This class is the implementation of the generic TriPod interface. More...

#include <MoccaTriPodServiceWorker.h>

Inheritance diagram for Basda::MoccaTriPodServiceWorker:

Collaboration diagram for Basda::MoccaTriPodServiceWorker:

Public Member Functions
	MoccaTriPodServiceWorker (const Nice::JointPtr &_config, const MoccaNDevicePtr &_device)
	Constructor. More...

virtual	~MoccaTriPodServiceWorker ()
	Destructor. More...

virtual void	transformationFactorChanged (const Nice::Any &_a)
	This method will be called automatically whenever the transformation property has changed. More...

virtual Nice::NPoint	coordinateTransformation (Nice::NPoint _value, std::string _unit)
	This method converts the given value from _unit into steps. More...

virtual Nice::NPoint	coordinateTransformationInverse (Nice::NPoint _value, std::string _unit)
	This method converts the given value from steps into _unit. More...

virtual Nice::NPoint	coordinateTranslateInverse (Nice::NPoint _value, std::string _unit)
	This method converts the given value from _unit into steps. More...

	MoccaTriPodServiceWorker (const Nice::JointPtr &_config, const MoccaNDevicePtr &_device)
	Constructor. More...

virtual	~MoccaTriPodServiceWorker ()
	Destructor. More...

virtual void	transformationFactorChanged (const Nice::Any &_a)
	This method will be called automatically whenever the transformation property has changed. More...

virtual Nice::NPoint	coordinateTransformation (Nice::NPoint _value, std::string _unit)
	This method converts the given value from _unit into steps. More...

virtual Nice::NPoint	coordinateTransformationInverse (Nice::NPoint _value, std::string _unit)
	This method converts the given value from steps into _unit. More...

virtual Nice::NPoint	coordinateTranslateInverse (Nice::NPoint _value, std::string _unit)
	This method converts the given value from _unit into steps. More...

Public Member Functions inherited from Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >
	MoccaNServiceWorkerCore (const Nice::JointPtr &_config, const MoccaNDevicePtr &_device)
	Constructor. More...

	MoccaNServiceWorkerCore (const Nice::JointPtr &_config, const MoccaNDevicePtr &_device)
	Constructor. More...

	MoccaNServiceWorkerCore (const Nice::JointPtr &_config, const MoccaNDevicePtr &_device)
	Constructor. More...

virtual	~MoccaNServiceWorkerCore ()
	Destructor. More...

virtual	~MoccaNServiceWorkerCore ()
	Destructor. More...

virtual	~MoccaNServiceWorkerCore ()
	Destructor. More...

virtual void	init ()
	This method initiate and open the device. More...

virtual void	init ()
	This method initiate and open the device. More...

virtual void	init ()
	This method initiate and open the device. More...

virtual void	deinit ()
	This method deinit and close the device. More...

virtual void	deinit ()
	This method deinit and close the device. More...

virtual void	deinit ()
	This method deinit and close the device. More...

virtual void	activate ()
	This method activate the device. More...

virtual void	activate ()
	This method activate the device. More...

virtual void	activate ()
	This method activate the device. More...

virtual void	deactivate ()
	This method deactivate the device. More...

virtual void	deactivate ()
	This method deactivate the device. More...

virtual void	deactivate ()
	This method deactivate the device. More...

virtual void	terminate ()
	This method shut down the device. More...

virtual void	terminate ()
	This method shut down the device. More...

virtual void	terminate ()
	This method shut down the device. More...

virtual void	errorOffline ()

virtual void	errorOffline ()

virtual void	errorOffline ()

virtual void	errorStandby ()

virtual void	errorStandby ()

virtual void	errorStandby ()

virtual void	errorOnline ()

virtual void	errorOnline ()

virtual void	errorOnline ()

virtual void	errorWorking ()

virtual void	errorWorking ()

virtual void	errorWorking ()

virtual void	idleOffline ()

virtual void	idleOffline ()

virtual void	idleOffline ()

virtual void	idleOnline ()

virtual void	idleOnline ()

virtual void	idleOnline ()

virtual void	send (std::string _cardNo, std::string _commandID, std::string _moduleNo, std::string _selectID, std::string _parameter, std::string _numberOfLines)
	This method send the command string to the electronic. More...

virtual void	send (std::string _cardNo, std::string _commandID, std::string _moduleNo, std::string _selectID, std::string _parameter, std::string _numberOfLines)
	This method send the command string to the electronic. More...

virtual void	send (std::string _cardNo, std::string _commandID, std::string _moduleNo, std::string _selectID, std::string _parameter, std::string _numberOfLines)
	This method send the command string to the electronic. More...

virtual std::string	receive ()
	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	receive ()
	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	receive ()
	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 _cardNo, std::string _commandID, std::string _moduleNo, std::string _numberOfLines)
	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 _cardNo, std::string _commandID, std::string _moduleNo, std::string _numberOfLines)
	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 _cardNo, std::string _commandID, std::string _moduleNo, std::string _numberOfLines)
	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 bool	isReachable ()

virtual bool	isReachable ()

virtual void	dumpStatusInformation ()

virtual void	dumpStatusInformation ()

virtual void	dumpStatusInformation ()

virtual void	stop ()
	This method stop all moving motors smoothly. More...

virtual void	stop ()
	This method stop all moving motors smoothly. More...

virtual void	stop ()
	This method stop all moving motors smoothly. More...

virtual void	abort ()
	This method abort all moving motors immediately. More...

virtual void	abort ()
	This method abort all moving motors immediately. More...

virtual void	abort ()
	This method abort all moving motors immediately. More...

virtual void	moveAbsolute (IfSvcType _pos, std::string _unit)
	All motors of a device move to the absolute position. More...

virtual void	moveAbsolute (IfSvcType _pos, std::string _unit)
	All motors of a device move to the absolute position. More...

virtual void	moveAbsolute (IfSvcType _pos, std::string _unit)
	All motors of a device move to the absolute position. More...

virtual void	moveRelative (IfSvcType _pos, std::string _unit)
	All motors of a device move to the relative position. More...

virtual void	moveRelative (IfSvcType _pos, std::string _unit)
	All motors of a device move to the relative position. More...

virtual void	moveRelative (IfSvcType _pos, std::string _unit)
	All motors of a device move to the relative position. More...

virtual void	moveToHome ()
	All motors of the device are looking for the reference positions and reset the step counter to zero. More...

virtual void	moveToHome ()
	All motors of the device are looking for the reference positions and reset the step counter to zero. More...

virtual void	moveToHome ()
	All motors of the device are looking for the reference positions and reset the step counter to zero. More...

virtual void	moveToHomeSingle (int _motor)

virtual void	moveToHomeSingle (int _motor)

virtual void	moveToHomeSingle (int _motor)

virtual void	moveToLimit (IfSvcType _limit)
	move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...

virtual void	moveToLimit (IfSvcType _limit)
	move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...

virtual void	moveToLimit (IfSvcType _limit)
	move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...

virtual void	moveToNamedPosition (int _namedPosition)
	This method allows to move the motor to a named position. More...

virtual void	moveToNamedPosition (int _namedPosition)
	This method allows to move the motor to a named position. More...

virtual void	moveToNamedPosition (int _namedPosition)
	This method allows to move the motor to a named position. More...

virtual bool	isAtHome ()
	This method updates the property VAR.ATHOME which indicates whether the motor is at the home position. More...

virtual bool	isAtHome ()
	This method updates the property VAR.ATHOME which indicates whether the motor is at the home position. More...

virtual bool	isAtHome ()
	This method updates the property VAR.ATHOME which indicates whether the motor is at the home position. More...

virtual bool	isAtLimit ()
	This method updates the property VAR.LIMIT which indicates whether the motor is at the limit position. More...

virtual bool	isAtLimit ()
	This method updates the property VAR.LIMIT which indicates whether the motor is at the limit position. More...

virtual bool	isAtLimit ()
	This method updates the property VAR.LIMIT which indicates whether the motor is at the limit position. More...

virtual bool	isMoving ()
	This method updates the property VAR.MOVING which indicates whether the motor is moving. More...

virtual bool	isMoving ()
	This method updates the property VAR.MOVING which indicates whether the motor is moving. More...

virtual bool	isMoving ()
	This method updates the property VAR.MOVING which indicates whether the motor is moving. More...

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

virtual Nice::NPoint	getPosition (std::string _unit)

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

virtual Nice::NPoint	getPosition (std::string _unit)

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

virtual Nice::NPoint	getPosition (std::string _unit)

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

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

virtual Nice::NPoint	getDeviceEncoderPosition (std::string _unit)
	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	getAbsoluteEncoderPosition ()
	Returns the current absolute encoder positions 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 Nice::NPoint	getIncrementalEncoderPosition ()
	Returns the current incremental encoder positions of all motors. More...

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

virtual void	setPosition (IfSvcType _position, std::string _unit)
	Change the absolute position of all motors. More...

virtual void	setPosition (IfSvcType _position, std::string _unit)
	Change the absolute position of all motors. More...

virtual void	setPosition (IfSvcType _position, std::string _unit)
	Change the absolute position of all motors. More...

virtual Nice::NPoint	getNamedPosition (int _reference)
	This method returns the value of the named position. More...

virtual Nice::NPoint	getNamedPosition (int _reference)
	This method returns the value of the named position. More...

virtual Nice::NPoint	getNamedPosition (int _reference)
	This method returns the value of the named position. More...

virtual std::string	checkForNamedPosition ()
	This method checks whether the current position is a named position. More...

virtual std::string	checkForNamedPosition ()
	This method checks whether the current position is a named position. More...

virtual std::string	checkForNamedPosition ()
	This method checks whether the current position is a named position. More...

virtual Nice::NPoint	getVelocity ()
	This method read the velocity of the device. More...

virtual Nice::NPoint	getVelocity ()
	This method read the velocity of the device. More...

virtual Nice::NPoint	getVelocity ()
	This method read the velocity of the device. More...

virtual void	setVelocity (IfDevType _velocity)
	This method set the velocity in the device. More...

virtual void	setVelocity (IfDevType _velocity)
	This method set the velocity in the device. More...

virtual void	setVelocity (IfDevType _velocity)
	This method set the velocity in the device. More...

virtual Nice::NPoint	getCurrentTime ()

virtual Nice::NPoint	getCurrentTime ()

virtual Nice::NPoint	getCurrentTime ()

virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	: This method returns the current position switch status. More...

virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	: This method returns the current position switch status. More...

virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	: This method returns the current position switch status. More...

virtual void	startProfile (const Nice::Date &, const Nice::NPoint &, Nice::Time, Nice::U32, Nice::U32)
	This method prepare the motor controller with a new external profile. More...

virtual void	startProfile (const Nice::Date &, const Nice::NPoint &, Nice::Time, Nice::U32, Nice::U32)
	This method prepare the motor controller with a new external profile. More...

virtual void	startProfile (const Nice::Date &, const Nice::NPoint &, Nice::Time, Nice::U32, Nice::U32)
	This method prepare the motor controller with a new external profile. More...

virtual void	changeProfile (const Nice::Date &, const Nice::NPoint &)

virtual void	changeProfile (const Nice::Date &, const Nice::NPoint &)

virtual void	changeProfile (const Nice::Date &, const Nice::NPoint &)

Public Member Functions inherited from Basda::MoccaTriPodServiceWorkerSkeleton
	MoccaTriPodServiceWorkerSkeleton (const Nice::JointPtr &_config)

virtual	~MoccaTriPodServiceWorkerSkeleton ()

virtual void	setPosition (const Nice::NPoint &_position, std::string _unit)=0

virtual void	setVelocity (const Nice::NPoint &_velocity)=0

virtual void	moveRelative (const Nice::NPoint &_position, std::string _unit)=0

virtual void	moveAbsolute (const Nice::NPoint &_position, std::string _unit)=0

virtual void	moveToLimit (const Nice::NPoint &_limit)=0

	MoccaTriPodServiceWorkerSkeleton (const Nice::JointPtr &_config)

virtual	~MoccaTriPodServiceWorkerSkeleton ()

virtual void	setPosition (const Nice::NPoint &_position, std::string _unit)=0

virtual void	setVelocity (const Nice::NPoint &_velocity)=0

virtual void	moveRelative (const Nice::NPoint &_position, std::string _unit)=0

virtual void	moveAbsolute (const Nice::NPoint &_position, std::string _unit)=0

virtual void	moveToLimit (const Nice::NPoint &_limit)=0

Public Member Functions inherited from Basda::ServiceWorkerSkeleton
const Nice::PropertyPtr &	cmd ()

void	setCompletion (const Nice::Completion &_c)

void	cmdStart (const std::string &_action="")

void	cmdDone ()

void	cmdWarning (const std::string &_l)

void	cmdWarning (const Nice::LoggerObject &_o)

void	cmdError (const std::string &_l)

void	cmdError (const Nice::LoggerObject &_o)

void	cmdError (const Nice::SeqLoggerObject &_oo)

void	cmdPercent (Nice::Int _v)

void	cmdAction (Nice::Int _v, const std::string &_s)

virtual void	cmd (const Nice::Completion &_c)

template<typename DataType >
Nice::Completion	exec (const Nice::Completion &_c, DataType &_localdata, const DataType &_indata=DataType())
	if currently online, push the state into WORKING More...

template<typename DataType >
void	execCommand (DataType _cmd)

const Nice::PropertyPtr &	cmd ()

void	setCompletion (const Nice::Completion &_c)

void	cmdStart (const std::string &_action="")

void	cmdDone ()

void	cmdWarning (const std::string &_l)

void	cmdWarning (const Nice::LoggerObject &_o)

void	cmdError (const std::string &_l)

void	cmdError (const Nice::LoggerObject &_o)

void	cmdError (const Nice::SeqLoggerObject &_oo)

void	cmdPercent (Nice::Int _v)

void	cmdAction (Nice::Int _v, const std::string &_s)

virtual void	cmd (const Nice::Completion &_c)

template<typename DataType >
Nice::Completion	exec (const Nice::Completion &_c, DataType &_localdata, const DataType &_indata=DataType())

template<typename DataType >
void	execCommand (DataType _cmd)

Public Member Functions inherited from Basda::ServiceWorker
const Nice::JointPtr &	config ()

Nice::JointPtr	cfg ()

Nice::JointPtr	var ()

virtual const std::string &	name ()

virtual WorkerThreadPtr	worker ()

virtual Nice::Monitor &	monitor ()

virtual void	lock ()

virtual void	unlock ()

bool	stateIsSettled ()

bool	stateHasChanged ()

void	changeState (Basda::ServiceState _state)
	change state to a new state If the state is the current state, or a negative state, do nothing. Otherwise change the "next" state in the state machine and notify all threads. More...

bool	tryChangeState (Basda::ServiceState _state, const Nice::Time &_timeout=Nice::Time::seconds(0.0))
	change state to a new state More...

void	waitForState (Basda::ServiceState _state)
	wait (indefinitely) until the worker has reached a spcifici state More...

bool	timedWaitForState (Basda::ServiceState _state, const Nice::Time &_timeout)
	wait (indefinitely) until the worker has reached a specific state More...

bool	changeStateOnlyFromTo (Basda::ServiceState _from, Basda::ServiceState _to)
	wait (indefinitely) until the worker has reached a spcifici state More...

Basda::ServiceState	state ()

Basda::ServiceState	stateNow ()

Basda::ServiceState	stateNext ()

Basda::ServiceState	stateLast ()

bool	isTransit ()

bool	isTerminated ()

const Nice::JointPtr &	config ()

Nice::JointPtr	cfg ()

Nice::JointPtr	var ()

virtual const std::string &	name ()

virtual WorkerThreadPtr	worker ()

virtual Nice::Monitor &	monitor ()

virtual void	lock ()

virtual void	unlock ()

bool	stateIsSettled ()

bool	stateHasChanged ()

void	changeState (Basda::ServiceState _state)

bool	tryChangeState (Basda::ServiceState _state, const Nice::Time &_timeout=Nice::Time::seconds(0.0))

void	waitForState (Basda::ServiceState _state)

bool	timedWaitForState (Basda::ServiceState _state, const Nice::Time &_timeout)

bool	changeStateOnlyFromTo (Basda::ServiceState _from, Basda::ServiceState _to)

Basda::ServiceState	state ()

Basda::ServiceState	stateNow ()

Basda::ServiceState	stateNext ()

Basda::ServiceState	stateLast ()

bool	isTransit ()

bool	isTerminated ()

Private Attributes
std::map< std::string, Nice::W3Matrix >	m_transformation
	A vector with the coordinate transformation matrixes. More...

Nice::Time	m_reconnection_interval

Nice::Time	m_upfreq

Additional Inherited Members
Protected Types inherited from Basda::ServiceWorker
typedef void(ServiceWorker::*	ServiceWorkerMemFn) ()

typedef Branch	BranchTable[6][6]

typedef IceUtil::Handle< WorkerThread >	WorkerThreadPtr

typedef void(ServiceWorker::*	ServiceWorkerMemFn) ()

typedef Branch	BranchTable[6][6]

typedef IceUtil::Handle< WorkerThread >	WorkerThreadPtr

Protected Member Functions inherited from Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >
virtual void	status ()
	The method calls different commands in order to update the status. More...

virtual void	status ()
	The method calls different commands in order to update the status. More...

virtual void	status ()
	The method calls different commands in order to update the status. More...

virtual DeviceAsyncImpl &	deviceAsyncImpl ()

virtual DeviceAsyncImpl &	deviceAsyncImpl ()

virtual DeviceAsyncImpl &	deviceAsyncImpl ()

virtual DeviceAsyncImpl &	deviceCmdAsyncImpl ()

virtual DeviceAsyncImpl &	deviceCmdAsyncImpl ()

virtual DeviceAsyncImpl &	deviceCmdAsyncImpl ()

Nice::Point	getDefaultTransformation ()
	Compose the unit transformation. More...

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()
	Compose the unit transformation. More...

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Protected Member Functions inherited from Basda::MoccaTriPodServiceWorkerSkeleton
const char *	isReachableNode ()

const char *	getPositionNode ()

void	getPositionInit (std::string _unit)

const char *	setPositionNode ()

void	setPositionInit (const Nice::NPoint &_position, std::string _unit)

const char *	getDeviceEncoderPositionNode ()

void	getDeviceEncoderPositionInit (std::string _unit)

const char *	getAbsoluteEncoderPositionNode ()

const char *	getIncrementalEncoderPositionNode ()

const char *	getVelocityNode ()

const char *	setVelocityNode ()

void	setVelocityInit (const Nice::NPoint &_velocity)

const char *	getCurrentTimeNode ()

const char *	isAtHomeNode ()

const char *	isAtLimitNode ()

const char *	isMovingNode ()

const char *	moveRelativeNode ()

void	moveRelativeInit (const Nice::NPoint &_position, std::string _unit)

const char *	moveAbsoluteNode ()

void	moveAbsoluteInit (const Nice::NPoint &_position, std::string _unit)

const char *	moveToHomeNode ()

const char *	moveToLimitNode ()

void	moveToLimitInit (const Nice::NPoint &_limit)

const char *	moveToNamedPositionNode ()

void	moveToNamedPositionInit (int _named_position)

const char *	dumpStatusInformationNode ()

virtual void	work ()

const char *	isReachableNode ()

const char *	getPositionNode ()

void	getPositionInit (std::string _unit)

const char *	setPositionNode ()

void	setPositionInit (const Nice::NPoint &_position, std::string _unit)

const char *	getDeviceEncoderPositionNode ()

void	getDeviceEncoderPositionInit (std::string _unit)

const char *	getAbsoluteEncoderPositionNode ()

const char *	getIncrementalEncoderPositionNode ()

const char *	getVelocityNode ()

const char *	setVelocityNode ()

void	setVelocityInit (const Nice::NPoint &_velocity)

const char *	getCurrentTimeNode ()

const char *	isAtHomeNode ()

const char *	isAtLimitNode ()

const char *	isMovingNode ()

const char *	moveRelativeNode ()

void	moveRelativeInit (const Nice::NPoint &_position, std::string _unit)

const char *	moveAbsoluteNode ()

void	moveAbsoluteInit (const Nice::NPoint &_position, std::string _unit)

const char *	moveToHomeNode ()

const char *	moveToLimitNode ()

void	moveToLimitInit (const Nice::NPoint &_limit)

const char *	moveToNamedPositionNode ()

void	moveToNamedPositionInit (int _named_position)

const char *	dumpStatusInformationNode ()

virtual void	work ()

Protected Member Functions inherited from Basda::ServiceWorkerSkeleton
	ServiceWorkerSkeleton (const Nice::JointPtr &_config)

	ServiceWorkerSkeleton (const Nice::JointPtr &_config)

Protected Member Functions inherited from Basda::ServiceWorker
	ServiceWorker (const Nice::JointPtr &_jointPtr)
	ctor More...

virtual	~ServiceWorker ()
	dtor Does nothing (in this base class) More...

void	triggerState (const Basda::ServiceStateMachine &_state)
	change state to a new state More...

void	sendStateStatus (const std::string &_action, int _percent)

void	setState (Basda::ServiceState _next)

virtual void	waitForNewState ()

virtual bool	timedWaitForNewState (const Nice::Time &_timeout)

virtual void	preinit ()

virtual void	packin ()
	schedule ONLINE as the next target state. More...

virtual void	idleStandby ()
	wait for a state change. More...

	ServiceWorker (const Nice::JointPtr &_jointPtr)

virtual	~ServiceWorker ()

void	triggerState (const Basda::ServiceStateMachine &_state)

void	sendStateStatus (const std::string &_action, int _percent)

void	setState (Basda::ServiceState _next)

virtual void	waitForNewState ()

virtual bool	timedWaitForNewState (const Nice::Time &_timeout)

virtual void	preinit ()

virtual void	packin ()

virtual void	idleStandby ()

Static Protected Member Functions inherited from Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >
static Nice::W3Matrix	getDefaultTransformation ()

static Nice::W3Matrix	getDefaultTransformation ()

static Nice::W3Matrix	getDefaultTransformation ()

Protected Attributes inherited from Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >
MoccaNDevicePtr	m_device
	the object to call the xy device More...

DeviceAsyncImpl	m_deviceAsync
	the master object ???? More...

DeviceCmdAsyncImpl	m_deviceCmdAsync
	the call back object for the devices More...

SeqString	m_namedPosAbsNameString

std::map< std::string, int >	m_unitNamePrecMap

std::string	m_basicUnit

int	m_numberOfUnits

bool	m_stopProfile

Nice::Time	m_delay

Nice::Time	m_delayDefault

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

Nice::I64	m_id

Nice::PropertyPtr	m_cmd

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

Nice::PropertyPtr	m_state

std::string	m_name

Static Protected Attributes inherited from Basda::ServiceWorker
static BranchTable	s_stateTable
	A table which tells which state should go via which intermediate state to a target state. The 6 states are SHUTDOWN, OFFLINE, STANDBY, ONLINE, WORKING and ERROR. The principles are that. More...

Detailed Description

This class is the implementation of the generic TriPod interface.

Constructor & Destructor Documentation

◆ MoccaTriPodServiceWorker() [1/2]

Basda::MoccaTriPodServiceWorker::MoccaTriPodServiceWorker	(	const Nice::JointPtr &	_config,
		const MoccaNDevicePtr &	_device
	)

Constructor.

◆ ~MoccaTriPodServiceWorker() [1/2]

Basda::MoccaTriPodServiceWorker::~MoccaTriPodServiceWorker ( )

virtual

Destructor.

◆ MoccaTriPodServiceWorker() [2/2]

Basda::MoccaTriPodServiceWorker::MoccaTriPodServiceWorker	(	const Nice::JointPtr &	_config,
		const MoccaNDevicePtr &	_device
	)

Constructor.

◆ ~MoccaTriPodServiceWorker() [2/2]

virtual Basda::MoccaTriPodServiceWorker::~MoccaTriPodServiceWorker ( )

virtual

Destructor.

Member Function Documentation

◆ coordinateTransformation() [1/2]

Nice::NPoint Basda::MoccaTriPodServiceWorker::coordinateTransformation	(	Nice::NPoint	_value,
		std::string	_unit
	)

virtual

This method converts the given value from _unit into steps.

The given value will be converted in steps based on _unit and the specified coordinate transformation.

Parameters

_value	the position value which has to be converted
_unit	the current unit of _value

Implements Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >.

◆ coordinateTransformation() [2/2]

virtual Nice::NPoint Basda::MoccaTriPodServiceWorker::coordinateTransformation	(	Nice::NPoint	_value,
		std::string	_unit
	)

virtual

This method converts the given value from _unit into steps.

The given value will be converted in steps based on _unit and the specified coordinate transformation.

Parameters

_value	the position value which has to be converted
_unit	the current unit of _value

Implements Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >.

◆ coordinateTransformationInverse() [1/2]

virtual Nice::NPoint Basda::MoccaTriPodServiceWorker::coordinateTransformationInverse	(	Nice::NPoint	_value,
		std::string	_unit
	)

virtual

This method converts the given value from steps into _unit.

The given value (in steps) will be converted in _unit based on the specified coordinate transformation.

Parameters

_value	the position value (in steps) which has to be converted
_unit	the target unit

Implements Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >.

◆ coordinateTransformationInverse() [2/2]

Nice::NPoint Basda::MoccaTriPodServiceWorker::coordinateTransformationInverse	(	Nice::NPoint	_value,
		std::string	_unit
	)

virtual

This method converts the given value from steps into _unit.

The given value (in steps) will be converted in _unit based on the specified coordinate transformation.

Parameters

_value	the position value (in steps) which has to be converted
_unit	the target unit

Implements Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >.

◆ coordinateTranslateInverse() [1/2]

Nice::NPoint Basda::MoccaTriPodServiceWorker::coordinateTranslateInverse	(	Nice::NPoint	_value,
		std::string	_unit
	)

virtual

This method converts the given value from _unit into steps.

Thereby it ignores the coordinate system offset dx.

Parameters

_value	the relative position value which has to be converted
_unit	the current unit of _value

Returns: the relative position in steps

Implements Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >.

◆ coordinateTranslateInverse() [2/2]

virtual Nice::NPoint Basda::MoccaTriPodServiceWorker::coordinateTranslateInverse	(	Nice::NPoint	_value,
		std::string	_unit
	)

virtual

This method converts the given value from _unit into steps.

Thereby it ignores the coordinate system offset dx.

Parameters

_value	the relative position value which has to be converted
_unit	the current unit of _value

Returns: the relative position in steps

Implements Basda::MoccaNServiceWorkerCore< Nice::NPoint, Nice::NPoint, Nice::W3Matrix, MoccaTriPodServiceWorkerSkeleton >.

◆ transformationFactorChanged() [1/2]

void Basda::MoccaTriPodServiceWorker::transformationFactorChanged ( const Nice::Any & _a )

virtual

This method will be called automatically whenever the transformation property has changed.

◆ transformationFactorChanged() [2/2]

virtual void Basda::MoccaTriPodServiceWorker::transformationFactorChanged ( const Nice::Any & _a )

virtual

This method will be called automatically whenever the transformation property has changed.

Member Data Documentation

◆ m_reconnection_interval

Nice::Time Basda::MoccaTriPodServiceWorker::m_reconnection_interval

private

◆ m_transformation

std::map< std::string, Nice::W3Matrix > Basda::MoccaTriPodServiceWorker::m_transformation

private

A vector with the coordinate transformation matrixes.

It is also used to convert between the different units (eg. mm to steps)

◆ m_upfreq

Nice::Time Basda::MoccaTriPodServiceWorker::m_upfreq

private

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

TwiceAsNice/basda-mocca/doc/include/MoccaTriPodServiceWorker.h
TwiceAsNice/basda-mocca/doc/include/MoccaTriPodServiceWorker.cc

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoccaTriPodServiceWorker() [1/2]

◆ ~MoccaTriPodServiceWorker() [1/2]

◆ MoccaTriPodServiceWorker() [2/2]

◆ ~MoccaTriPodServiceWorker() [2/2]

Member Function Documentation

◆ coordinateTransformation() [1/2]

◆ coordinateTransformation() [2/2]

◆ coordinateTransformationInverse() [1/2]

◆ coordinateTransformationInverse() [2/2]

◆ coordinateTranslateInverse() [1/2]

◆ coordinateTranslateInverse() [2/2]

◆ transformationFactorChanged() [1/2]

◆ transformationFactorChanged() [2/2]

Member Data Documentation

◆ m_reconnection_interval

◆ m_transformation

◆ m_upfreq