method unlock the card. More...
void	setMultiUpdateSettings (const int _modules)
	This method define which motor have to be move synchronously when the method moveMultiUpdate() is called. More...
void	moveMultiUpdate ()
	This command starts the motors synchronously. More...
void	setDigitalOutBit (const unsigned int _selectID, const unsigned int _bit)
	This methods sets a bit on the digital out bus. More...
void	setDigitalOutByte (const unsigned int _selectID, const unsigned int _byte)
	This methods sets a byte on the digital out bus. More...
void	setDigitalOutWord (const unsigned int _selectID, const unsigned int _word)
	This methods sets a word on the digital out bus. More...
void	setDigitalOutLong (const unsigned int _selectID, const unsigned int _long)
	This methods defines all bits on the digital bus. More...
unsigned int	getDigitalInBit (const unsigned int _selectID)
	This methods reads a bit from the digital bus. More...
unsigned int	getDigitalInByte (const unsigned int _selectID)
	This methods reads a byte from the digital bus. More...
unsigned int	getDigitalInWord (const unsigned int _selectID)
	This methods reads a word from the digital bus. More...
unsigned int	getDigitalInLong (const unsigned int _selectID)
	This methods reads all bits from the digital bus. More...
void	setTimeTraceSampleRate (const unsigned int _sampleRate)
	This methods sets the sample rate of the time based trace. More...
void	setTimeTraceNumberOfSamples (const unsigned int _numberOfSamples)
	This methods sets the number of samples of the time based trace. More...
void	setTimeTraceSampleMode (const Basda::ValueTraceSampleMode::Constant _mode)
	This methods sets the sample mode of the time based trace. More...
void	timeTraceStart ()
	This methods starts the time based trace. More...
void	timeTraceStop ()
	This methods stops the time based trace. More...
void	clearTimeTraceBuffer ()
	This methods clear and freed the data buffer of the time based trace. More...
int	getTraceInfo (Nice::JointPtr _config)
	This method returns the current status of the time based trace. More...
void	setEventTraceSampleRate (const unsigned int _sampleRate)
	This methods sets the sample rate of the event based trace. More...
void	eventTraceStart ()
	This methods starts the event based trace. More...
void	eventTraceStop ()
	This methods stops the event based trace. More...
Public Member Functions inherited from Basda::MPIACoreCard
	MPIACoreCard (std::string _name, Nice::JointPtr _config, Basda::MPIACoreProtocolPtr _protocol)
	Constructor. More...
	~MPIACoreCard ()
	Destructor. More...
std::string	version ()
	The methods returns the current version string of the MPIA in-house electronic. More...
std::vector< unsigned int >	getRegistration ()
	The methods returns all registered module and card that are registered at the MPIA in-house electronic. More...
void	reset ()
	Resets the MPIA in-house electronic software and hardware. More...
void	setXonXoff (const ValueSwitch::Constant _enable)
	Enables/disables the XOnXOff protocol. More...
bool	getXonXoff ()
	Returns the status of the XOnXOff protocol. More...
void	setSerialRate (const ValueSerialRate::Constant _baudRate)
	Sets the baud rate of the serial interface. More...
unsigned int	getSerialRate ()
	Returns the current baud rate. More...
void	setCANRate (const ValueCanRate::Constant _canRate)
	Sets the CAN rate of the CAN bus. More...
unsigned int	getCANRate ()
	Returns the current CAN rate. More...
void	setEventFlag (const ValueSwitch::Constant _eventMode)
	Sets the event message flag. More...
bool	getEventFlag ()
	Returns the current event message flags. More...
void	setInfoFlag (const ValueSwitch::Constant _infoMode)
	Sets the event message flag. More...
bool	getInfoFlag ()
	Returns the current event message flags. More...
void	setIPAddress (const std::string _ip)
	Sets the IP address of the MPIA in-house electronic. More...
std::string	getIPAddress ()
	Returns the current IP address. More...
void	setGateAddress (const std::string _gate)
	Sets the gate address of the MPIA in-house electronic. More...
std::string	getGateAddress ()
	Returns the current gate address. More...
void	setMaskAddress (const std::string _mask)
	Sets the mask address of the MPIA in-house electronic. More...
std::string	getMaskAddress ()
	Returns the current mask address. More...
void	setLinkTimeout (const unsigned int _timeout)
	Sets the Ethernet connection timeout. More...
int	getLinkTimeout ()
	Returns the Ethernet connection timeout. More...
void	waitForEvent ()
	Waits until an event is received in a certain time (timeout). More...
std::string	getFatalError ()
	Returns the fatal error message. More...
void	resetFatalError ()
	Resets the fatal error. More...
	MPIACoreCard (std::string _name, Nice::JointPtr _config, Basda::MPIACoreProtocolPtr _protocol)
	Constructor. More...
	~MPIACoreCard ()
	Destructor. More...
std::string	version ()
	The methods returns the current version string of the MPIA in-house electronic. More...
std::vector< unsigned int >	getRegistration ()
	The methods returns all registered module and card that are registered at the MPIA in-house electronic. More...
void	reset ()
	Resets the MPIA in-house electronic software and hardware. More...
void	setXonXoff (const ValueSwitch::Constant _enable)
	Enables/disables the XOnXOff protocol. More...
bool	getXonXoff ()
	Returns the status of the XOnXOff protocol. More...
void	setSerialRate (const ValueSerialRate::Constant _baudRate)
	Sets the baud rate of the serial interface. More...
unsigned int	getSerialRate ()
	Returns the current baud rate. More...
void	setCANRate (const ValueCanRate::Constant _canRate)
	Sets the CAN rate of the CAN bus. More...
unsigned int	getCANRate ()
	Returns the current CAN rate. More...
void	setEventFlag (const ValueSwitch::Constant _eventMode)
	Sets the event message flag. More...
bool	getEventFlag ()
	Returns the current event message flags. More...
void	setInfoFlag (const ValueSwitch::Constant _infoMode)
	Sets the event message flag. More...
bool	getInfoFlag ()
	Returns the current event message flags. More...
void	setIPAddress (const std::string _ip)
	Sets the IP address of the MPIA in-house electronic. More...
std::string	getIPAddress ()
	Returns the current IP address. More...
void	setGateAddress (const std::string _gate)
	Sets the gate address of the MPIA in-house electronic. More...
std::string	getGateAddress ()
	Returns the current gate address. More...
void	setMaskAddress (const std::string _mask)
	Sets the mask address of the MPIA in-house electronic. More...
std::string	getMaskAddress ()
	Returns the current mask address. More...
void	setLinkTimeout (const unsigned int _timeout)
	Sets the Ethernet connection timeout. More...
int	getLinkTimeout ()
	Returns the Ethernet connection timeout. More...
void	waitForEvent ()
	Waits until an event is received in a certain time (timeout). More...
std::string	getFatalError ()
	Returns the fatal error message. More...
void	resetFatalError ()
	Resets the fatal error. More...

Private Member Functions
void	addInternalProperties ()
	This method add some internal properties like command properties or status properties. More...
void	getMotorControllerErrorNr ()
	This methods returns the motor controller error number. More...
void	addInternalProperties ()
	This method add some internal properties like command properties or status properties. More...
void	getMotorControllerErrorNr ()
	This methods returns the motor controller error number. More...

Additional Inherited Members
Protected Member Functions inherited from Basda::MPIACore
	MPIACore (std::string _name, Nice::JointPtr _config, const MPIACoreProtocolPtr _protocol)
	~MPIACore ()
template<typename Type >
Type	checkAttribute (const std::string &_node, const std::string &_attributeName, const Type &_default)
template<typename RT >
std::vector< RT >	getVector (const std::string &_str)
	This is a generic method to convert a data string to a vector. More...
std::string	name ()
	MPIACore (std::string _name, Nice::JointPtr _config, const MPIACoreProtocolPtr _protocol)
	~MPIACore ()
template<typename Type >
Type	checkAttribute (const std::string &_node, const std::string &_attributeName, const Type &_default)
template<typename RT >
std::vector< RT >	getVector (const std::string &_str)
	This is a generic method to convert a data string to a vector. More...
std::string	name ()
Static Protected Member Functions inherited from Basda::MPIACore
template<typename RT >
static RT	getValue (const std::string &_str)
	This is a generic method to convert a data string to a number. More...
template<typename RT >
static RT	getValue (const std::string &_str)
	This is a generic method to convert a data string to a number. More...
Protected Attributes inherited from Basda::MPIACore
std::string	m_name
std::string	m_address
	member of the connection address More...
unsigned int	m_cardNo
	member of the card number More...
unsigned int	m_moduleNo
	member of the module number More...
HandlerPtr	m_handler
MPIACoreProtocolPtr	m_protocol
	member of the protocol to communicate with the MPIA in-house electronic. More...
Nice::JointPtr	m_config
	member of the root of the configuration tree More...
bool	m_warning

Detailed Description

This is the implementation of the MoCon card commands.

The MPIA electronic rack can keep up to 8 motor controller cards, which can control up to 8 motors each. This class extends the MPIACoreCard class with the functionality of the motor controller card.

Different services can run using the different modules at the same card. In order to configure the motor controller a set of commands have to be called in a certain order. Thereby must be sure that no other service can interrupt the current programming and the execution of the programmed command. Hence this the card has to be locked first for an exclusive access and unlocked when the programming and the execution is done.

Author

Frank Kittmann

Version

09.06.29

Date

2009.06.29

Constructor & Destructor Documentation

MoConCard() [1/2]

Basda::MoConCard::MoConCard	(	std::string	_name,
		Nice::JointPtr	_config,
		Basda::MPIACoreProtocolPtr	_protocol
	)

Constructor.

~MoConCard() [1/2]

Basda::MoConCard::~MoConCard ( )

inline

Destructor.

MoConCard() [2/2]

Basda::MoConCard::MoConCard	(	std::string	_name,
		Nice::JointPtr	_config,
		MPIACoreProtocolPtr	_protocol
	)

Constructor.

~MoConCard() [2/2]

Basda::MoConCard::~MoConCard ( )

inline

Destructor.

Member Function Documentation

addInternalProperties() [1/2]

void Basda::MoConCard::addInternalProperties ( )

private

This method add some internal properties like command properties or status properties.

addInternalProperties() [2/2]

void Basda::MoConCard::addInternalProperties ( )

private

This method add some internal properties like command properties or status properties.

clearTimeTraceBuffer() [1/2]

void Basda::MoConCard::clearTimeTraceBuffer

(

)

This methods clear and freed the data buffer of the time based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

getTraceInfo

clearTimeTraceBuffer() [2/2]

void Basda::MoConCard::clearTimeTraceBuffer

(

)

This methods clear and freed the data buffer of the time based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

getTraceInfo

eventTraceStart() [1/2]

void Basda::MoConCard::eventTraceStart

(

)

This methods starts the event based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setEventTraceSampleRate, eventTraceStop, getTraceInfo

eventTraceStart() [2/2]

void Basda::MoConCard::eventTraceStart

(

)

This methods starts the event based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setEventTraceSampleRate, eventTraceStop, getTraceInfo

eventTraceStop() [1/2]

void Basda::MoConCard::eventTraceStop

(

)

This methods stops the event based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setEventTraceSampleRate, eventTraceStart, getTraceInfo

eventTraceStop() [2/2]

void Basda::MoConCard::eventTraceStop

(

)

This methods stops the event based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setEventTraceSampleRate, eventTraceStart, getTraceInfo

getDigitalInBit() [1/2]

unsigned int Basda::MoConCard::getDigitalInBit

(

const unsigned int

_selectID

)

This methods reads a bit from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads a bit from that 32 bit input bus.

Parameters

_selectID

the bit to read (0..31)

Returns

the read bit

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord, setDigitalOutLong

getDigitalInByte, getDigitalInWord, getDigitalInLong

getDigitalInBit() [2/2]

unsigned int Basda::MoConCard::getDigitalInBit

(

const unsigned int

_selectID

)

This methods reads a bit from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads a bit from that 32 bit input bus.

Parameters

_selectID

the bit to read (0..31)

Returns

the read bit

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord, setDigitalOutLong

getDigitalInByte, getDigitalInWord, getDigitalInLong

getDigitalInByte() [1/2]

unsigned int Basda::MoConCard::getDigitalInByte

(

const unsigned int

_selectID

)

This methods reads a byte from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads a byte from that 32 bit input bus.

Parameters

_selectID

the byte to read (0..3)

Returns

the read byte

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInWord, getDigitalInLong

getDigitalInByte() [2/2]

unsigned int Basda::MoConCard::getDigitalInByte

(

const unsigned int

_selectID

)

This methods reads a byte from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads a byte from that 32 bit input bus.

Parameters

_selectID

the byte to read (0..3)

Returns

the read byte

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInWord, getDigitalInLong

getDigitalInLong() [1/2]

unsigned int Basda::MoConCard::getDigitalInLong

(

const unsigned int

_selectID

)

This methods reads all bits from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads all bits from that 32 bit input bus.

Parameters

_selectID

have to be 0 to read all bits of that 32 bit input bus

Returns

all bits of the bus

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInByte, getDigitalInWord

getDigitalInLong() [2/2]

unsigned int Basda::MoConCard::getDigitalInLong

(

const unsigned int

_selectID

)

This methods reads all bits from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads all bits from that 32 bit input bus.

Parameters

_selectID

have to be 0 to read all bits of that 32 bit input bus

Returns

all bits of the bus

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInByte, getDigitalInWord

getDigitalInWord() [1/2]

unsigned int Basda::MoConCard::getDigitalInWord

(

const unsigned int

_selectID

)

This methods reads a word from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads a word from that 32 bit input bus.

Parameters

_selectID

the word to read (0..1)

Returns

the read word

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInByte, getDigitalInLong

getDigitalInWord() [2/2]

unsigned int Basda::MoConCard::getDigitalInWord

(

const unsigned int

_selectID

)

This methods reads a word from the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit input bus, which can be freely programmed. In total is it a 32 bit input bus. This method reads a word from that 32 bit input bus.

Parameters

_selectID

the word to read (0..1)

Returns

the read word

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInByte, getDigitalInLong

getMotorControllerErrorNr() [1/2]

void Basda::MoConCard::getMotorControllerErrorNr ( )

private

This methods returns the motor controller error number.

In some cases the motor controller returns a Basda::MoCon::CheckSumException. This method read the error code from the MoCon and stored in the property

• VAR.MC.ERROR

It reads the error on the MoCon and throws an exception, because it is still not defined how to handle that exception.

This method don't need to be locked, because this method is private and will be called from the internal methods only.

Exceptions

Basda::MoCon::CheckSumException

See also

Basda::MoCon::CheckSumException

getMotorControllerErrorNr() [2/2]

void Basda::MoConCard::getMotorControllerErrorNr ( )

private

This methods returns the motor controller error number.

In some cases the motor controller returns a Basda::MoCon::CheckSumException. This method read the error code from the MoCon and stored in the property

• VAR.MC.ERROR

It reads the error on the MoCon and throws an exception, because it is still not defined how to handle that exception.

This method don't need to be locked, because this method is private and will be called from the internal methods only.

Exceptions

Basda::MoCon::CheckSumException

See also

Basda::MoCon::CheckSumException

getTraceInfo() [1/2]

int Basda::MoConCard::getTraceInfo

(

Nice::JointPtr

_config

)

This method returns the current status of the time based trace.

It returns the selected sample mode (SAMPLE_MODE), the status if the trace is still running (TRACING), the status if a buffer overflow (WRAP) was detected and the number of already logged data (TRACED_VALUES). All these data will be written back in the VAR property folder.

The received data will be stored in the following properties:

• VAR.TRACE.INFO.SAMPLE_MODE
• VAR.TRACE.INFO.TRACING
• VAR.TRACE.INFO.WRAP
• VAR.TRACE.INFO.TRACED_VALUES

Parameters

_config

the root of the configuration tree of the calling device to sort the response correctly

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

setEventTraceSampleRate

eventTraceStart

eventTraceStop

getTraceInfo() [2/2]

int Basda::MoConCard::getTraceInfo

(

Nice::JointPtr

_config

)

This method returns the current status of the time based trace.

It returns the selected sample mode (SAMPLE_MODE), the status if the trace is still running (TRACING), the status if a buffer overflow (WRAP) was detected and the number of already logged data (TRACED_VALUES). All these data will be written back in the VAR property folder.

The received data will be stored in the following properties:

• VAR.TRACE.INFO.SAMPLE_MODE
• VAR.TRACE.INFO.TRACING
• VAR.TRACE.INFO.WRAP
• VAR.TRACE.INFO.TRACED_VALUES

Parameters

_config

the root of the configuration tree of the calling device to sort the response correctly

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

setEventTraceSampleRate

eventTraceStart

eventTraceStop

lockCard() [1/2]

void Basda::MoConCard::lockCard

(

)

This method lock the card for an exclusive access for one client.

All methods will be lock till the client with the exclusive access unlock this object.

Exceptions

Basda::MPIA::ModuleIsInUseException

lockCard() [2/2]

void Basda::MoConCard::lockCard

(

)

This method lock the card for an exclusive access for one client.

All methods will be lock till the client with the exclusive access unlock this object.

Exceptions

Basda::MPIA::ModuleIsInUseException

moveMultiUpdate() [1/2]

void Basda::MoConCard::moveMultiUpdate

(

)

This command starts the motors synchronously.

After the motors are marked for synchronous moving and the move command is selected, this method will start the movement of all motors at the same time.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

moveMultiUpdate

Basda::MoConModule::moveToAbsolutePosition

Basda::MoConModule::moveToReleativePosition

Basda::MoConModule::moveToHome

moveMultiUpdate() [2/2]

void Basda::MoConCard::moveMultiUpdate

(

)

This command starts the motors synchronously.

After the motors are marked for synchronous moving and the move command is selected, this method will start the movement of all motors at the same time.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

moveMultiUpdate

Basda::MoConModule::moveToAbsolutePosition

Basda::MoConModule::moveToReleativePosition

Basda::MoConModule::moveToHome

setDigitalOutBit() [1/2]

void Basda::MoConCard::setDigitalOutBit	(	const unsigned int	_selectID,
		const unsigned int	_bit
	)

This methods sets a bit on the digital out bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit output bus, which can be freely programmed. In total is it a 32 bit output bus. This method sets a bit on that 32 bit output bus.

Parameters

_selectID	number (0..31) which bit has to be set
_bit	set the bit to 0x0 - low or 0x1 - high

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutByte, setDigitalOutWord, setDigitalOutLong

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutBit() [2/2]

void Basda::MoConCard::setDigitalOutBit	(	const unsigned int	_selectID,
		const unsigned int	_bit
	)

This methods sets a bit on the digital out bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit output bus, which can be freely programmed. In total is it a 32 bit output bus. This method sets a bit on that 32 bit output bus.

Parameters

_selectID	number (0..31) which bit has to be set
_bit	set the bit to 0x0 - low or 0x1 - high

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutByte, setDigitalOutWord, setDigitalOutLong

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutByte() [1/2]

void Basda::MoConCard::setDigitalOutByte	(	const unsigned int	_selectID,
		const unsigned int	_byte
	)

This methods sets a byte on the digital out bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 output bit bus, which can be freely programmed. In total is it a 32 output bit bus. This method sets a byte on that 32 bit output bus.

Parameters

_selectID	number (0..3) which byte has to be set
_byte	set the byte (0x0..0xFF)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutWord, setDigitalOutLong

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutByte() [2/2]

void Basda::MoConCard::setDigitalOutByte	(	const unsigned int	_selectID,
		const unsigned int	_byte
	)

This methods sets a byte on the digital out bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 output bit bus, which can be freely programmed. In total is it a 32 output bit bus. This method sets a byte on that 32 bit output bus.

Parameters

_selectID	number (0..3) which byte has to be set
_byte	set the byte (0x0..0xFF)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutWord, setDigitalOutLong

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutLong() [1/2]

void Basda::MoConCard::setDigitalOutLong	(	const unsigned int	_selectID,
		const unsigned int	_long
	)

This methods defines all bits on the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit output bus, which can be freely programmed. In total is it a 32 bit output bus. This method sets all bits on that 32 bit output bus.

Parameters

_selectID	have to be 0 to set all bits in that 32 bit bus
_long	set the long (0x0..0xFFFFFFFF)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutLong() [2/2]

void Basda::MoConCard::setDigitalOutLong	(	const unsigned int	_selectID,
		const unsigned int	_long
	)

This methods defines all bits on the digital bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 bit output bus, which can be freely programmed. In total is it a 32 bit output bus. This method sets all bits on that 32 bit output bus.

Parameters

_selectID	have to be 0 to set all bits in that 32 bit bus
_long	set the long (0x0..0xFFFFFFFF)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutWord

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutWord() [1/2]

void Basda::MoConCard::setDigitalOutWord	(	const unsigned int	_selectID,
		const unsigned int	_word
	)

This methods sets a word on the digital out bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 output bit bus, which can be freely programmed. In total is it a 32 output bit bus. This method sets a word on that 32 bit output bus.

Parameters

_selectID	number (0..1) which word has to be set
_word	set the word (0x0..0xFFFF)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutLong

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setDigitalOutWord() [2/2]

void Basda::MoConCard::setDigitalOutWord	(	const unsigned int	_selectID,
		const unsigned int	_word
	)

This methods sets a word on the digital out bus.

The motor controller card has 2 microcontroller that controlling the motor devices. The first 4 motors are driven by one chipset, the last 4 motors are driven by the second chipset. Each chipset has a 16 output bit bus, which can be freely programmed. In total is it a 32 output bit bus. This method sets a word on that 32 bit output bus.

Parameters

_selectID	number (0..1) which word has to be set
_word	set the word (0x0..0xFFFF)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setDigitalOutBit, setDigitalOutByte, setDigitalOutLong

getDigitalInBit, getDigitalInByte, getDigitalInWord, getDigitalInLong

setEventTraceSampleRate() [1/2]

void Basda::MoConCard::setEventTraceSampleRate

(

const unsigned int

_sampleRate

)

This methods sets the sample rate of the event based trace.

The sample rate defines every which motor controller clock cycle a value has to be logged.

Note

Do not choose the value too less. The module needs time to send the logged value toward the clients.

Parameters

_sampleRate

the sample rate (1..65000)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

eventTraceStart, eventTraceStop, getTraceInfo

setEventTraceSampleRate() [2/2]

void Basda::MoConCard::setEventTraceSampleRate

(

const unsigned int

_sampleRate

)

This methods sets the sample rate of the event based trace.

The sample rate defines every which motor controller clock cycle a value has to be logged.

Note

Do not choose the value too less. The module needs time to send the logged value toward the clients.

Parameters

_sampleRate

the sample rate (1..65000)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

eventTraceStart, eventTraceStop, getTraceInfo

setMultiUpdateSettings() [1/2]

void Basda::MoConCard::setMultiUpdateSettings

(

const int

_modules

)

This method define which motor have to be move synchronously when the method moveMultiUpdate() is called.

Motors on the same card can be moved synchronously after these are marked. After that it has to be defined which move command has to be executed when the method moveMultiUpdate() is called.

Parameters

_modules

a byte where every bit marks its corresponding motor. (bit 0: motor 1, ... bit 7: motor 8)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

moveMultiUpdate

Basda::MoConModule::moveToAbsolutePosition

Basda::MoConModule::moveToReleativePosition

Basda::MoConModule::moveToHome

setMultiUpdateSettings() [2/2]

void Basda::MoConCard::setMultiUpdateSettings

(

const int

_modules

)

This method define which motor have to be move synchronously when the method moveMultiUpdate() is called.

Motors on the same card can be moved synchronously after these are marked. After that it has to be defined which move command has to be executed when the method moveMultiUpdate() is called.

Parameters

_modules

a byte where every bit marks its corresponding motor. (bit 0: motor 1, ... bit 7: motor 8)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

moveMultiUpdate

Basda::MoConModule::moveToAbsolutePosition

Basda::MoConModule::moveToReleativePosition

Basda::MoConModule::moveToHome

setTimeTraceNumberOfSamples() [1/2]

void Basda::MoConCard::setTimeTraceNumberOfSamples

(

const unsigned int

_numberOfSamples

)

This methods sets the number of samples of the time based trace.

Number of samples defines how many values have to be logged of each selected sample type.

Parameters

_numberOfSamples

the number of samples

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

setTimeTraceNumberOfSamples() [2/2]

void Basda::MoConCard::setTimeTraceNumberOfSamples

(

const unsigned int

_numberOfSamples

)

This methods sets the number of samples of the time based trace.

Number of samples defines how many values have to be logged of each selected sample type.

Parameters

_numberOfSamples

the number of samples

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

setTimeTraceSampleMode() [1/2]

void Basda::MoConCard::setTimeTraceSampleMode

(

const Basda::ValueTraceSampleMode::Constant

_mode

)

This methods sets the sample mode of the time based trace.

The Sample Mode defines whether the trace should continue with tracing from the beginning of the buffer after the end is reached (Rolling_Buffer) or whether the trace should stop (One_Time). Is the sample mode Rolling_Buffer is selected the trace will stop when the stop method is called.

Parameters

_mode

the sample mode

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

MPIA/Core/MoCon/CommandIDs.h

setTimeTraceSampleMode() [2/2]

void Basda::MoConCard::setTimeTraceSampleMode

(

const Basda::ValueTraceSampleMode::Constant

_mode

)

This methods sets the sample mode of the time based trace.

The Sample Mode defines whether the trace should continue with tracing from the beginning of the buffer after the end is reached (Rolling_Buffer) or whether the trace should stop (One_Time). Is the sample mode Rolling_Buffer is selected the trace will stop when the stop method is called.

Parameters

_mode

the sample mode

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

MPIA/Core/MoCon/CommandIDs.h

setTimeTraceSampleRate() [1/2]

void Basda::MoConCard::setTimeTraceSampleRate

(

const unsigned int

_sampleRate

)

This methods sets the sample rate of the time based trace.

The sample rate defines every which motor controller clock cycle a value has to be logged.

Parameters

_sampleRate

the sample rate (1..65000)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

setTimeTraceSampleRate() [2/2]

void Basda::MoConCard::setTimeTraceSampleRate

(

const unsigned int

_sampleRate

)

This methods sets the sample rate of the time based trace.

The sample rate defines every which motor controller clock cycle a value has to be logged.

Parameters

_sampleRate

the sample rate (1..65000)

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

timeTraceStart() [1/2]

void Basda::MoConCard::timeTraceStart

(

)

This methods starts the time based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

timeTraceStart() [2/2]

void Basda::MoConCard::timeTraceStart

(

)

This methods starts the time based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStop

clearTimeTraceBuffer

getTraceInfo

timeTraceStop() [1/2]

void Basda::MoConCard::timeTraceStop

(

)

This methods stops the time based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

clearTimeTraceBuffer

getTraceInfo

timeTraceStop() [2/2]

void Basda::MoConCard::timeTraceStop

(

)

This methods stops the time based trace.

Exceptions

Basda::MPIA::ModuleIsInUseException

See also

setTimeTraceSampleRate

setTimeTraceNumberOfSamples

setTimeTraceSampleMode

timeTraceStart

clearTimeTraceBuffer

getTraceInfo

unlockCard() [1/2]

void Basda::MoConCard::unlockCard

(

)

This method unlock the card.

All methods will be unlocked. This can be done only by that client which has exclusive access.

Exceptions

Basda::MPIA::ModuleIsInUseException

unlockCard() [2/2]

void Basda::MoConCard::unlockCard

(

)

This method unlock the card.

All methods will be unlocked. This can be done only by that client which has exclusive access.

Exceptions

Basda::MPIA::ModuleIsInUseException

---

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

• TwiceAsNice/basda-mocca/doc/include/mocon/Card.h
• TwiceAsNice/basda-mocca/doc/include/mocon/Card.cc