#include <NDeviceDummy.h>

Inheritance diagram for Basda::MoConNDeviceDummy:

Collaboration diagram for Basda::MoConNDeviceDummy:

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

virtual	~MoConNDeviceDummy ()

virtual void	open ()
	open device More...

virtual void	close ()
	close device 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	chat (std::string _commandID, std::string _cardNo, std::string _moduleNo, std::string _selectID, std::string _parameter, std::string _numberOfLines, DeviceAsync &=Basda::Device::s_async)
	This method send the command string to the electronic. More...

virtual std::string	dontParse (DeviceAsync &=Basda::Device::s_async)
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

virtual std::string	receiveDataRaw (std::string _commandID, std::string _cardNo, std::string _moduleNo, std::string _numberOfLines, DeviceAsync &=Basda::Device::s_async)
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

virtual bool	isReachable ()

virtual void	prepareMoveSync (Nice::BitSet _motors)

virtual void	startMoveSync ()

void	prepareDirectMove (const Nice::NPoint &_acceleration, const Nice::NPoint &_velocity, const Nice::NPoint &_deceleration)
	This method setup the acceleration anv velocity for a direct point to point move. More...

virtual void	moveAbsolute (const Nice::NPoint &_positions, Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the absolute position. More...

virtual void	moveAbsoluteStart (const Nice::NPoint &, Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveAbsoluteWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveRelative (const Nice::NPoint &_positions, Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the relative position. More...

virtual void	moveRelativeStart (const Nice::NPoint &, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveRelativeWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHome (Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the home position. More...

virtual void	moveToHomeStart (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHomeWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHomeSingle (int _motor, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToHomeSingleStart (int _motor, Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHomeSingleWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToLimit (const Nice::NPoint &_positions, Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the positive limit switch. More...

virtual void	moveToLimitStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToLimitWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToPositiveLimit (Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the positive limit switch. More...

virtual void	moveToPositiveLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToPositiveLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToNegativeLimit (Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the negative limit switch. More...

virtual void	moveToNegativeLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToNegativeLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	stop ()
	All motors of a device stop moving. More...

virtual void	abort ()
	All motors of a device abort the current movement. More...

virtual Nice::NPoint	getPosition ()
	Returns the current positions of all motors. More...

virtual Nice::NPoint	getDeviceEncoderPosition ()
	Returns the current device internal position encoder of all motors. More...

virtual Nice::NPoint	getAbsoluteEncoderPosition ()
	Returns the current absolute encoder positions of all motors. More...

virtual Nice::NPoint	getIncrementalEncoderPosition ()
	Returns the current incremental encoder positions of all motors. More...

virtual void	setPosition (const Nice::NPoint &_position)
	Change the absolute position of all motors. More...

virtual Nice::NPoint	getVelocity ()
	Returns the current velocity of all motors. More...

virtual Nice::SeqSeqDouble	getBasicSettings ()
	Returns the basic settings of all motors. More...

virtual void	setVelocitySetting (const Nice::NPoint &_velocity)
	Set the velocity configuration parameter of all motors. More...

virtual void	setAccelerationSetting (const Nice::NPoint &_acceleration)
	Set the acceleration configuration parameter of all motors. More...

virtual void	setDecelerationSetting (const Nice::NPoint &_deceleration)
	Set the deceleration configuration parameter of all motors. More...

virtual void	setJerkSetting (const Nice::NPoint &_jerk)
	Set the jerk configuration parameter of all motors. More...

virtual bool	isAtLimit (Nice::NPoint &)
	Returns the current limit switch state of all motors. More...

virtual bool	isMoving (Nice::BitSet &)
	Returns the motion flag of all motors. More...

virtual bool	isAtHome (Nice::BitSet &)
	This method indicate whether the motor is at the home position. More...

virtual void	setLinkTimeout (Nice::Time _tcpConnectionTimeout)

virtual Nice::SeqTime	getLinkTimeout ()

virtual Nice::NPoint	getReferenceTime ()

virtual Nice::NPoint	getCurrentTime ()

virtual void	checkMotionError ()

void	prepareExternalProfile (const Nice::SeqSeqInt &_segmentsX, const Nice::SeqSeqInt &_segmentsY, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	startExternalProfile (const Nice::Date &_startDate, const Nice::NPoint &_positionSequence, unsigned int _frequency, unsigned int _maxSamplesPerSegment, unsigned int _faultTolerance, Basda::DeviceAsync &_async=Basda::Device::s_async)

void	startExternalProfile (Basda::DeviceAsync &_async=Basda::Device::s_async)

void	waitForNextTrigger (Nice::Date _date, Basda::DeviceAsync &_async=Basda::Device::s_async)
	This method wait until the next trigger has tobe raised. More...

virtual void	changeExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)
	This method fit, validates and buffers the external profile. More...

virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	The external profile will be configured and the external profile will uploaded to the MoCon. More...

virtual void	dumpStatusInformation (Basda::DeviceAsync &_asynch, bool _compareParameter=false)

virtual Nice::Completion	getProgress ()

void	setChatType (std::map< std::string, Nice::ChatLinePtr > _chat)

void	setCollision (Nice::SeqPoint _collisions)

void	setBrokenSwitches (Nice::BitSet _brokenPositionSwitchMask, int _fromPosition, int _toPosition)

void	setWheelPositionOffset (int _positionOffset)

virtual Nice::JointPtrVector	description ()

	MoConNDeviceDummy (const Nice::JointPtr &_config)

virtual	~MoConNDeviceDummy ()

virtual void	open ()
	open device More...

virtual void	close ()
	close device 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	chat (std::string _commandID, std::string _cardNo, std::string _moduleNo, std::string _selectID, std::string _parameter, std::string _numberOfLines, DeviceAsync &=Basda::Device::s_async)
	This method send the command string to the electronic. More...

virtual std::string	dontParse (DeviceAsync &=Basda::Device::s_async)
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

virtual std::string	receiveDataRaw (std::string _commandID, std::string _cardNo, std::string _moduleNo, std::string _numberOfLines, DeviceAsync &=Basda::Device::s_async)
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

virtual bool	isReachable ()

virtual void	prepareMoveSync (Nice::BitSet _motors)

virtual void	startMoveSync ()

void	prepareDirectMove (const Nice::NPoint &_acceleration, const Nice::NPoint &_velocity, const Nice::NPoint &_deceleration)
	This method setup the acceleration anv velocity for a direct point to point move. More...

virtual void	moveAbsolute (const Nice::NPoint &_positions, Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the absolute position. More...

virtual void	moveAbsoluteStart (const Nice::NPoint &, Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveAbsoluteWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveRelative (const Nice::NPoint &_positions, Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the relative position. More...

virtual void	moveRelativeStart (const Nice::NPoint &, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveRelativeWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHome (Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the home position. More...

virtual void	moveToHomeStart (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHomeWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHomeSingle (int _motor, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToHomeSingleStart (int _motor, Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToHomeSingleWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToLimit (const Nice::NPoint &_positions, Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the positive limit switch. More...

virtual void	moveToLimitStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToLimitWait (Basda::DeviceAsync &=Basda::Device::s_async)

virtual void	moveToPositiveLimit (Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the positive limit switch. More...

virtual void	moveToPositiveLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToPositiveLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToNegativeLimit (Basda::DeviceAsync &_async=Basda::Device::s_async)
	All motors of a device move to the negative limit switch. More...

virtual void	moveToNegativeLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	moveToNegativeLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	stop ()
	All motors of a device stop moving. More...

virtual void	abort ()
	All motors of a device abort the current movement. More...

virtual Nice::NPoint	getPosition ()
	Returns the current positions of all motors. More...

virtual Nice::NPoint	getDeviceEncoderPosition ()
	Returns the current device internal position encoder of all motors. More...

virtual Nice::NPoint	getAbsoluteEncoderPosition ()
	Returns the current absolute encoder positions of all motors. More...

virtual Nice::NPoint	getIncrementalEncoderPosition ()
	Returns the current incremental encoder positions of all motors. More...

virtual void	setPosition (const Nice::NPoint &_position)
	Change the absolute position of all motors. More...

virtual Nice::NPoint	getVelocity ()
	Returns the current velocity of all motors. More...

virtual Nice::SeqSeqDouble	getBasicSettings ()
	Returns the basic settings of all motors. More...

virtual void	setVelocitySetting (const Nice::NPoint &_velocity)
	Set the velocity configuration parameter of all motors. More...

virtual void	setAccelerationSetting (const Nice::NPoint &_acceleration)
	Set the acceleration configuration parameter of all motors. More...

virtual void	setDecelerationSetting (const Nice::NPoint &_deceleration)
	Set the deceleration configuration parameter of all motors. More...

virtual void	setJerkSetting (const Nice::NPoint &_jerk)
	Set the jerk configuration parameter of all motors. More...

virtual bool	isAtLimit (Nice::NPoint &)
	Returns the current limit switch state of all motors. More...

virtual bool	isMoving (Nice::BitSet &)
	Returns the motion flag of all motors. More...

virtual bool	isAtHome (Nice::BitSet &)
	This method indicate whether the motor is at the home position. More...

virtual void	setLinkTimeout (Nice::Time _tcpConnectionTimeout)

virtual Nice::SeqTime	getLinkTimeout ()

virtual Nice::NPoint	getReferenceTime ()

virtual Nice::NPoint	getCurrentTime ()

virtual void	checkMotionError ()

void	prepareExternalProfile (const Nice::SeqSeqInt &_segmentsX, const Nice::SeqSeqInt &_segmentsY, Basda::DeviceAsync &_async=Basda::Device::s_async)

virtual void	startExternalProfile (const Nice::Date &_startDate, const Nice::NPoint &_positionSequence, unsigned int _frequency, unsigned int _maxSamplesPerSegment, unsigned int _faultTolerance, Basda::DeviceAsync &_async=Basda::Device::s_async)

void	startExternalProfile (Basda::DeviceAsync &_async=Basda::Device::s_async)

void	waitForNextTrigger (Nice::Date _date, Basda::DeviceAsync &_async=Basda::Device::s_async)
	This method wait until the next trigger has tobe raised. More...

virtual void	changeExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)
	This method fit, validates and buffers the external profile. More...

virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	The external profile will be configured and the external profile will uploaded to the MoCon. More...

virtual void	dumpStatusInformation (Basda::DeviceAsync &_asynch, bool _compareParameter=false)

virtual Nice::Completion	getProgress ()

void	setChatType (std::map< std::string, Nice::ChatLinePtr > _chat)

void	setCollision (Nice::SeqPoint _collisions)

void	setBrokenSwitches (Nice::BitSet _brokenPositionSwitchMask, int _fromPosition, int _toPosition)

void	setWheelPositionOffset (int _positionOffset)

virtual Nice::JointPtrVector	description ()

Public Member Functions inherited from Basda::MoccaNDevice
	MoccaNDevice (const Nice::JointPtr &_config)
	Constructor. More...

virtual	~MoccaNDevice ()
	Constructor. More...

	MoccaNDevice (const Nice::JointPtr &_config)
	Constructor. More...

virtual	~MoccaNDevice ()
	Constructor. More...

	MoccaNDevice (const Nice::JointPtr &_config)
	Constructor. More...

virtual	~MoccaNDevice ()
	Constructor. More...

Public Member Functions inherited from Basda::MoccaDevice
	MoccaDevice (const Nice::JointPtr &_config)
	Constructor. More...

virtual	~MoccaDevice ()

	MoccaDevice (const Nice::JointPtr &_config)
	Constructor. More...

virtual	~MoccaDevice ()

	MoccaDevice (const Nice::JointPtr &_config)
	Constructor. More...

virtual	~MoccaDevice ()

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 Member Functions
void	setIsReachable (const bool _isReachable)

void	generateExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)
	This method fit, validates and buffers the external profile. More...

void	startTimer (double _distance)

void	waitInternal (const std::string _cmd, Basda::DeviceAsync &_async)

bool	isMotionComplete (Nice::BitSet &_motion)
	Checks if the motion is complete. More...

Nice::Date	niceDateNow ()

void	createInstances ()

void	addProperties ()

std::string	createConnectionID (const std::string &_address, const unsigned int _cardNo, const unsigned int _moduleNo)
	This method creates an ID based on the connection address, card number and module number separated by a colon to identify the module/card object in a map. More...

void	setIsReachable (const bool _isReachable)

void	generateExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)
	This method fit, validates and buffers the external profile. More...

void	startTimer (double _distance)

void	waitInternal (const std::string _cmd, Basda::DeviceAsync &_async)

bool	isMotionComplete (Nice::BitSet &_motion)
	Checks if the motion is complete. More...

Nice::Date	niceDateNow ()

void	createInstances ()

void	addProperties ()

std::string	createConnectionID (const std::string &_address, const unsigned int _cardNo, const unsigned int _moduleNo)
	This method creates an ID based on the connection address, card number and module number separated by a colon to identify the module/card object in a map. More...

Protected Attributes
std::map< std::string, MoConModuleDummyPtr >	m_module

Nice::NPoint	m_limit

unsigned int	m_externalProfileSize

int	m_externalProfileInfo
	Keeps the last external profile info value to reduce the number of log messages. More...

bool	m_isReachable

Nice::Timer	m_timer

Nice::Time	m_duration

std::string	m_cardNo

std::string	m_moduleNo

std::string	m_commandID

Nice::Mutex	m_mutex

std::map< std::string, Nice::ChatLinePtr >	m_chat
	This member keeps all chat objects. More...

Nice::Time	m_tcpConnectionTimeout

Nice::DateDummyPtr	m_niceDateDummy

Protected Attributes inherited from Basda::MoccaDevice
Nice::Completion	m_completion

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

Nice::JointPtr	m_cfg

Nice::JointPtr	m_var

std::string	m_name

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

Protected Types inherited from Basda::MoccaDevice
enum	CMDS { OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT, OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT, OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT }

enum	CMDS { OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT, OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT, OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT }

enum	CMDS { OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT, OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT, OPEN, CLOSE, RESET, INIT, DEINIT, ACTIVATE, DEACTIVATE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, STOP, ABORT }

Constructor & Destructor Documentation

◆ MoConNDeviceDummy() [1/2]

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

◆ ~MoConNDeviceDummy() [1/2]

Basda::MoConNDeviceDummy::~MoConNDeviceDummy ( )

virtual

◆ MoConNDeviceDummy() [2/2]

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

◆ ~MoConNDeviceDummy() [2/2]

virtual Basda::MoConNDeviceDummy::~MoConNDeviceDummy ( )

virtual

Member Function Documentation

◆ abort() [1/2]

void Basda::MoConNDeviceDummy::abort ( void )

virtual

All motors of a device abort the current movement.

Implements Basda::MoccaDevice.

◆ abort() [2/2]

virtual void Basda::MoConNDeviceDummy::abort ( )

virtual

All motors of a device abort the current movement.

Implements Basda::MoccaDevice.

◆ activate() [1/2]

void Basda::MoConNDeviceDummy::activate ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

activate the device

Implements Basda::Device.

◆ activate() [2/2]

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

virtual

activate the device

Implements Basda::Device.

◆ addProperties() [1/2]

void Basda::MoConNDeviceDummy::addProperties ( )

protected

◆ addProperties() [2/2]

void Basda::MoConNDeviceDummy::addProperties ( )

protected

◆ changeExternalProfile() [1/2]

virtual void Basda::MoConNDeviceDummy::changeExternalProfile	(	const Nice::Date &	_date,
		const Nice::NPoint &	_positionSequence
	)

virtual

This method fit, validates and buffers the external profile.

Parameters

_date	- the start date when the new trajectory should start
_positionSequence	- the position sequence in steps

Implements Basda::MoccaNDevice.

◆ changeExternalProfile() [2/2]

void Basda::MoConNDeviceDummy::changeExternalProfile	(	const Nice::Date &	_date,
		const Nice::NPoint &	_positionSequence
	)

virtual

This method fit, validates and buffers the external profile.

Parameters

_date	- the start date when the new trajectory should start
_positionSequence	- the position sequence in steps

Implements Basda::MoccaNDevice.

◆ chat() [1/2]

void Basda::MoConNDeviceDummy::chat	(	std::string	_commandID,
		std::string	_cardNo,
		std::string	_moduleNo,
		std::string	_selectID,
		std::string	_parameter,
		std::string	_numberOfLines,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

This method send the command string to the electronic.

This method is set to public due to requests from Lorenzo Busoni. BUT THE USER OF THIS METHOD TAKE OVER THE RESPONSIBILITY OF THE CORRECT ERROR HANDLING. THE DRIVER DOES NOT HAVE THE CONTROL OVER THAT DEVICE ANY MORE.

Parameters

_commandID	the command ID
_cardNo	the ID of the MPIA electronic card
_moduleNo	the ID of the device module
_selectID	the sub command ID
_parameter	the parameter as string
_numberOfLines	the number of lines that might be read

Hi Martin,

that's exactly what I was thinking: The use case is (real example from our experience): we discover at the telescope that we need to continuously monitor a given property (PropA) of the MoCon (obviously because of a malfunctioning in the hardware!). Without this monitor, we will be stuck. You can add the required functionality in the Mocca adding the function getPropA: this requires 4 hours and the day is lost. The day after you are stuck because you discover that you miss PropB, and the day is lost again. As an alternative, one can add the 2 lines below in the code (with a comment: "1 10 0 = getPropA") and this requires 5 minutes. The day after one can add a similar line with 1 11 0. When you're back in Europe you implement getPropA and getPropB in Mocca and you cleanup the code removing the receiveResponseForComment

Generally speaking I think it is a safe idea to have a generic interface to access EVERY possible functionality of a device, because soon or later you'll need it. In the case of the Mocon it is quite easy, a good compromise between living dangerously and wasting too much time in the effort of a complete implementation of all the MoCon commands.

Lorenzo Busoni

Implements Basda::MoccaNDevice.

◆ chat() [2/2]

virtual void Basda::MoConNDeviceDummy::chat	(	std::string	_commandID,
		std::string	_cardNo,
		std::string	_moduleNo,
		std::string	_selectID,
		std::string	_parameter,
		std::string	_numberOfLines,
		DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

This method send the command string to the electronic.

This method is set to public due to requests from Lorenzo Busoni. BUT THE USER OF THIS METHOD TAKE OVER THE RESPONSIBILITY OF THE CORRECT ERROR HANDLING. THE DRIVER DOES NOT HAVE THE CONTROL OVER THAT DEVICE ANY MORE.

Parameters

_commandID	the command ID
_cardNo	the ID of the MPIA electronic card
_moduleNo	the ID of the device module
_selectID	the sub command ID
_parameter	the parameter as string
_numberOfLines	the number of lines that might be read

Hi Martin,

that's exactly what I was thinking: The use case is (real example from our experience): we discover at the telescope that we need to continuously monitor a given property (PropA) of the MoCon (obviously because of a malfunctioning in the hardware!). Without this monitor, we will be stuck. You can add the required functionality in the Mocca adding the function getPropA: this requires 4 hours and the day is lost. The day after you are stuck because you discover that you miss PropB, and the day is lost again. As an alternative, one can add the 2 lines below in the code (with a comment: "1 10 0 = getPropA") and this requires 5 minutes. The day after one can add a similar line with 1 11 0. When you're back in Europe you implement getPropA and getPropB in Mocca and you cleanup the code removing the receiveResponseForComment

Generally speaking I think it is a safe idea to have a generic interface to access EVERY possible functionality of a device, because soon or later you'll need it. In the case of the Mocon it is quite easy, a good compromise between living dangerously and wasting too much time in the effort of a complete implementation of all the MoCon commands.

Lorenzo Busoni

Implements Basda::MoccaNDevice.

◆ checkMotionError() [1/2]

virtual void Basda::MoConNDeviceDummy::checkMotionError ( )

virtual

◆ checkMotionError() [2/2]

void Basda::MoConNDeviceDummy::checkMotionError ( )

virtual

◆ close() [1/2]

virtual void Basda::MoConNDeviceDummy::close ( )

virtual

close device

Implements Basda::Device.

◆ close() [2/2]

void Basda::MoConNDeviceDummy::close ( void )

virtual

close device

Implements Basda::Device.

◆ createConnectionID() [1/2]

std::string Basda::MoConNDeviceDummy::createConnectionID	(	const std::string &	_address,
		const unsigned int	_cardNo,
		const unsigned int	_moduleNo
	)

protected

This method creates an ID based on the connection address, card number and module number separated by a colon to identify the module/card object in a map.

Parameters

_address	the connection string
_cardNo	the card number
_moduleNo	the module number

◆ createConnectionID() [2/2]

std::string Basda::MoConNDeviceDummy::createConnectionID	(	const std::string &	_address,
		const unsigned int	_cardNo,
		const unsigned int	_moduleNo
	)

protected

This method creates an ID based on the connection address, card number and module number separated by a colon to identify the module/card object in a map.

Parameters

_address	the connection string
_cardNo	the card number
_moduleNo	the module number

◆ createInstances() [1/2]

void Basda::MoConNDeviceDummy::createInstances ( )

protected

◆ createInstances() [2/2]

void Basda::MoConNDeviceDummy::createInstances ( )

protected

◆ deactivate() [1/2]

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

virtual

deactivate the device

Implements Basda::Device.

◆ deactivate() [2/2]

void Basda::MoConNDeviceDummy::deactivate ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

deactivate the device

Implements Basda::Device.

◆ deinit() [1/2]

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

virtual

deinit the device

Implements Basda::Device.

◆ deinit() [2/2]

void Basda::MoConNDeviceDummy::deinit ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

deinit the device

Implements Basda::Device.

◆ description() [1/2]

virtual Nice::JointPtrVector Basda::MoConNDeviceDummy::description ( void )

inlinevirtual

◆ description() [2/2]

virtual Nice::JointPtrVector Basda::MoConNDeviceDummy::description ( void )

inlinevirtual

◆ dontParse() [1/2]

std::string Basda::MoConNDeviceDummy::dontParse ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012)

It supports a direct communication with the MoCon. BUT THE USER OF THIS METHOD TAKE OVER THE RESPONSIBILITY OF THE CORRECT ERROR HANDLING. THE DRIVER DOES NOT HAVE THE CONTROL OVER THAT DEVICE ANY MORE.

Returns: the raw response string

See also: chat

Implements Basda::MoccaNDevice.

◆ dontParse() [2/2]

virtual std::string Basda::MoConNDeviceDummy::dontParse ( DeviceAsync & = Basda::Device::s_async )

virtual

This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012)

It supports a direct communication with the MoCon. BUT THE USER OF THIS METHOD TAKE OVER THE RESPONSIBILITY OF THE CORRECT ERROR HANDLING. THE DRIVER DOES NOT HAVE THE CONTROL OVER THAT DEVICE ANY MORE.

Returns: the raw response string

See also: chat

Implements Basda::MoccaNDevice.

◆ dumpStatusInformation() [1/2]

void Basda::MoConNDeviceDummy::dumpStatusInformation	(	Basda::DeviceAsync &	_asynch,
		bool	_compareParameter = `false`
	)

virtual

Implements Basda::MoccaNDevice.

◆ dumpStatusInformation() [2/2]

virtual void Basda::MoConNDeviceDummy::dumpStatusInformation	(	Basda::DeviceAsync &	_asynch,
		bool	_compareParameter = `false`
	)

virtual

Implements Basda::MoccaNDevice.

◆ generateExternalProfile() [1/2]

void Basda::MoConNDeviceDummy::generateExternalProfile	(	const Nice::Date &	_date,
		const Nice::NPoint &	_positionSequence
	)

protected

This method fit, validates and buffers the external profile.

Parameters

_date	- the start date when the trajectory should start
_positionSequence	- the position sequence in steps

◆ generateExternalProfile() [2/2]

void Basda::MoConNDeviceDummy::generateExternalProfile	(	const Nice::Date &	_date,
		const Nice::NPoint &	_positionSequence
	)

protected

This method fit, validates and buffers the external profile.

Parameters

_date	- the start date when the trajectory should start
_positionSequence	- the position sequence in steps

◆ getAbsoluteEncoderPosition() [1/2]

Nice::NPoint Basda::MoConNDeviceDummy::getAbsoluteEncoderPosition ( )

virtual

Returns the current absolute encoder positions of all motors.

The current position of all motors might be stored in the property

VAR.POSITION.ABSOLUTE_ENCODER

Returns: the current positions of all motors in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ getAbsoluteEncoderPosition() [2/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getAbsoluteEncoderPosition ( )

virtual

Returns the current absolute encoder positions of all motors.

The current position of all motors might be stored in the property

VAR.POSITION.ABSOLUTE_ENCODER

Returns: the current positions of all motors in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ getBasicSettings() [1/2]

Nice::SeqSeqDouble Basda::MoConNDeviceDummy::getBasicSettings ( )

virtual

Returns the basic settings of all motors.

Depending of the implementation the basic settings could be: motion profile, revolution, velocity, acceleration, deceleration and jerk. Each basic settings is stored in a sequence.

Returns: a sequence of all motors with a sequence of all basic settings

Implements Basda::MoccaNDevice.

◆ getBasicSettings() [2/2]

virtual Nice::SeqSeqDouble Basda::MoConNDeviceDummy::getBasicSettings ( )

virtual

Returns the basic settings of all motors.

Depending of the implementation the basic settings could be: motion profile, revolution, velocity, acceleration, deceleration and jerk. Each basic settings is stored in a sequence.

Returns: a sequence of all motors with a sequence of all basic settings

Implements Basda::MoccaNDevice.

◆ getCurrentTime() [1/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getCurrentTime ( )

virtual

Implements Basda::MoccaNDevice.

◆ getCurrentTime() [2/2]

Nice::NPoint Basda::MoConNDeviceDummy::getCurrentTime ( )

virtual

Implements Basda::MoccaNDevice.

◆ getDeviceEncoderPosition() [1/2]

Nice::NPoint Basda::MoConNDeviceDummy::getDeviceEncoderPosition ( )

virtual

Returns the current device internal position encoder of all motors.

Some devices, like the MoCon, have an internal software encoder/position counter, which is independent from the incremental and absolute encoder.

Returns: the current positions of all motors in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ getDeviceEncoderPosition() [2/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getDeviceEncoderPosition ( )

virtual

Returns the current device internal position encoder of all motors.

Some devices, like the MoCon, have an internal software encoder/position counter, which is independent from the incremental and absolute encoder.

Returns: the current positions of all motors in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ getIncrementalEncoderPosition() [1/2]

Nice::NPoint Basda::MoConNDeviceDummy::getIncrementalEncoderPosition ( )

virtual

Returns the current incremental encoder positions of all motors.

The current position of all motors might be stored in the property

VAR.POSITION.INCREMENTAL_ENCODER

Returns: the current positions of all motors in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ getIncrementalEncoderPosition() [2/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getIncrementalEncoderPosition ( )

virtual

Returns the current incremental encoder positions of all motors.

The current position of all motors might be stored in the property

VAR.POSITION.INCREMENTAL_ENCODER

Returns: the current positions of all motors in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ getLinkTimeout() [1/2]

virtual Nice::SeqTime Basda::MoConNDeviceDummy::getLinkTimeout ( )

virtual

Implements Basda::MoccaNDevice.

◆ getLinkTimeout() [2/2]

Nice::SeqTime Basda::MoConNDeviceDummy::getLinkTimeout ( )

virtual

Implements Basda::MoccaNDevice.

◆ getPosition() [1/2]

Nice::NPoint Basda::MoConNDeviceDummy::getPosition ( )

virtual

Returns the current positions of all motors.

Implements Basda::MoccaNDevice.

◆ getPosition() [2/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getPosition ( )

virtual

Returns the current positions of all motors.

Implements Basda::MoccaNDevice.

◆ getPositionSwitchStatus() [1/2]

virtual Nice::SeqBitSet Basda::MoConNDeviceDummy::getPositionSwitchStatus ( )

virtual

The external profile will be configured and the external profile will uploaded to the MoCon.

Parameters

_positionSequence	a vector with the profile for each motor
_timeResolution	segmentLength / samplesPerSegment
_samplesPerSegment	samples per segment
_maxError	the maximal error that the external profile can have after the conversion to a MoCon profile
_asynch	the call back object This method starts the external profile at a certain data.

The external profile can be stopped with the stop method.

Parameters

_date	a vector with the start date of all motors. The order of the dates is corresponding to the order of the motor names in the property tree (alphabetical). Use the constant Basda::STAY if the motor should move.
_asynch	the call back object

Implements Basda::MoccaNDevice.

◆ getPositionSwitchStatus() [2/2]

Nice::SeqBitSet Basda::MoConNDeviceDummy::getPositionSwitchStatus ( )

virtual

The external profile will be configured and the external profile will uploaded to the MoCon.

Parameters

_positionSequence	a vector with the profile for each motor
_timeResolution	segmentLength / samplesPerSegment
_samplesPerSegment	samples per segment
_maxError	the maximal error that the external profile can have after the conversion to a MoCon profile
_asynch	the call back object This method starts the external profile at a certain data.

The external profile can be stopped with the stop method.

Parameters

_date	a vector with the start date of all motors. The order of the dates is corresponding to the order of the motor names in the property tree (alphabetical). Use the constant Basda::STAY if the motor should move.
_asynch	the call back object

Implements Basda::MoccaNDevice.

◆ getProgress() [1/2]

Nice::Completion Basda::MoConNDeviceDummy::getProgress ( )

virtual

Implements Basda::MoccaDevice.

◆ getProgress() [2/2]

virtual Nice::Completion Basda::MoConNDeviceDummy::getProgress ( )

virtual

Implements Basda::MoccaDevice.

◆ getReferenceTime() [1/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getReferenceTime ( )

virtual

Implements Basda::MoccaNDevice.

◆ getReferenceTime() [2/2]

Nice::NPoint Basda::MoConNDeviceDummy::getReferenceTime ( )

virtual

Implements Basda::MoccaNDevice.

◆ getVelocity() [1/2]

Nice::NPoint Basda::MoConNDeviceDummy::getVelocity ( )

virtual

Returns the current velocity of all motors.

Implements Basda::MoccaNDevice.

◆ getVelocity() [2/2]

virtual Nice::NPoint Basda::MoConNDeviceDummy::getVelocity ( )

virtual

Returns the current velocity of all motors.

Implements Basda::MoccaNDevice.

◆ init() [1/2]

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

virtual

init the device

Implements Basda::Device.

◆ init() [2/2]

virtual void Basda::MoConNDeviceDummy::init ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

init the device

Implements Basda::Device.

◆ isAtHome() [1/2]

virtual bool Basda::MoConNDeviceDummy::isAtHome ( Nice::BitSet & _atHome )

virtual

This method indicate whether the motor is at the home position.

Parameters

_atHome each flag in that Bitset indicate whether the motor is at home (true - motor is at home;). The order of the bits is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ isAtHome() [2/2]

bool Basda::MoConNDeviceDummy::isAtHome ( Nice::BitSet & _atHome )

virtual

This method indicate whether the motor is at the home position.

Parameters

_atHome each flag in that Bitset indicate whether the motor is at home (true - motor is at home;). The order of the bits is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ isAtLimit() [1/2]

virtual bool Basda::MoConNDeviceDummy::isAtLimit ( Nice::NPoint & )

virtual

Returns the current limit switch state of all motors.

Implements Basda::MoccaNDevice.

◆ isAtLimit() [2/2]

bool Basda::MoConNDeviceDummy::isAtLimit ( Nice::NPoint & _limit )

virtual

Returns the current limit switch state of all motors.

Implements Basda::MoccaNDevice.

◆ isMotionComplete() [1/2]

bool Basda::MoConNDeviceDummy::isMotionComplete ( Nice::BitSet & _motion )

protected

Checks if the motion is complete.

This method collect the MOTION_COMPLETE flags of all motors.

The following property will indicate the motion completeness

VAR.MOTION_COMPLETE

Parameters

_motion returns which motor is in motion

Returns: true if all motor have completed its motion

◆ isMotionComplete() [2/2]

bool Basda::MoConNDeviceDummy::isMotionComplete ( Nice::BitSet & _motion )

protected

Checks if the motion is complete.

This method collect the MOTION_COMPLETE flags of all motors.

The following property will indicate the motion completeness

VAR.MOTION_COMPLETE

Parameters

_motion returns which motor is in motion

Returns: true if all motor have completed its motion

◆ isMoving() [1/2]

virtual bool Basda::MoConNDeviceDummy::isMoving ( Nice::BitSet & )

virtual

Returns the motion flag of all motors.

Implements Basda::MoccaNDevice.

◆ isMoving() [2/2]

bool Basda::MoConNDeviceDummy::isMoving ( Nice::BitSet & _isMoving )

virtual

Returns the motion flag of all motors.

Implements Basda::MoccaNDevice.

◆ isReachable() [1/2]

virtual bool Basda::MoConNDeviceDummy::isReachable ( )

virtual

Implements Basda::MoccaNDevice.

◆ isReachable() [2/2]

bool Basda::MoConNDeviceDummy::isReachable ( )

virtual

Implements Basda::MoccaNDevice.

◆ moveAbsolute() [1/2]

virtual void Basda::MoConNDeviceDummy::moveAbsolute	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

All motors of a device move to the absolute position.

Parameters

_positions a vector containing the motor name and the absolute target position in millimeter

Implements Basda::MoccaNDevice.

◆ moveAbsolute() [2/2]

virtual void Basda::MoConNDeviceDummy::moveAbsolute	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

All motors of a device move to the absolute position.

Parameters

_positions a vector containing the motor name and the absolute target position in millimeter

Implements Basda::MoccaNDevice.

◆ moveAbsoluteStart() [1/2]

void Basda::MoConNDeviceDummy::moveAbsoluteStart	(	const Nice::NPoint &	_absolutePositions,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ moveAbsoluteStart() [2/2]

virtual void Basda::MoConNDeviceDummy::moveAbsoluteStart	(	const Nice::NPoint &	,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ moveAbsoluteWait() [1/2]

void Basda::MoConNDeviceDummy::moveAbsoluteWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaNDevice.

◆ moveAbsoluteWait() [2/2]

virtual void Basda::MoConNDeviceDummy::moveAbsoluteWait ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaNDevice.

◆ moveRelative() [1/2]

virtual void Basda::MoConNDeviceDummy::moveRelative	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

All motors of a device move to the relative position.

Parameters

_positions a vector containing the motor name and the relative target position in millimeter

Implements Basda::MoccaNDevice.

◆ moveRelative() [2/2]

virtual void Basda::MoConNDeviceDummy::moveRelative	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

All motors of a device move to the relative position.

Parameters

_positions a vector containing the motor name and the relative target position in millimeter

Implements Basda::MoccaNDevice.

◆ moveRelativeStart() [1/2]

void Basda::MoConNDeviceDummy::moveRelativeStart	(	const Nice::NPoint &	_relativePositions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ moveRelativeStart() [2/2]

virtual void Basda::MoConNDeviceDummy::moveRelativeStart	(	const Nice::NPoint &	,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ moveRelativeWait() [1/2]

void Basda::MoConNDeviceDummy::moveRelativeWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaNDevice.

◆ moveRelativeWait() [2/2]

virtual void Basda::MoConNDeviceDummy::moveRelativeWait ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaNDevice.

◆ moveToHome() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToHome ( Basda::DeviceAsync & _async = Basda::Device::s_async )

inlinevirtual

All motors of a device move to the home position.

Implements Basda::MoccaDevice.

◆ moveToHome() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToHome ( Basda::DeviceAsync & _async = Basda::Device::s_async )

inlinevirtual

All motors of a device move to the home position.

Implements Basda::MoccaDevice.

◆ moveToHomeSingle() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToHomeSingle	(	int	_motor,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

Implements Basda::MoccaDevice.

◆ moveToHomeSingle() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToHomeSingle	(	int	_motor,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

Implements Basda::MoccaDevice.

◆ moveToHomeSingleStart() [1/2]

void Basda::MoConNDeviceDummy::moveToHomeSingleStart	(	int	_motor,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeSingleStart() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToHomeSingleStart	(	int	_motor,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeSingleWait() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToHomeSingleWait ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeSingleWait() [2/2]

void Basda::MoConNDeviceDummy::moveToHomeSingleWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeStart() [1/2]

void Basda::MoConNDeviceDummy::moveToHomeStart ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeStart() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToHomeStart ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeWait() [1/2]

void Basda::MoConNDeviceDummy::moveToHomeWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToHomeWait() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToHomeWait ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToLimit() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToLimit	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

All motors of a device move to the positive limit switch.

Implements Basda::MoccaDevice.

◆ moveToLimit() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToLimit	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

inlinevirtual

All motors of a device move to the positive limit switch.

Implements Basda::MoccaDevice.

◆ moveToLimitStart() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToLimitStart	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaDevice.

◆ moveToLimitStart() [2/2]

void Basda::MoConNDeviceDummy::moveToLimitStart	(	const Nice::NPoint &	_positions,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaDevice.

◆ moveToLimitWait() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToLimitWait ( Basda::DeviceAsync & = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToLimitWait() [2/2]

void Basda::MoConNDeviceDummy::moveToLimitWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToNegativeLimit() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToNegativeLimit ( Basda::DeviceAsync & = Basda::Device::s_async )

inlinevirtual

All motors of a device move to the negative limit switch.

Implements Basda::MoccaDevice.

◆ moveToNegativeLimit() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToNegativeLimit ( Basda::DeviceAsync & = Basda::Device::s_async )

inlinevirtual

All motors of a device move to the negative limit switch.

Implements Basda::MoccaDevice.

◆ moveToNegativeLimitStart() [1/2]

void Basda::MoConNDeviceDummy::moveToNegativeLimitStart ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToNegativeLimitStart() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToNegativeLimitStart ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToNegativeLimitWait() [1/2]

void Basda::MoConNDeviceDummy::moveToNegativeLimitWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToNegativeLimitWait() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToNegativeLimitWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToPositiveLimit() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToPositiveLimit ( Basda::DeviceAsync & = Basda::Device::s_async )

inlinevirtual

All motors of a device move to the positive limit switch.

Implements Basda::MoccaDevice.

◆ moveToPositiveLimit() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToPositiveLimit ( Basda::DeviceAsync & = Basda::Device::s_async )

inlinevirtual

All motors of a device move to the positive limit switch.

Implements Basda::MoccaDevice.

◆ moveToPositiveLimitStart() [1/2]

virtual void Basda::MoConNDeviceDummy::moveToPositiveLimitStart ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToPositiveLimitStart() [2/2]

void Basda::MoConNDeviceDummy::moveToPositiveLimitStart ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToPositiveLimitWait() [1/2]

void Basda::MoConNDeviceDummy::moveToPositiveLimitWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ moveToPositiveLimitWait() [2/2]

virtual void Basda::MoConNDeviceDummy::moveToPositiveLimitWait ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaDevice.

◆ niceDateNow() [1/2]

Nice::Date Basda::MoConNDeviceDummy::niceDateNow ( )

protected

◆ niceDateNow() [2/2]

Nice::Date Basda::MoConNDeviceDummy::niceDateNow ( )

protected

◆ open() [1/2]

virtual void Basda::MoConNDeviceDummy::open ( )

virtual

open device

Implements Basda::Device.

◆ open() [2/2]

void Basda::MoConNDeviceDummy::open ( void )

virtual

open device

Implements Basda::Device.

◆ prepareDirectMove() [1/2]

void Basda::MoConNDeviceDummy::prepareDirectMove	(	const Nice::NPoint &	_acceleration,
		const Nice::NPoint &	_velocity,
		const Nice::NPoint &	_deceleration
	)

virtual

This method setup the acceleration anv velocity for a direct point to point move.

Parameters

_acceleration
_velocity
_deceleration

Implements Basda::MoccaNDevice.

◆ prepareDirectMove() [2/2]

void Basda::MoConNDeviceDummy::prepareDirectMove	(	const Nice::NPoint &	_acceleration,
		const Nice::NPoint &	_velocity,
		const Nice::NPoint &	_deceleration
	)

virtual

This method setup the acceleration anv velocity for a direct point to point move.

Parameters

_acceleration
_velocity
_deceleration

Implements Basda::MoccaNDevice.

◆ prepareExternalProfile() [1/2]

void Basda::MoConNDeviceDummy::prepareExternalProfile	(	const Nice::SeqSeqInt &	_segmentsX,
		const Nice::SeqSeqInt &	_segmentsY,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ prepareExternalProfile() [2/2]

void Basda::MoConNDeviceDummy::prepareExternalProfile	(	const Nice::SeqSeqInt &	_segmentsX,
		const Nice::SeqSeqInt &	_segmentsY,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ prepareMoveSync() [1/2]

void Basda::MoConNDeviceDummy::prepareMoveSync ( Nice::BitSet _motors )

virtual

Implements Basda::MoccaNDevice.

◆ prepareMoveSync() [2/2]

virtual void Basda::MoConNDeviceDummy::prepareMoveSync ( Nice::BitSet _motors )

virtual

Implements Basda::MoccaNDevice.

◆ receiveDataRaw() [1/2]

std::string Basda::MoConNDeviceDummy::receiveDataRaw	(	std::string	_commandID,
		std::string	_cardNo,
		std::string	_moduleNo,
		std::string	_numberOfLines,
		Basda::DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012)

It supports a direct communication with the MoCon without to parse the response. BUT THE USER OF THIS METHOD TAKE OVER THE RESPONSIBILITY OF THE CORRECT ERROR HANDLING. THE DRIVER DOES NOT HAVE THE CONTROL OVER THAT DEVICE ANY MORE.

Parameters

_commandID	the command ID which is defined in the CommandIDs.h
_cardNo	the card number
_moduleNo	the module number
_ret	the allocated space for the returned data
_numberOfLines	optional: This parameter limitates how many data should be read from the Ethernet buffer. All data are read if the value is -1.

Returns: the return parameter is stored in _ret parameter.

See also: chat

Implements Basda::MoccaNDevice.

◆ receiveDataRaw() [2/2]

virtual std::string Basda::MoConNDeviceDummy::receiveDataRaw	(	std::string	_commandID,
		std::string	_cardNo,
		std::string	_moduleNo,
		std::string	_numberOfLines,
		DeviceAsync &	= `Basda::Device::s_async`
	)

virtual

This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012)

It supports a direct communication with the MoCon without to parse the response. BUT THE USER OF THIS METHOD TAKE OVER THE RESPONSIBILITY OF THE CORRECT ERROR HANDLING. THE DRIVER DOES NOT HAVE THE CONTROL OVER THAT DEVICE ANY MORE.

Parameters

_commandID	the command ID which is defined in the CommandIDs.h
_cardNo	the card number
_moduleNo	the module number
_ret	the allocated space for the returned data
_numberOfLines	optional: This parameter limitates how many data should be read from the Ethernet buffer. All data are read if the value is -1.

Returns: the return parameter is stored in _ret parameter.

See also: chat

Implements Basda::MoccaNDevice.

◆ reset() [1/2]

void Basda::MoConNDeviceDummy::reset ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

reset the device

Implements Basda::Device.

◆ reset() [2/2]

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

virtual

reset the device

Implements Basda::Device.

◆ setAccelerationSetting() [1/2]

virtual void Basda::MoConNDeviceDummy::setAccelerationSetting ( const Nice::NPoint & _acceleration )

virtual

Set the acceleration configuration parameter of all motors.

Parameters

_acceleration a vector with the acceleration of all motors. The order of the accelerations is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setAccelerationSetting() [2/2]

void Basda::MoConNDeviceDummy::setAccelerationSetting ( const Nice::NPoint & _acceleration )

virtual

Set the acceleration configuration parameter of all motors.

Parameters

_acceleration a vector with the acceleration of all motors. The order of the accelerations is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setBrokenSwitches() [1/2]

void Basda::MoConNDeviceDummy::setBrokenSwitches	(	Nice::BitSet	_brokenPositionSwitchMask,
		int	_fromPosition,
		int	_toPosition
	)

◆ setBrokenSwitches() [2/2]

void Basda::MoConNDeviceDummy::setBrokenSwitches	(	Nice::BitSet	_brokenPositionSwitchMask,
		int	_fromPosition,
		int	_toPosition
	)

◆ setChatType() [1/2]

void Basda::MoConNDeviceDummy::setChatType ( std::map< std::string, Nice::ChatLinePtr > _chat )

◆ setChatType() [2/2]

void Basda::MoConNDeviceDummy::setChatType ( std::map< std::string, Nice::ChatLinePtr > _chat )

◆ setCollision() [1/2]

void Basda::MoConNDeviceDummy::setCollision ( Nice::SeqPoint _collisions )

virtual

Implements Basda::MoccaNDevice.

◆ setCollision() [2/2]

void Basda::MoConNDeviceDummy::setCollision ( Nice::SeqPoint _collisions )

virtual

Implements Basda::MoccaNDevice.

◆ setDecelerationSetting() [1/2]

virtual void Basda::MoConNDeviceDummy::setDecelerationSetting ( const Nice::NPoint & _deceleration )

virtual

Set the deceleration configuration parameter of all motors.

Parameters

_deceleration a vector with the deceleration of all motors. The order of the decelerations is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setDecelerationSetting() [2/2]

void Basda::MoConNDeviceDummy::setDecelerationSetting ( const Nice::NPoint & _deceleration )

virtual

Set the deceleration configuration parameter of all motors.

Parameters

_deceleration a vector with the deceleration of all motors. The order of the decelerations is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setIsReachable() [1/2]

void Basda::MoConNDeviceDummy::setIsReachable ( const bool _isReachable )

protected

◆ setIsReachable() [2/2]

void Basda::MoConNDeviceDummy::setIsReachable ( const bool _isReachable )

protected

◆ setJerkSetting() [1/2]

void Basda::MoConNDeviceDummy::setJerkSetting ( const Nice::NPoint & _jerk )

virtual

Set the jerk configuration parameter of all motors.

Parameters

_jerk a vector with the jerk of all motors. The order of the jerks is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setJerkSetting() [2/2]

virtual void Basda::MoConNDeviceDummy::setJerkSetting ( const Nice::NPoint & _jerk )

virtual

Set the jerk configuration parameter of all motors.

Parameters

_jerk a vector with the jerk of all motors. The order of the jerks is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setLinkTimeout() [1/2]

virtual void Basda::MoConNDeviceDummy::setLinkTimeout ( Nice::Time _tcpConnectionTimeout )

virtual

Implements Basda::MoccaNDevice.

◆ setLinkTimeout() [2/2]

void Basda::MoConNDeviceDummy::setLinkTimeout ( Nice::Time _tcpConnectionTimeout )

virtual

Implements Basda::MoccaNDevice.

◆ setPosition() [1/2]

virtual void Basda::MoConNDeviceDummy::setPosition ( const Nice::NPoint & _position )

virtual

Change the absolute position of all motors.

The motor will not move, only the absolute position will be set.

Parameters

_position a vector with the position of all motors

Implements Basda::MoccaNDevice.

◆ setPosition() [2/2]

void Basda::MoConNDeviceDummy::setPosition ( const Nice::NPoint & _position )

virtual

Change the absolute position of all motors.

The motor will not move, only the absolute position will be set.

Parameters

_position a vector with the position of all motors

Implements Basda::MoccaNDevice.

◆ setVelocitySetting() [1/2]

virtual void Basda::MoConNDeviceDummy::setVelocitySetting ( const Nice::NPoint & _velocity )

virtual

Set the velocity configuration parameter of all motors.

Parameters

_velocity a vector with the velocity of all motors. The order of the velocities is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setVelocitySetting() [2/2]

void Basda::MoConNDeviceDummy::setVelocitySetting ( const Nice::NPoint & _velocity )

virtual

Set the velocity configuration parameter of all motors.

Parameters

_velocity a vector with the velocity of all motors. The order of the velocities is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

◆ setWheelPositionOffset() [1/2]

void Basda::MoConNDeviceDummy::setWheelPositionOffset ( int _positionOffset )

◆ setWheelPositionOffset() [2/2]

void Basda::MoConNDeviceDummy::setWheelPositionOffset ( int _positionOffset )

◆ startExternalProfile() [1/4]

void Basda::MoConNDeviceDummy::startExternalProfile	(	const Nice::Date &	_startDate,
		const Nice::NPoint &	_positionSequence,
		unsigned int	_frequency,
		unsigned int	_maxSamplesPerSegment,
		unsigned int	_faultTolerance,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ startExternalProfile() [2/4]

virtual void Basda::MoConNDeviceDummy::startExternalProfile	(	const Nice::Date &	_startDate,
		const Nice::NPoint &	_positionSequence,
		unsigned int	_frequency,
		unsigned int	_maxSamplesPerSegment,
		unsigned int	_faultTolerance,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

virtual

Implements Basda::MoccaNDevice.

◆ startExternalProfile() [3/4]

void Basda::MoConNDeviceDummy::startExternalProfile ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaNDevice.

◆ startExternalProfile() [4/4]

void Basda::MoConNDeviceDummy::startExternalProfile ( Basda::DeviceAsync & _async = Basda::Device::s_async )

virtual

Implements Basda::MoccaNDevice.

◆ startMoveSync() [1/2]

virtual void Basda::MoConNDeviceDummy::startMoveSync ( )

virtual

Implements Basda::MoccaNDevice.

◆ startMoveSync() [2/2]

void Basda::MoConNDeviceDummy::startMoveSync ( )

virtual

Implements Basda::MoccaNDevice.

◆ startTimer() [1/2]

void Basda::MoConNDeviceDummy::startTimer ( double _distance )

protected

◆ startTimer() [2/2]

void Basda::MoConNDeviceDummy::startTimer ( double _distance )

protected

◆ stop() [1/2]

virtual void Basda::MoConNDeviceDummy::stop ( )

virtual

All motors of a device stop moving.

Implements Basda::MoccaDevice.

◆ stop() [2/2]

void Basda::MoConNDeviceDummy::stop ( )

virtual

All motors of a device stop moving.

Implements Basda::MoccaDevice.

◆ version() [1/2]

void Basda::MoConNDeviceDummy::version ( void )

virtual

version

Implements Basda::Device.

◆ version() [2/2]

virtual void Basda::MoConNDeviceDummy::version ( )

virtual

version

Implements Basda::Device.

◆ waitForNextTrigger() [1/2]

void Basda::MoConNDeviceDummy::waitForNextTrigger	(	Nice::Date	_date,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

This method wait until the next trigger has tobe raised.

Parameters

_date the absolute time for the next trigger

◆ waitForNextTrigger() [2/2]

void Basda::MoConNDeviceDummy::waitForNextTrigger	(	Nice::Date	_date,
		Basda::DeviceAsync &	_async = `Basda::Device::s_async`
	)

This method wait until the next trigger has tobe raised.

Parameters

_date the absolute time for the next trigger

◆ waitInternal() [1/2]

void Basda::MoConNDeviceDummy::waitInternal	(	const std::string	_cmd,
		Basda::DeviceAsync &	_async
	)

protected

◆ waitInternal() [2/2]

void Basda::MoConNDeviceDummy::waitInternal	(	const std::string	_cmd,
		Basda::DeviceAsync &	_async
	)

protected

Member Data Documentation

◆ m_cardNo

std::string Basda::MoConNDeviceDummy::m_cardNo

protected

◆ m_chat

std::map< std::string, Nice::ChatLinePtr > Basda::MoConNDeviceDummy::m_chat

protected

This member keeps all chat objects.

The original Nice::Chat::Line object can be exchanged with a Chat::LineMock object to simulate the MoCon behavior.

◆ m_commandID

std::string Basda::MoConNDeviceDummy::m_commandID

protected

◆ m_duration

Nice::Time Basda::MoConNDeviceDummy::m_duration

protected

◆ m_externalProfileInfo

int Basda::MoConNDeviceDummy::m_externalProfileInfo

protected

Keeps the last external profile info value to reduce the number of log messages.

◆ m_externalProfileSize

unsigned int Basda::MoConNDeviceDummy::m_externalProfileSize

protected

◆ m_isReachable

bool Basda::MoConNDeviceDummy::m_isReachable

protected

◆ m_limit

Nice::NPoint Basda::MoConNDeviceDummy::m_limit

protected

◆ m_module

std::map< std::string, MoConModuleDummyPtr > Basda::MoConNDeviceDummy::m_module

protected

◆ m_moduleNo

std::string Basda::MoConNDeviceDummy::m_moduleNo

protected

◆ m_mutex

Nice::Mutex Basda::MoConNDeviceDummy::m_mutex

protected

◆ m_niceDateDummy

Nice::DateDummyPtr Basda::MoConNDeviceDummy::m_niceDateDummy

protected

◆ m_tcpConnectionTimeout

Nice::Time Basda::MoConNDeviceDummy::m_tcpConnectionTimeout

protected

◆ m_timer

Nice::Timer Basda::MoConNDeviceDummy::m_timer

protected

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

TwiceAsNice/basda-mocca/doc/include/moconDummy/NDeviceDummy.h
TwiceAsNice/basda-mocca/doc/include/moconDummy/NDeviceDummy.cc

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ MoConNDeviceDummy() [1/2]

◆ ~MoConNDeviceDummy() [1/2]

◆ MoConNDeviceDummy() [2/2]

◆ ~MoConNDeviceDummy() [2/2]

Member Function Documentation

◆ abort() [1/2]

◆ abort() [2/2]

◆ activate() [1/2]

◆ activate() [2/2]

◆ addProperties() [1/2]

◆ addProperties() [2/2]

◆ changeExternalProfile() [1/2]

◆ changeExternalProfile() [2/2]

◆ chat() [1/2]

◆ chat() [2/2]

◆ checkMotionError() [1/2]

◆ checkMotionError() [2/2]

◆ close() [1/2]

◆ close() [2/2]

◆ createConnectionID() [1/2]

◆ createConnectionID() [2/2]

◆ createInstances() [1/2]

◆ createInstances() [2/2]

◆ deactivate() [1/2]

◆ deactivate() [2/2]

◆ deinit() [1/2]

◆ deinit() [2/2]

◆ description() [1/2]

◆ description() [2/2]

◆ dontParse() [1/2]

◆ dontParse() [2/2]

◆ dumpStatusInformation() [1/2]

◆ dumpStatusInformation() [2/2]

◆ generateExternalProfile() [1/2]

◆ generateExternalProfile() [2/2]

◆ getAbsoluteEncoderPosition() [1/2]

◆ getAbsoluteEncoderPosition() [2/2]

◆ getBasicSettings() [1/2]

◆ getBasicSettings() [2/2]

◆ getCurrentTime() [1/2]

◆ getCurrentTime() [2/2]

◆ getDeviceEncoderPosition() [1/2]

◆ getDeviceEncoderPosition() [2/2]

◆ getIncrementalEncoderPosition() [1/2]

◆ getIncrementalEncoderPosition() [2/2]

◆ getLinkTimeout() [1/2]

◆ getLinkTimeout() [2/2]

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getPositionSwitchStatus() [1/2]

◆ getPositionSwitchStatus() [2/2]

◆ getProgress() [1/2]

◆ getProgress() [2/2]

◆ getReferenceTime() [1/2]

◆ getReferenceTime() [2/2]

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ isAtHome() [1/2]

◆ isAtHome() [2/2]

◆ isAtLimit() [1/2]

◆ isAtLimit() [2/2]

◆ isMotionComplete() [1/2]

◆ isMotionComplete() [2/2]

◆ isMoving() [1/2]

◆ isMoving() [2/2]

◆ isReachable() [1/2]

◆ isReachable() [2/2]

◆ moveAbsolute() [1/2]

◆ moveAbsolute() [2/2]

◆ moveAbsoluteStart() [1/2]

◆ moveAbsoluteStart() [2/2]

◆ moveAbsoluteWait() [1/2]

◆ moveAbsoluteWait() [2/2]