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

#include <MoccaWheelServiceWorker.h>

Inheritance diagram for Basda::MoccaWheelServiceWorker:

Collaboration diagram for Basda::MoccaWheelServiceWorker:

Classes
struct	WheelDeviceAsyncImpl
	This is the implementation of the call back object to update the completion status. More...

struct	WheelDeviceCmdAsyncImpl
	This struct is the implementation of the asynchronous command status method. More...

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

void	moveToHome ()
	Destructor. More...

virtual	~MoccaWheelServiceWorker ()

virtual void	moveAbsolute (int _target, std::string _unit)

virtual void	moveRelative (int _target, std::string _unit)

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

virtual void	scanAllReferenceSwitches ()

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

void	checkFullTurn ()

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

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

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

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

Nice::Int	getPositionOffset ()

void	scanPositionSwitches ()

void	validateScannedPositionSwitches ()

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

void	moveToHome ()
	Destructor. More...

virtual	~MoccaWheelServiceWorker ()

virtual void	moveAbsolute (int _target, std::string _unit)

virtual void	moveRelative (int _target, std::string _unit)

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

virtual void	scanAllReferenceSwitches ()

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

void	checkFullTurn ()

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

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

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

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

Nice::Int	getPositionOffset ()

void	scanPositionSwitches ()

void	validateScannedPositionSwitches ()

Public Member Functions inherited from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >
	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	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 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::Int	getPosition (std::string _unit)

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual double	getVelocity ()
	This method read the velocity of the device. More...

virtual double	getVelocity ()
	This method read the velocity of the device. More...

virtual double	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 double	getCurrentTime ()

virtual double	getCurrentTime ()

virtual double	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::MoccaWheelServiceWorkerSkeleton
	MoccaWheelServiceWorkerSkeleton (const Nice::JointPtr &_config)

virtual	~MoccaWheelServiceWorkerSkeleton ()

virtual void	setVelocity (double _velocity)=0

	MoccaWheelServiceWorkerSkeleton (const Nice::JointPtr &_config)

virtual	~MoccaWheelServiceWorkerSkeleton ()

virtual void	setVelocity (double _velocity)=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 ()

Protected Member Functions
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...

Protected Member Functions inherited from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >
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::MoccaWheelServiceWorkerSkeleton
const char *	isReachableNode ()

const char *	getPositionNode ()

void	getPositionInit (std::string _unit)

const char *	getDeviceEncoderPositionNode ()

void	getDeviceEncoderPositionInit (std::string _unit)

const char *	getVelocityNode ()

const char *	setVelocityNode ()

void	setVelocityInit (double _velocity)

const char *	getPositionSwitchStatusNode ()

const char *	isAtHomeNode ()

const char *	isMovingNode ()

const char *	moveRelativeNode ()

void	moveRelativeInit (Nice::Int _position, std::string _unit)

const char *	moveAbsoluteNode ()

void	moveAbsoluteInit (Nice::Int _position, std::string _unit)

const char *	moveToHomeNode ()

const char *	moveToNamedPositionNode ()

void	moveToNamedPositionInit (int _named_position)

const char *	scanAllReferenceSwitchesNode ()

const char *	dumpStatusInformationNode ()

virtual void	work ()

const char *	isReachableNode ()

const char *	getPositionNode ()

void	getPositionInit (std::string _unit)

const char *	getDeviceEncoderPositionNode ()

void	getDeviceEncoderPositionInit (std::string _unit)

const char *	getVelocityNode ()

const char *	setVelocityNode ()

void	setVelocityInit (double _velocity)

const char *	getPositionSwitchStatusNode ()

const char *	isAtHomeNode ()

const char *	isMovingNode ()

const char *	moveRelativeNode ()

void	moveRelativeInit (Nice::Int _position, std::string _unit)

const char *	moveAbsoluteNode ()

void	moveAbsoluteInit (Nice::Int _position, std::string _unit)

const char *	moveToHomeNode ()

const char *	moveToNamedPositionNode ()

void	moveToNamedPositionInit (int _named_position)

const char *	scanAllReferenceSwitchesNode ()

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 ()

Protected Attributes
WheelDeviceAsyncImpl	m_wheelDeviceAsync

WheelDeviceCmdAsyncImpl	m_wheelDeviceCmdAsync

Protected Attributes inherited from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >
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

Private Member Functions
int	searchForNamedPosition (int _namedPosition, int width, std::string _unit)

double	optimizeAbsolutePosition (int _requestedPosition, std::string _unit)

int	searchForNamedPosition (int _namedPosition, int width, std::string _unit)

double	optimizeAbsolutePosition (int _requestedPosition, std::string _unit)

Private Attributes
std::vector< Nice::BitSet >	m_namedSwitches

Nice::SeqInt	m_namedPositions

std::vector< Nice::BitSet >	m_scannedSwitches

std::vector< Nice::BitSet >	m_brokenSwitches

Nice::SeqInt	m_scannedPositions

Nice::Int	m_startPosition

Nice::Int	m_positionOffset

bool	m_scanAllReferenceSwitches

bool	m_homeReferenceSwitchFound

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

Static Protected Member Functions inherited from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >
static Nice::Point	getDefaultTransformation ()

static Nice::Point	getDefaultTransformation ()

static Nice::Point	getDefaultTransformation ()

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 X interface.

Constructor & Destructor Documentation

◆ MoccaWheelServiceWorker() [1/2]

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

Constructor.

◆ ~MoccaWheelServiceWorker() [1/2]

Basda::MoccaWheelServiceWorker::~MoccaWheelServiceWorker ( )

virtual

◆ MoccaWheelServiceWorker() [2/2]

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

Constructor.

◆ ~MoccaWheelServiceWorker() [2/2]

virtual Basda::MoccaWheelServiceWorker::~MoccaWheelServiceWorker ( )

virtual

Member Function Documentation

◆ checkForNamedPosition() [1/2]

std::string Basda::MoccaWheelServiceWorker::checkForNamedPosition ( )

virtual

This method checks whether the current position is a named position.

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ checkForNamedPosition() [2/2]

std::string Basda::MoccaWheelServiceWorker::checkForNamedPosition ( )

virtual

This method checks whether the current position is a named position.

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ checkFullTurn() [1/2]

void Basda::MoccaWheelServiceWorker::checkFullTurn ( )

◆ checkFullTurn() [2/2]

void Basda::MoccaWheelServiceWorker::checkFullTurn ( )

◆ coordinateTransformation() [1/2]

virtual Nice::Int Basda::MoccaWheelServiceWorker::coordinateTransformation	(	double	_value,
		std::string	_unit
	)

inlinevirtual

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

Returns: the absolute position in _unit

Implements Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ coordinateTransformation() [2/2]

virtual Nice::Int Basda::MoccaWheelServiceWorker::coordinateTransformation	(	double	_value,
		std::string	_unit
	)

inlinevirtual

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

Returns: the absolute position in _unit

Implements Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ coordinateTransformationInverse() [1/2]

virtual double Basda::MoccaWheelServiceWorker::coordinateTransformationInverse	(	Nice::Int	_value,
		std::string	_unit
	)

inlinevirtual

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
the	absolute position in steps

Implements Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ coordinateTransformationInverse() [2/2]

virtual double Basda::MoccaWheelServiceWorker::coordinateTransformationInverse	(	Nice::Int	_value,
		std::string	_unit
	)

inlinevirtual

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
the	absolute position in steps

Implements Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ coordinateTranslateInverse() [1/2]

virtual double Basda::MoccaWheelServiceWorker::coordinateTranslateInverse	(	Nice::Int	_value,
		std::string	_unit
	)

inlinevirtual

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< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ coordinateTranslateInverse() [2/2]

virtual double Basda::MoccaWheelServiceWorker::coordinateTranslateInverse	(	Nice::Int	_value,
		std::string	_unit
	)

inlinevirtual

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< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ getPosition() [1/2]

virtual Nice::Int Basda::MoccaWheelServiceWorker::getPosition ( )

virtual

Returns the current positions of all motors.

Depending on the position auto update configuration either getDeviceEncoderPosition, getAbsoluteEncoderPosition and/or getIncrementalEncoderPosition will be called. Background of this implementation is the time critical readout of the absolute encoder.

The position auto update configuration can be done with the property

CFG.POSITION_AUTOUPDATE

Depending of the position report property either the device encoder position, absolute encoder position or incremental encoder position will be returned and stored in

VAR.POSITION

The configuration of the position report can be done in

CFG.POSITION.REPORT and CFG.POSITION.UNIT and

Parameters

_unit the unit in which the position value should be converted

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

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ getPosition() [2/2]

Nice::Int Basda::MoccaWheelServiceWorker::getPosition ( )

virtual

Returns the current positions of all motors.

Depending on the position auto update configuration either getDeviceEncoderPosition, getAbsoluteEncoderPosition and/or getIncrementalEncoderPosition will be called. Background of this implementation is the time critical readout of the absolute encoder.

The position auto update configuration can be done with the property

CFG.POSITION_AUTOUPDATE

Depending of the position report property either the device encoder position, absolute encoder position or incremental encoder position will be returned and stored in

VAR.POSITION

The configuration of the position report can be done in

CFG.POSITION.REPORT and CFG.POSITION.UNIT and

Parameters

_unit the unit in which the position value should be converted

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

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ getPositionOffset() [1/2]

Nice::Int Basda::MoccaWheelServiceWorker::getPositionOffset ( )

◆ getPositionOffset() [2/2]

Nice::Int Basda::MoccaWheelServiceWorker::getPositionOffset ( )

◆ moveAbsolute() [1/2]

virtual void Basda::MoccaWheelServiceWorker::moveAbsolute	(	int	_target,
		std::string	_unit
	)

virtual

Implements Basda::MoccaWheelServiceWorkerSkeleton.

◆ moveAbsolute() [2/2]

void Basda::MoccaWheelServiceWorker::moveAbsolute	(	int	_target,
		std::string	_unit
	)

virtual

Implements Basda::MoccaWheelServiceWorkerSkeleton.

◆ moveRelative() [1/2]

virtual void Basda::MoccaWheelServiceWorker::moveRelative	(	int	_target,
		std::string	_unit
	)

virtual

Implements Basda::MoccaWheelServiceWorkerSkeleton.

◆ moveRelative() [2/2]

void Basda::MoccaWheelServiceWorker::moveRelative	(	int	_target,
		std::string	_unit
	)

virtual

Implements Basda::MoccaWheelServiceWorkerSkeleton.

◆ moveToHome() [1/2]

void Basda::MoccaWheelServiceWorker::moveToHome ( )

virtual

Destructor.

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ moveToHome() [2/2]

void Basda::MoccaWheelServiceWorker::moveToHome ( )

virtual

Destructor.

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ moveToNamedPosition() [1/2]

void Basda::MoccaWheelServiceWorker::moveToNamedPosition ( int _namedPosition )

virtual

This method allows to move the motor to a named position.

Parameters

_reference the number of the named position

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ moveToNamedPosition() [2/2]

virtual void Basda::MoccaWheelServiceWorker::moveToNamedPosition ( int _namedPosition )

virtual

This method allows to move the motor to a named position.

Parameters

_reference the number of the named position

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ optimizeAbsolutePosition() [1/2]

double Basda::MoccaWheelServiceWorker::optimizeAbsolutePosition	(	int	_requestedPosition,
		std::string	_unit
	)

private

◆ optimizeAbsolutePosition() [2/2]

double Basda::MoccaWheelServiceWorker::optimizeAbsolutePosition	(	int	_requestedPosition,
		std::string	_unit
	)

private

◆ scanAllReferenceSwitches() [1/2]

void Basda::MoccaWheelServiceWorker::scanAllReferenceSwitches ( )

virtual

Implements Basda::MoccaWheelServiceWorkerSkeleton.

◆ scanAllReferenceSwitches() [2/2]

virtual void Basda::MoccaWheelServiceWorker::scanAllReferenceSwitches ( )

virtual

Implements Basda::MoccaWheelServiceWorkerSkeleton.

◆ scanPositionSwitches() [1/2]

void Basda::MoccaWheelServiceWorker::scanPositionSwitches ( )

◆ scanPositionSwitches() [2/2]

void Basda::MoccaWheelServiceWorker::scanPositionSwitches ( )

◆ searchForNamedPosition() [1/2]

int Basda::MoccaWheelServiceWorker::searchForNamedPosition	(	int	_namedPosition,
		int	width,
		std::string	_unit
	)

private

◆ searchForNamedPosition() [2/2]

int Basda::MoccaWheelServiceWorker::searchForNamedPosition	(	int	_namedPosition,
		int	width,
		std::string	_unit
	)

private

◆ status() [1/2]

virtual void Basda::MoccaWheelServiceWorker::status ( )

protectedvirtual

The method calls different commands in order to update the status.

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ status() [2/2]

void Basda::MoccaWheelServiceWorker::status ( )

protectedvirtual

The method calls different commands in order to update the status.

Reimplemented from Basda::MoccaNServiceWorkerCore< double, Nice::Int, Nice::Point, MoccaWheelServiceWorkerSkeleton >.

◆ validateScannedPositionSwitches() [1/2]

void Basda::MoccaWheelServiceWorker::validateScannedPositionSwitches ( )

◆ validateScannedPositionSwitches() [2/2]

void Basda::MoccaWheelServiceWorker::validateScannedPositionSwitches ( )

Member Data Documentation

◆ m_brokenSwitches

std::vector< Nice::BitSet > Basda::MoccaWheelServiceWorker::m_brokenSwitches

private

◆ m_homeReferenceSwitchFound

bool Basda::MoccaWheelServiceWorker::m_homeReferenceSwitchFound

private

◆ m_namedPositions

Nice::SeqInt Basda::MoccaWheelServiceWorker::m_namedPositions

private

◆ m_namedSwitches

std::vector< Nice::BitSet > Basda::MoccaWheelServiceWorker::m_namedSwitches

private

◆ m_positionOffset

Nice::Int Basda::MoccaWheelServiceWorker::m_positionOffset

private

◆ m_scanAllReferenceSwitches

bool Basda::MoccaWheelServiceWorker::m_scanAllReferenceSwitches

private

◆ m_scannedPositions

Nice::SeqInt Basda::MoccaWheelServiceWorker::m_scannedPositions

private

◆ m_scannedSwitches

std::vector< Nice::BitSet > Basda::MoccaWheelServiceWorker::m_scannedSwitches

private

◆ m_startPosition

Nice::Int Basda::MoccaWheelServiceWorker::m_startPosition

private

◆ m_wheelDeviceAsync

WheelDeviceAsyncImpl Basda::MoccaWheelServiceWorker::m_wheelDeviceAsync

protected

◆ m_wheelDeviceCmdAsync

WheelDeviceCmdAsyncImpl Basda::MoccaWheelServiceWorker::m_wheelDeviceCmdAsync

protected

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

TwiceAsNice/basda-mocca/doc/include/MoccaWheelServiceWorker.h
TwiceAsNice/basda-mocca/doc/include/MoccaWheelServiceWorker.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoccaWheelServiceWorker() [1/2]

◆ ~MoccaWheelServiceWorker() [1/2]

◆ MoccaWheelServiceWorker() [2/2]

◆ ~MoccaWheelServiceWorker() [2/2]

Member Function Documentation

◆ checkForNamedPosition() [1/2]

◆ checkForNamedPosition() [2/2]

◆ checkFullTurn() [1/2]

◆ checkFullTurn() [2/2]

◆ coordinateTransformation() [1/2]

◆ coordinateTransformation() [2/2]

◆ coordinateTransformationInverse() [1/2]

◆ coordinateTransformationInverse() [2/2]

◆ coordinateTranslateInverse() [1/2]

◆ coordinateTranslateInverse() [2/2]

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getPositionOffset() [1/2]

◆ getPositionOffset() [2/2]

◆ moveAbsolute() [1/2]

◆ moveAbsolute() [2/2]

◆ moveRelative() [1/2]

◆ moveRelative() [2/2]

◆ moveToHome() [1/2]

◆ moveToHome() [2/2]

◆ moveToNamedPosition() [1/2]

◆ moveToNamedPosition() [2/2]

◆ optimizeAbsolutePosition() [1/2]

◆ optimizeAbsolutePosition() [2/2]

◆ scanAllReferenceSwitches() [1/2]

◆ scanAllReferenceSwitches() [2/2]

◆ scanPositionSwitches() [1/2]

◆ scanPositionSwitches() [2/2]

◆ searchForNamedPosition() [1/2]

◆ searchForNamedPosition() [2/2]

◆ status() [1/2]

◆ status() [2/2]

◆ validateScannedPositionSwitches() [1/2]

◆ validateScannedPositionSwitches() [2/2]

Member Data Documentation

◆ m_brokenSwitches

◆ m_homeReferenceSwitchFound

◆ m_namedPositions

◆ m_namedSwitches

◆ m_positionOffset

◆ m_scanAllReferenceSwitches

◆ m_scannedPositions

◆ m_scannedSwitches

◆ m_startPosition

◆ m_wheelDeviceAsync

◆ m_wheelDeviceCmdAsync