Basda::NDeviceMock Class Reference

#include <NDeviceMock.h>

Inheritance diagram for Basda::NDeviceMock:

Collaboration diagram for Basda::NDeviceMock:

Public Member Functions
	NDeviceMock (const Nice::JointPtr &_config)
virtual void	open ()
	open device More...
virtual void	close ()
	close device More...
virtual void	reset (Basda::DeviceAsync &)
	reset the device More...
virtual void	version ()
	version More...
virtual void	init (Basda::DeviceAsync &)
	init the device More...
virtual void	deinit (Basda::DeviceAsync &)
	deinit the device More...
virtual void	activate (Basda::DeviceAsync &)
	activate the device More...
virtual void	deactivate (Basda::DeviceAsync &)
	deactivate the device More...
virtual void	moveToHome (Basda::DeviceAsync &)
	All motors of a device move to the home position. More...
virtual void	moveToPositiveLimit (Basda::DeviceAsync &)
	All motors of a device move to the positive limit switch. More...
virtual void	moveToNegativeLimit (Basda::DeviceAsync &)
	All motors of a device move to the negative limit switch. More...
virtual void	moveToLimit (const Nice::NPoint &, Basda::DeviceAsync &)
	move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...
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 void	chat (std::string, std::string, std::string, std::string, std::string, std::string, Basda::DeviceAsync &)
	This method send the command string to the electronic. More...
virtual std::string	dontParse (Basda::DeviceAsync &)
	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, std::string, std::string, std::string, Basda::DeviceAsync &)
virtual bool	isReachable ()
virtual void	moveAbsolute (const Nice::NPoint &, Basda::DeviceAsync &)
	All motors of a device move to the absolute position. More...
virtual void	moveRelative (const Nice::NPoint &, Basda::DeviceAsync &)
	All motors of a device move to the relative position. More...
virtual Nice::NPoint	getPosition ()
	This method is deprecated and will be exchanged with getDeviceencoderPosition() 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 &)
	Change the absolute position of all motors. More...
virtual Nice::NPoint	getVelocity ()
	Returns the current velocity of all motors. More...
virtual void	setVelocity (const Nice::NPoint &)
virtual bool	isAtLimit (Nice::NPoint &)
	Returns the current limit switch state of all motors in a vector. More...
virtual bool	isAtHome (Nice::BitSet &)
	This method indicate whether the motor is at the home position. More...
virtual bool	isMoving (Nice::BitSet &)
	Returns the motion flag of all motors in a vector. More...
virtual Nice::NPoint	getReferenceTime ()
virtual Nice::NPoint	getCurrentTime ()
virtual void	setExternalProfile (const Nice::SeqNPoint &, double, unsigned int, unsigned int, Basda::DeviceAsync &)
virtual void	startExternalProfile (Nice::SeqDate, Basda::DeviceAsync &)
virtual void	pauseExternalProfile ()
virtual void	stopExternalProfile ()
virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	The external profile will be configured and the external profile will uploaded to the MoCon. More...
virtual void	updateStatusInformation (Basda::DeviceAsync &)
	NDeviceMock (const Nice::JointPtr &_config)
virtual void	open ()
	open device More...
virtual void	close ()
	close device More...
virtual void	reset (Basda::DeviceAsync &)
	reset the device More...
virtual void	version ()
	version More...
virtual void	init (Basda::DeviceAsync &)
	init the device More...
virtual void	deinit (Basda::DeviceAsync &)
	deinit the device More...
virtual void	activate (Basda::DeviceAsync &)
	activate the device More...
virtual void	deactivate (Basda::DeviceAsync &)
	deactivate the device More...
virtual void	moveToHome (Basda::DeviceAsync &)
	All motors of a device move to the home position. More...
virtual void	moveToPositiveLimit (Basda::DeviceAsync &)
	All motors of a device move to the positive limit switch. More...
virtual void	moveToNegativeLimit (Basda::DeviceAsync &)
	All motors of a device move to the negative limit switch. More...
virtual void	moveToLimit (const Nice::NPoint &, Basda::DeviceAsync &)
	move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...
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 void	chat (std::string, std::string, std::string, std::string, std::string, std::string, Basda::DeviceAsync &)
	This method send the command string to the electronic. More...
virtual std::string	dontParse (Basda::DeviceAsync &)
	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, std::string, std::string, std::string, Basda::DeviceAsync &)
virtual bool	isReachable ()
virtual void	moveAbsolute (const Nice::NPoint &, Basda::DeviceAsync &)
	All motors of a device move to the absolute position. More...
virtual void	moveRelative (const Nice::NPoint &, Basda::DeviceAsync &)
	All motors of a device move to the relative position. More...
virtual Nice::NPoint	getPosition ()
	This method is deprecated and will be exchanged with getDeviceencoderPosition() 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 &)
	Change the absolute position of all motors. More...
virtual Nice::NPoint	getVelocity ()
	Returns the current velocity of all motors. More...
virtual void	setVelocity (const Nice::NPoint &)
virtual bool	isAtLimit (Nice::NPoint &)
	Returns the current limit switch state of all motors in a vector. More...
virtual bool	isAtHome (Nice::BitSet &)
	This method indicate whether the motor is at the home position. More...
virtual bool	isMoving (Nice::BitSet &)
	Returns the motion flag of all motors in a vector. More...
virtual Nice::NPoint	getReferenceTime ()
virtual Nice::NPoint	getCurrentTime ()
virtual void	setExternalProfile (const Nice::SeqNPoint &, double, unsigned int, unsigned int, Basda::DeviceAsync &)
virtual void	startExternalProfile (Nice::SeqDate, Basda::DeviceAsync &)
virtual void	pauseExternalProfile ()
virtual void	stopExternalProfile ()
virtual Nice::SeqBitSet	getPositionSwitchStatus ()
	The external profile will be configured and the external profile will uploaded to the MoCon. More...
virtual void	updateStatusInformation (Basda::DeviceAsync &)
Public Member Functions inherited from Basda::MoccaNDevice
	MoccaNDevice (const Nice::JointPtr &_config)
	Constructor. More...
virtual	~MoccaNDevice ()
	Constructor. More...
virtual void	prepareMoveSync (Nice::BitSet _motors)=0
virtual void	startMoveSync ()=0
virtual void	prepareDirectMove (const Nice::NPoint &_acceleration, const Nice::NPoint &_velocity, const Nice::NPoint &_deceleration)=0
	This method setup the acceleration anv velocity for a direct point to point move. More...
virtual void	moveAbsoluteStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveAbsoluteWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveRelativeStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveRelativeWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual Nice::NPoint	getDeviceEncoderPosition ()=0
	Returns the current device internal position encoder of all motors. More...
virtual Nice::SeqSeqDouble	getBasicSettings ()=0
	Returns the basic settings of all motors. More...
virtual void	setVelocitySetting (const Nice::NPoint &_velocity)=0
	Set the velocity configuration parameter of all motors. More...
virtual void	setAccelerationSetting (const Nice::NPoint &_acceleration)=0
	Set the acceleration configuration parameter of all motors. More...
virtual void	setDecelerationSetting (const Nice::NPoint &_deceleration)=0
	Set the deceleration configuration parameter of all motors. More...
virtual void	setJerkSetting (const Nice::NPoint &_jerk)=0
	Set the jerk configuration parameter of all motors. More...
virtual void	setLinkTimeout (Nice::Time _tcpConnectionTimeout)=0
virtual Nice::SeqTime	getLinkTimeout ()=0
virtual void	startExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence, unsigned int _frequency, unsigned int _samplesPerSegment, unsigned int _faultTolerance, Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	changeExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)=0
virtual void	prepareExternalProfile (const Nice::SeqSeqInt &_segmentsX, const Nice::SeqSeqInt &_segmentsY, Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	startExternalProfile (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	dumpStatusInformation (Basda::DeviceAsync &_asynch, bool _compareParameter=false)=0
virtual void	setCollision (Nice::SeqPoint _collisions)=0
	MoccaNDevice (const Nice::JointPtr &_config)
	Constructor. More...
virtual	~MoccaNDevice ()
	Constructor. More...
virtual void	prepareMoveSync (Nice::BitSet _motors)=0
virtual void	startMoveSync ()=0
virtual void	prepareDirectMove (const Nice::NPoint &_acceleration, const Nice::NPoint &_velocity, const Nice::NPoint &_deceleration)=0
	This method setup the acceleration anv velocity for a direct point to point move. More...
virtual void	moveAbsoluteStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveAbsoluteWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveRelativeStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveRelativeWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual Nice::NPoint	getDeviceEncoderPosition ()=0
	Returns the current device internal position encoder of all motors. More...
virtual Nice::SeqSeqDouble	getBasicSettings ()=0
	Returns the basic settings of all motors. More...
virtual void	setVelocitySetting (const Nice::NPoint &_velocity)=0
	Set the velocity configuration parameter of all motors. More...
virtual void	setAccelerationSetting (const Nice::NPoint &_acceleration)=0
	Set the acceleration configuration parameter of all motors. More...
virtual void	setDecelerationSetting (const Nice::NPoint &_deceleration)=0
	Set the deceleration configuration parameter of all motors. More...
virtual void	setJerkSetting (const Nice::NPoint &_jerk)=0
	Set the jerk configuration parameter of all motors. More...
virtual void	setLinkTimeout (Nice::Time _tcpConnectionTimeout)=0
virtual Nice::SeqTime	getLinkTimeout ()=0
virtual void	startExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence, unsigned int _frequency, unsigned int _samplesPerSegment, unsigned int _faultTolerance, Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	changeExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)=0
virtual void	prepareExternalProfile (const Nice::SeqSeqInt &_segmentsX, const Nice::SeqSeqInt &_segmentsY, Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	startExternalProfile (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	dumpStatusInformation (Basda::DeviceAsync &_asynch, bool _compareParameter=false)=0
virtual void	setCollision (Nice::SeqPoint _collisions)=0
	MoccaNDevice (const Nice::JointPtr &_config)
	Constructor. More...
virtual	~MoccaNDevice ()
	Constructor. More...
virtual void	prepareMoveSync (Nice::BitSet _motors)=0
virtual void	startMoveSync ()=0
virtual void	prepareDirectMove (const Nice::NPoint &_acceleration, const Nice::NPoint &_velocity, const Nice::NPoint &_deceleration)=0
	This method setup the acceleration anv velocity for a direct point to point move. More...
virtual void	moveAbsoluteStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveAbsoluteWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveRelativeStart (const Nice::NPoint &_positions, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveRelativeWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual Nice::NPoint	getDeviceEncoderPosition ()=0
	Returns the current device internal position encoder of all motors. More...
virtual Nice::SeqSeqDouble	getBasicSettings ()=0
	Returns the basic settings of all motors. More...
virtual void	setVelocitySetting (const Nice::NPoint &_velocity)=0
	Set the velocity configuration parameter of all motors. More...
virtual void	setAccelerationSetting (const Nice::NPoint &_acceleration)=0
	Set the acceleration configuration parameter of all motors. More...
virtual void	setDecelerationSetting (const Nice::NPoint &_deceleration)=0
	Set the deceleration configuration parameter of all motors. More...
virtual void	setJerkSetting (const Nice::NPoint &_jerk)=0
	Set the jerk configuration parameter of all motors. More...
virtual void	setLinkTimeout (Nice::Time _tcpConnectionTimeout)=0
virtual Nice::SeqTime	getLinkTimeout ()=0
virtual void	startExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence, unsigned int _frequency, unsigned int _samplesPerSegment, unsigned int _faultTolerance, Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	changeExternalProfile (const Nice::Date &_date, const Nice::NPoint &_positionSequence)=0
virtual void	prepareExternalProfile (const Nice::SeqSeqInt &_segmentsX, const Nice::SeqSeqInt &_segmentsY, Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	startExternalProfile (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	dumpStatusInformation (Basda::DeviceAsync &_asynch, bool _compareParameter=false)=0
virtual void	setCollision (Nice::SeqPoint _collisions)=0
Public Member Functions inherited from Basda::MoccaDevice
	MoccaDevice (const Nice::JointPtr &_config)
	Constructor. More...
virtual	~MoccaDevice ()
virtual void	moveToHomeStart (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeSingle (const int _index, DeviceAsync &=s_async)=0
virtual void	moveToHomeSingleStart (int _motor, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeSingleWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToPositiveLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToPositiveLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToNegativeLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToNegativeLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToLimitStart (const Nice::NPoint &_limit, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToLimitWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual Nice::Completion	getProgress ()=0
	MoccaDevice (const Nice::JointPtr &_config)
	Constructor. More...
virtual	~MoccaDevice ()
virtual void	moveToHomeStart (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeSingle (const int _index, DeviceAsync &=s_async)=0
virtual void	moveToHomeSingleStart (int _motor, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeSingleWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToPositiveLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToPositiveLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToNegativeLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToNegativeLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToLimitStart (const Nice::NPoint &_limit, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToLimitWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual Nice::Completion	getProgress ()=0
	MoccaDevice (const Nice::JointPtr &_config)
	Constructor. More...
virtual	~MoccaDevice ()
virtual void	moveToHomeStart (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeSingle (const int _index, DeviceAsync &=s_async)=0
virtual void	moveToHomeSingleStart (int _motor, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToHomeSingleWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToPositiveLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToPositiveLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToNegativeLimitStart (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToNegativeLimitWait (Basda::DeviceAsync &_async=Basda::Device::s_async)=0
virtual void	moveToLimitStart (const Nice::NPoint &_limit, Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual void	moveToLimitWait (Basda::DeviceAsync &=Basda::Device::s_async)=0
virtual Nice::Completion	getProgress ()=0
Public Member Functions inherited from Basda::Device
	Device (const Nice::JointPtr &_config)
	constructor. This is an elementary (lazy) action which stores the name and gets configuration. More...
virtual	~Device ()
	destructor Does nothing More...
virtual void	setConfig (const Nice::JointPtr &_config)
	init with config tree ptr More...
Nice::JointPtr &	config ()
	retrieve the property tree More...
std::string &	name ()
	retrieve the name set at ctor time. More...
	Device (const Nice::JointPtr &_config)
	constructor. This is an elementary (lazy) action which stores the name and gets configuration. More...
virtual	~Device ()
	destructor Does nothing More...
virtual void	setConfig (const Nice::JointPtr &_config)
	init with config tree ptr More...
Nice::JointPtr &	config ()
	retrieve the property tree More...
std::string &	name ()
	retrieve the name set at ctor time. More...

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 }
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

Constructor & Destructor Documentation

NDeviceMock() [1/2]

Basda::NDeviceMock::NDeviceMock

(

const Nice::JointPtr &

_config

)

NDeviceMock() [2/2]

Basda::NDeviceMock::NDeviceMock

(

const Nice::JointPtr &

_config

)

Member Function Documentation

abort() [1/2]

void Basda::NDeviceMock::abort ( )

virtual

All motors of a device abort the current movement.

Implements Basda::MoccaDevice.

abort() [2/2]

virtual void Basda::NDeviceMock::abort ( )

virtual

All motors of a device abort the current movement.

Implements Basda::MoccaDevice.

activate() [1/2]

virtual void Basda::NDeviceMock::activate ( Basda::DeviceAsync &  )

virtual

activate the device

Implements Basda::Device.

activate() [2/2]

void Basda::NDeviceMock::activate ( Basda::DeviceAsync &  )

virtual

activate the device

Implements Basda::Device.

chat() [1/2]

virtual void Basda::NDeviceMock::chat ( std::string  _cardNo, std::string  _commandID, std::string  _moduleNo, std::string  _selectID, std::string  _parameter, std::string  _numberOfLines, Basda::DeviceAsync &  _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
_selectID	the sub command ID
_cardNo	the ID of the MPIA electronic card
_moduleNo	the ID of the device module
_parameter	the parameter as string
_numberOfLines	the number of lines that might be read

See also

dontParse

Implements Basda::MoccaNDevice.

chat() [2/2]

void Basda::NDeviceMock::chat ( std::string  _cardNo, std::string  _commandID, std::string  _moduleNo, std::string  _selectID, std::string  _parameter, std::string  _numberOfLines, Basda::DeviceAsync &  _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
_selectID	the sub command ID
_cardNo	the ID of the MPIA electronic card
_moduleNo	the ID of the device module
_parameter	the parameter as string
_numberOfLines	the number of lines that might be read

See also

dontParse

Implements Basda::MoccaNDevice.

close() [1/2]

virtual void Basda::NDeviceMock::close ( )

virtual

close device

Implements Basda::Device.

close() [2/2]

void Basda::NDeviceMock::close ( )

virtual

close device

Implements Basda::Device.

deactivate() [1/2]

void Basda::NDeviceMock::deactivate ( Basda::DeviceAsync &  )

virtual

deactivate the device

Implements Basda::Device.

deactivate() [2/2]

virtual void Basda::NDeviceMock::deactivate ( Basda::DeviceAsync &  )

virtual

deactivate the device

Implements Basda::Device.

deinit() [1/2]

virtual void Basda::NDeviceMock::deinit ( Basda::DeviceAsync &  )

virtual

deinit the device

Implements Basda::Device.

deinit() [2/2]

void Basda::NDeviceMock::deinit ( Basda::DeviceAsync &  )

virtual

deinit the device

Implements Basda::Device.

dontParse() [1/2]

std::string Basda::NDeviceMock::dontParse ( Basda::DeviceAsync &  _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.

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

Parameters

_ret	the allocated memory for the command response

Implements Basda::MoccaNDevice.

dontParse() [2/2]

virtual std::string Basda::NDeviceMock::dontParse ( Basda::DeviceAsync &  _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.

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

Parameters

_ret	the allocated memory for the command response

Implements Basda::MoccaNDevice.

getAbsoluteEncoderPosition() [1/2]

Nice::NPoint Basda::NDeviceMock::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::NDeviceMock::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.

getCurrentTime() [1/2]

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

virtual

Implements Basda::MoccaNDevice.

getCurrentTime() [2/2]

Nice::NPoint Basda::NDeviceMock::getCurrentTime ( )

virtual

Implements Basda::MoccaNDevice.

getIncrementalEncoderPosition() [1/2]

Nice::NPoint Basda::NDeviceMock::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::NDeviceMock::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.

getPosition() [1/2]

Nice::NPoint Basda::NDeviceMock::getPosition ( )

virtual

This method is deprecated and will be exchanged with getDeviceencoderPosition()

Implements Basda::MoccaNDevice.

getPosition() [2/2]

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

virtual

This method is deprecated and will be exchanged with getDeviceencoderPosition()

Implements Basda::MoccaNDevice.

getPositionSwitchStatus() [1/2]

virtual Nice::SeqBitSet Basda::NDeviceMock::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::NDeviceMock::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.

getReferenceTime() [1/2]

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

virtual

Implements Basda::MoccaNDevice.

getReferenceTime() [2/2]

Nice::NPoint Basda::NDeviceMock::getReferenceTime ( )

virtual

Implements Basda::MoccaNDevice.

getVelocity() [1/2]

Nice::NPoint Basda::NDeviceMock::getVelocity ( )

virtual

Returns the current velocity of all motors.

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

• VAR.VELOCITY

Returns

a vector with the current velocity of all motors

Implements Basda::MoccaNDevice.

getVelocity() [2/2]

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

virtual

Returns the current velocity of all motors.

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

• VAR.VELOCITY

Returns

a vector with the current velocity of all motors

Implements Basda::MoccaNDevice.

init() [1/2]

void Basda::NDeviceMock::init ( Basda::DeviceAsync &  )

virtual

init the device

Implements Basda::Device.

init() [2/2]

virtual void Basda::NDeviceMock::init ( Basda::DeviceAsync &  )

virtual

init the device

Implements Basda::Device.

isAtHome() [1/2]

virtual bool Basda::NDeviceMock::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::NDeviceMock::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::NDeviceMock::isAtLimit ( Nice::NPoint &  _limit )

virtual

Returns the current limit switch state of all motors in a vector.

Returns

true if on of the motors is in the limits. The order of the limits is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

isAtLimit() [2/2]

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

virtual

Returns the current limit switch state of all motors in a vector.

Returns

true if on of the motors is in the limits. The order of the limits is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

isMoving() [1/2]

virtual bool Basda::NDeviceMock::isMoving ( Nice::BitSet &  _motion )

virtual

Returns the motion flag of all motors in a vector.

Returns

true if at least one motor is in motion. The order of the bits is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

isMoving() [2/2]

bool Basda::NDeviceMock::isMoving ( Nice::BitSet &  _motion )

virtual

Returns the motion flag of all motors in a vector.

Returns

true if at least one motor is in motion. The order of the bits is corresponding to the order of the motor names in the property tree (alphabetical).

Implements Basda::MoccaNDevice.

isReachable() [1/2]

bool Basda::NDeviceMock::isReachable ( )

virtual

Implements Basda::MoccaNDevice.

isReachable() [2/2]

virtual bool Basda::NDeviceMock::isReachable ( )

virtual

Implements Basda::MoccaNDevice.

moveAbsolute() [1/2]

void Basda::NDeviceMock::moveAbsolute ( const Nice::NPoint &  _positions, Basda::DeviceAsync &  _async  )

virtual

All motors of a device move to the absolute position.

Parameters

_positions	a vector containing the absolute target position in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).
_async	the call back object

Implements Basda::MoccaNDevice.

moveAbsolute() [2/2]

virtual void Basda::NDeviceMock::moveAbsolute ( const Nice::NPoint &  _positions, Basda::DeviceAsync &  _async  )

virtual

All motors of a device move to the absolute position.

Parameters

_positions	a vector containing the absolute target position in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).
_async	the call back object

Implements Basda::MoccaNDevice.

moveRelative() [1/2]

virtual void Basda::NDeviceMock::moveRelative ( const Nice::NPoint &  _positions, Basda::DeviceAsync &  _async  )

virtual

All motors of a device move to the relative position.

Parameters

_positions	a vector containing the relative target position in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).
_async	the call back object

Todo:

change std::map<std::string, double> to Nice::NPoint

Implements Basda::MoccaNDevice.

moveRelative() [2/2]

void Basda::NDeviceMock::moveRelative ( const Nice::NPoint &  _positions, Basda::DeviceAsync &  _async  )

virtual

All motors of a device move to the relative position.

Parameters

_positions	a vector containing the relative target position in steps. The order of the points is corresponding to the order of the motor names in the property tree (alphabetical).
_async	the call back object

Todo:

change std::map<std::string, double> to Nice::NPoint

Implements Basda::MoccaNDevice.

moveToHome() [1/2]

void Basda::NDeviceMock::moveToHome ( Basda::DeviceAsync &  )

virtual

All motors of a device move to the home position.

Implements Basda::MoccaDevice.

moveToHome() [2/2]

virtual void Basda::NDeviceMock::moveToHome ( Basda::DeviceAsync &  )

virtual

All motors of a device move to the home position.

Implements Basda::MoccaDevice.

moveToLimit() [1/2]

virtual void Basda::NDeviceMock::moveToLimit ( const Nice::NPoint &  _limits, Basda::DeviceAsync &    )

virtual

move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches.

The current limit switch state of all motors.

Implements Basda::MoccaDevice.

moveToLimit() [2/2]

void Basda::NDeviceMock::moveToLimit ( const Nice::NPoint &  _limits, Basda::DeviceAsync &    )

virtual

move all motors to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches.

The current limit switch state of all motors.

Implements Basda::MoccaDevice.

moveToNegativeLimit() [1/2]

void Basda::NDeviceMock::moveToNegativeLimit ( Basda::DeviceAsync &  )

virtual

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

Implements Basda::MoccaDevice.

moveToNegativeLimit() [2/2]

virtual void Basda::NDeviceMock::moveToNegativeLimit ( Basda::DeviceAsync &  )

virtual

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

Implements Basda::MoccaDevice.

moveToPositiveLimit() [1/2]

virtual void Basda::NDeviceMock::moveToPositiveLimit ( Basda::DeviceAsync &  )

virtual

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

Implements Basda::MoccaDevice.

moveToPositiveLimit() [2/2]

void Basda::NDeviceMock::moveToPositiveLimit ( Basda::DeviceAsync &  )

virtual

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

Implements Basda::MoccaDevice.

open() [1/2]

virtual void Basda::NDeviceMock::open ( )

virtual

open device

Implements Basda::Device.

open() [2/2]

void Basda::NDeviceMock::open ( )

virtual

open device

Implements Basda::Device.

pauseExternalProfile() [1/2]

void Basda::NDeviceMock::pauseExternalProfile ( )

virtual

pauseExternalProfile() [2/2]

virtual void Basda::NDeviceMock::pauseExternalProfile ( )

virtual

receiveDataRaw() [1/2]

virtual std::string Basda::NDeviceMock::receiveDataRaw ( std::string  , std::string  , std::string  , std::string  , Basda::DeviceAsync &    )

virtual

Implements Basda::MoccaNDevice.

receiveDataRaw() [2/2]

std::string Basda::NDeviceMock::receiveDataRaw ( std::string  , std::string  , std::string  , std::string  , Basda::DeviceAsync &    )

virtual

Implements Basda::MoccaNDevice.

reset() [1/2]

void Basda::NDeviceMock::reset ( Basda::DeviceAsync &  )

virtual

reset the device

Implements Basda::Device.

reset() [2/2]

virtual void Basda::NDeviceMock::reset ( Basda::DeviceAsync &  )

virtual

reset the device

Implements Basda::Device.

setExternalProfile() [1/2]

virtual void Basda::NDeviceMock::setExternalProfile ( const Nice::SeqNPoint &  , double  , unsigned  int, unsigned  int, Basda::DeviceAsync &    )

virtual

setExternalProfile() [2/2]

void Basda::NDeviceMock::setExternalProfile ( const Nice::SeqNPoint &  , double  , unsigned  int, unsigned  int, Basda::DeviceAsync &    )

virtual

setPosition() [1/2]

virtual void Basda::NDeviceMock::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::NDeviceMock::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.

setVelocity() [1/2]

virtual void Basda::NDeviceMock::setVelocity ( const Nice::NPoint &  )

virtual

setVelocity() [2/2]

void Basda::NDeviceMock::setVelocity ( const Nice::NPoint &  )

virtual

startExternalProfile() [1/2]

virtual void Basda::NDeviceMock::startExternalProfile ( Nice::SeqDate  , Basda::DeviceAsync &    )

virtual

startExternalProfile() [2/2]

void Basda::NDeviceMock::startExternalProfile ( Nice::SeqDate  , Basda::DeviceAsync &    )

virtual

stop() [1/2]

virtual void Basda::NDeviceMock::stop ( )

virtual

All motors of a device stop moving.

Implements Basda::MoccaDevice.

stop() [2/2]

void Basda::NDeviceMock::stop ( )

virtual

All motors of a device stop moving.

Implements Basda::MoccaDevice.

stopExternalProfile() [1/2]

void Basda::NDeviceMock::stopExternalProfile ( )

virtual

stopExternalProfile() [2/2]

virtual void Basda::NDeviceMock::stopExternalProfile ( )

virtual

updateStatusInformation() [1/2]

void Basda::NDeviceMock::updateStatusInformation ( Basda::DeviceAsync &  )

virtual

updateStatusInformation() [2/2]

virtual void Basda::NDeviceMock::updateStatusInformation ( Basda::DeviceAsync &  )

virtual

version() [1/2]

void Basda::NDeviceMock::version ( )

virtual

version

Implements Basda::Device.

version() [2/2]

virtual void Basda::NDeviceMock::version ( )

virtual

version

Implements Basda::Device.

---

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

• TwiceAsNice/basda-mocca/doc/include/NDeviceMock.h
• TwiceAsNice/basda-mocca/doc/include/NDeviceMock.cc