#include <ModuleDummyMock.h>

Inheritance diagram for Basda::WheelMoConModuleDummyMock:

Collaboration diagram for Basda::WheelMoConModuleDummyMock:

Public Member Functions
	WheelMoConModuleDummyMock (std::string _name, const Nice::JointPtr &_config)

virtual	~WheelMoConModuleDummyMock ()

void	setDistanceToHomePosition (int _distance)

int	getCommandedPositionTarget ()

	WheelMoConModuleDummyMock (std::string _name, const Nice::JointPtr &_config)

virtual	~WheelMoConModuleDummyMock ()

void	setDistanceToHomePosition (int _distance)

int	getCommandedPositionTarget ()

Public Member Functions inherited from Basda::MoConModuleDummy
	MoConModuleDummy (std::string _name, const Nice::JointPtr &_config)

virtual	~MoConModuleDummy ()

void	setBasicSettings (const SelectBasicSettings::Constant _selectID, const double _parameter)
	With this method a value of the basic configuration can be changed. More...

void	setBasicSettings ()
	This method sets all basic configuration with the values stored in the property tree. More...

void	getBasicSettings ()
	This method returns the basic configuration of the motor. More...

void	stop ()
	This method stops the motor with a deceleration. More...

void	abort ()
	Abort the moving of the motor immediately without deceleration. More...

void	moveToPositiveLimit ()
	The motor moves to the positive software limit switch. More...

void	moveToLimit (const int &_limit)
	move the motor to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...

virtual void	moveAbsolute (const int &_position)
	The motor move to the absolute position. More...

virtual void	moveRelative (const int &_position)
	The motor moves to the relative position. More...

void	moveToNegativeLimit ()
	The motor moves to the negative software limit switch. More...

virtual void	moveToHome ()
	The motor is looking for the reference positions and reset the step counter to zero. More...

void	setExternalProfileBufferSize (const unsigned int _bufferSize, bool _extended=true)
	This method set the external buffer size. More...

virtual bool	isMoving ()
	Checks if the motors is in motion. More...

bool	isAtHome ()
	This method indicate whether the motor is at the home position. More...

bool	isMotionComplete ()
	Checks if the motor has finished the motion. More...

void	setMotionComplete (bool _complete)
	Set the MOTOR_COMPLETE flag. More...

int	isAtLimit ()
	Checks if the motors is in limit. More...

virtual double	getMEncPosition ()
	Returns the current position of the motor. More...

double	getAEncPosition ()
	Returns the current position of the motor. More...

double	getIEncPosition ()
	Returns the current positions of the motor. More...

double	getVelocity ()
	Returns the current velocity of the motor. More...

void	waitForEvent (Nice::Time _time, Basda::DeviceAsync &_async)
	This method wait till an event was received. More...

Nice::I64	getReferenceTime ()
	This method synchronize the MoCon time with the PC time. More...

Nice::I64	getCurrentTime ()
	This method returns the current MoCon time. More...

void	setExternalProfileData (const unsigned int _index, const unsigned int _timeBase, const int _velocity, const int _position, const int _acceleration=0, const int _jerk=0)
	This method set the external profile data. More...

void	setExternalProfileStart (const ValueStartMode::Constant _startMode, const Nice::Date _startTime=Nice::Date::microSeconds(-1))
	This method starts the external profile from the beginning or from the last position. More...

void	setExternalProfileStop ()
	This method starts the external profile at a defined time. More...

int	getExternalProfileInfo ()
	This method returns the actual index of the external profile. More...

Nice::Time	initExternalProfile (int _frequency, unsigned int _maxSamplesPerSegment, unsigned int _minSamplesPerSegment, unsigned int _faultTolerance)

void	clearExternalProfileBuffer ()
	This method freed the allocated memory of the external profile. More...

void	calculateTransition (const Nice::Date &_date, const Nice::NPoint &_positionSequence)
	This method calculates the transition from one trajectory to another if a trajectory already exist. More...

void	calculateTransition (const Nice::Date &_date, const Nice::NPoint &_positionSequence, const Nice::Time &_transitionLength)

unsigned int	fitTrajectory ()
	This method convert the given trajectory to a motor controller profile. More...

void	validateExternalProfile ()

unsigned int	bufferExternalProfile ()

Nice::Date	uploadExternalProfile ()
	This uploads the external profile data. More...

bool	isExternalProfileDone ()

void	uploadExternalProfile (const Nice::SeqSeqInt &_segments)

void	setPosition (const int &_position)
	Change the absolute position of the motor. More...

Nice::Time	getLinkTimeout ()
	This method return the TCP connection timeout. More...

Nice::BitSet	getPositionSwitchStatus ()

Nice::Completion	getProgress ()

void	setChatType (Nice::ChatLinePtr _chat)

void	setCollision (bool _collisionNegative, bool _collisionPositive)

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

void	setWheelPositionOffset (int _positionOffset)

	MoConModuleDummy (std::string _name, const Nice::JointPtr &_config)

virtual	~MoConModuleDummy ()

void	setBasicSettings (const SelectBasicSettings::Constant _selectID, const double _parameter)
	With this method a value of the basic configuration can be changed. More...

void	setBasicSettings ()
	This method sets all basic configuration with the values stored in the property tree. More...

void	getBasicSettings ()
	This method returns the basic configuration of the motor. More...

void	stop ()
	This method stops the motor with a deceleration. More...

void	abort ()
	Abort the moving of the motor immediately without deceleration. More...

void	moveToPositiveLimit ()
	The motor moves to the positive software limit switch. More...

void	moveToLimit (const int &_limit)
	move the motor to the positive limit switches (_limits[i]>0) or negative (_limits[i]<0) limit switches. More...

virtual void	moveAbsolute (const int &_position)
	The motor move to the absolute position. More...

virtual void	moveRelative (const int &_position)
	The motor moves to the relative position. More...

void	moveToNegativeLimit ()
	The motor moves to the negative software limit switch. More...

virtual void	moveToHome ()
	The motor is looking for the reference positions and reset the step counter to zero. More...

void	setExternalProfileBufferSize (const unsigned int _bufferSize, bool _extended=true)
	This method set the external buffer size. More...

virtual bool	isMoving ()
	Checks if the motors is in motion. More...

bool	isAtHome ()
	This method indicate whether the motor is at the home position. More...

bool	isMotionComplete ()
	Checks if the motor has finished the motion. More...

void	setMotionComplete (bool _complete)
	Set the MOTOR_COMPLETE flag. More...

int	isAtLimit ()
	Checks if the motors is in limit. More...

virtual double	getMEncPosition ()
	Returns the current position of the motor. More...

double	getAEncPosition ()
	Returns the current position of the motor. More...

double	getIEncPosition ()
	Returns the current positions of the motor. More...

double	getVelocity ()
	Returns the current velocity of the motor. More...

void	waitForEvent (Nice::Time _time, Basda::DeviceAsync &_async)
	This method wait till an event was received. More...

Nice::I64	getReferenceTime ()
	This method synchronize the MoCon time with the PC time. More...

Nice::I64	getCurrentTime ()
	This method returns the current MoCon time. More...

void	setExternalProfileData (const unsigned int _index, const unsigned int _timeBase, const int _velocity, const int _position, const int _acceleration=0, const int _jerk=0)
	This method set the external profile data. More...

void	setExternalProfileStart (const ValueStartMode::Constant _startMode, const Nice::Date _startTime=Nice::Date::microSeconds(-1))
	This method starts the external profile from the beginning or from the last position. More...

void	setExternalProfileStop ()
	This method starts the external profile at a defined time. More...

int	getExternalProfileInfo ()
	This method returns the actual index of the external profile. More...

Nice::Time	initExternalProfile (int _frequency, unsigned int _maxSamplesPerSegment, unsigned int _minSamplesPerSegment, unsigned int _faultTolerance)

void	clearExternalProfileBuffer ()
	This method freed the allocated memory of the external profile. More...

void	calculateTransition (const Nice::Date &_date, const Nice::NPoint &_positionSequence)
	This method calculates the transition from one trajectory to another if a trajectory already exist. More...

void	calculateTransition (const Nice::Date &_date, const Nice::NPoint &_positionSequence, const Nice::Time &_transitionLength)

unsigned int	fitTrajectory ()
	This method convert the given trajectory to a motor controller profile. More...

void	validateExternalProfile ()

unsigned int	bufferExternalProfile ()

Nice::Date	uploadExternalProfile ()
	This uploads the external profile data. More...

bool	isExternalProfileDone ()

void	uploadExternalProfile (const Nice::SeqSeqInt &_segments)

void	setPosition (const int &_position)
	Change the absolute position of the motor. More...

Nice::Time	getLinkTimeout ()
	This method return the TCP connection timeout. More...

Nice::BitSet	getPositionSwitchStatus ()

Nice::Completion	getProgress ()

void	setChatType (Nice::ChatLinePtr _chat)

void	setCollision (bool _collisionNegative, bool _collisionPositive)

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

void	setWheelPositionOffset (int _positionOffset)

Private Attributes
Nice::SeqInt	m_referencePositions

bool	m_isMoving

int	m_positionIndex

Additional Inherited Members
Protected Types inherited from Basda::MoConModuleDummy
enum	CMDS { MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, MOVEABSOLUTE, MOVERELATIVE, STARTEXTERNALPROFILE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, MOVEABSOLUTE, MOVERELATIVE, STARTEXTERNALPROFILE }

enum	CMDS { MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, MOVEABSOLUTE, MOVERELATIVE, STARTEXTERNALPROFILE, MOVETOHOME, MOVETOHOMESINGLE, MOVETOLIMIT, MOVETOPOSITIVELIMIT, MOVETONEGATIVELIMIT, MOVEABSOLUTE, MOVERELATIVE, STARTEXTERNALPROFILE }

Protected Member Functions inherited from Basda::MoConModuleDummy
template<typename Type >
Type	checkAttribute (const std::string &_node, const std::string &_attributeName, const Type &_default)

void	addInternalProperties ()
	This method add some internal properties like status properties. More...

void	generateBrokenWheelSwitches ()

void	travelRangeChanged (const Nice::Point &_p)

void	startTimer (const Nice::Date _startDate)
	When the Date is not set (Nice::Date()) the the timer starts immediately. More...

template<typename Type >
Type	checkAttribute (const std::string &_node, const std::string &_attributeName, const Type &_default)

void	addInternalProperties ()
	This method add some internal properties like status properties. More...

void	generateBrokenWheelSwitches ()

void	travelRangeChanged (const Nice::Point &_p)

void	startTimer (const Nice::Date _startDate)
	When the Date is not set (Nice::Date()) the the timer starts immediately. More...

Protected Attributes inherited from Basda::MoConModuleDummy
std::string	m_name

int	m_cardNo

int	m_moduleNo

Nice::JointPtr	m_config

Nice::Completion	m_completion

Nice::Timer	m_timer

Nice::Timer	m_countDown

Nice::Time	m_duration

int	m_maxVelocity

int	m_minVelocity

int	m_limit

bool	m_collisionPositive

bool	m_collisionNegative

PositionBlock	m_commandedPosition

PositionBlock	m_absEncPosition

PositionBlock	m_incEncPosition

bool	m_extendedProfileParamter
	member for to define buffering mode (start from the beginning or from the last position) More...

unsigned int	m_bufferSize
	the external profile buffer size More...

unsigned int	m_externalProfileIndexCycle
	the index of the buffer cell to store the next segment More...

Nice::I64	m_externalProfileStartCycle
	the cycle when the external profile started More...

Nice::I64	m_elapsedCyclesSinceProfileStart
	the difference between the current cycle and the m_externalProfileStartCycle (profile elapsed cycles) More...

Nice::I64	m_sumOfSegmentDuration
	sum of the elapsed segment duration (in cycles) since profile start More...

unsigned int	m_externalProfileInfo
	the current index of the executed external profile segment More...

Nice::Time	m_timeResolution

int	m_frequency

Basda::MoConModuleProfile	m_profile
	member for the extended external profile mode More...

Nice::NPoint	m_positionSequence

Nice::NPoint	m_positionSequenceBackup

Nice::Date	m_startDate

Nice::Point	m_travelRange

Nice::Time	m_blockSize

Nice::Date	m_pcReferenceDate

Nice::Date	m_currentPcDate

Nice::I64	m_currentMoConClocks

double	m_cycleTime

Nice::U16	m_basicResolution

Nice::U32	m_basicAcceleration

double	m_accelerationPerCycle
	The basic acceleration is set during the external profile initialization, to keep the acceleration constant over the whole trajectory. More...

std::vector< Basda::MoConModuleProfile::Segment >	m_externalProfileBuffer

unsigned int	m_externalProfileBufferSize

Nice::Monitor	m_monitor

Nice::ChatLinePtr	m_chat

Nice::SeqSeqInt	m_segments

unsigned int	m_microsteps

Nice::U32	m_depth

Nice::SeqBitSet	m_positionSwitches

Nice::SeqBitSet	m_brokenPositionSwitchMask

int	m_positionOffset

int	m_correctedPositionDeviation

Nice::DateDummyPtr	m_niceDateDummy

Constructor & Destructor Documentation

◆ WheelMoConModuleDummyMock() [1/2]

Basda::WheelMoConModuleDummyMock::WheelMoConModuleDummyMock	(	std::string	_name,
		const Nice::JointPtr &	_config
	)

◆ ~WheelMoConModuleDummyMock() [1/2]

Basda::WheelMoConModuleDummyMock::~WheelMoConModuleDummyMock ( )

virtual

◆ WheelMoConModuleDummyMock() [2/2]

Basda::WheelMoConModuleDummyMock::WheelMoConModuleDummyMock	(	std::string	_name,
		const Nice::JointPtr &	_config
	)

◆ ~WheelMoConModuleDummyMock() [2/2]

virtual Basda::WheelMoConModuleDummyMock::~WheelMoConModuleDummyMock ( )

virtual

Member Function Documentation

◆ getCommandedPositionTarget() [1/2]

int Basda::WheelMoConModuleDummyMock::getCommandedPositionTarget ( )

◆ getCommandedPositionTarget() [2/2]

int Basda::WheelMoConModuleDummyMock::getCommandedPositionTarget ( )

◆ setDistanceToHomePosition() [1/2]

void Basda::WheelMoConModuleDummyMock::setDistanceToHomePosition ( int _distance )

◆ setDistanceToHomePosition() [2/2]

void Basda::WheelMoConModuleDummyMock::setDistanceToHomePosition ( int _distance )

Member Data Documentation

◆ m_isMoving

bool Basda::WheelMoConModuleDummyMock::m_isMoving

private

◆ m_positionIndex

int Basda::WheelMoConModuleDummyMock::m_positionIndex

private

◆ m_referencePositions

Nice::SeqInt Basda::WheelMoConModuleDummyMock::m_referencePositions

private

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

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

Public Member Functions

Private Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ WheelMoConModuleDummyMock() [1/2]

◆ ~WheelMoConModuleDummyMock() [1/2]

◆ WheelMoConModuleDummyMock() [2/2]

◆ ~WheelMoConModuleDummyMock() [2/2]

Member Function Documentation

◆ getCommandedPositionTarget() [1/2]

◆ getCommandedPositionTarget() [2/2]

◆ setDistanceToHomePosition() [1/2]

◆ setDistanceToHomePosition() [2/2]

Member Data Documentation

◆ m_isMoving

◆ m_positionIndex

◆ m_referencePositions