#include <LaosDrotServiceWorker.h>

Inheritance diagram for Laos::DrotServiceWorker:

Collaboration diagram for Laos::DrotServiceWorker:

Public Member Functions
	DrotServiceWorker (const Nice::JointPtr &_config, const Basda::MoccaNDevicePtr &_device)
	ctor More...

virtual	~DrotServiceWorker ()
	dtor Removes bridges that have been created by the ctor. More...

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

virtual void	idleOnline ()

virtual void	changeDerotationWithAbsoluteOffset (const Nice::Date &_startPositionAbsolute, double _startPosition, std::string _unit)

virtual void	changeDerotationWithRelativeOffset (const Nice::Date &_startPositionRelative, double _startPosition, std::string _unit)
	Change the trajectory at some time in the future by a relative amount. More...

virtual Nice::SeqPoint	getKFPCoordinates ()

virtual lbto::SeqPos2	getPresetStars ()

bool	isSlewing ()

bool	isRotating ()

virtual std::string	getLINCstation ()

virtual double	getParallacticAngle ()

virtual void	startDerotation (const Nice::Date &_startDate, double _startPosition, std::string _unit)
	Get polynomials from the TCS, move to start position, and start the derotator motion. More...

virtual void	startTimedDerotation (const Nice::Date &_startDate, double _startPosition, Nice::Time _durat, std::string _unit)
	Get polynomials from the TCS, move to start position, and start the derotator motion. More...

virtual void	startDerotationHere (const Nice::Date &_startDate)
	Get polynomials from the TCS and start the derotator motion. The difference to startDerotation() is that this function does not move the motor to any particular position but starts from where it is. The function is not overloading startDerotation() because this allows to have them both exposed to the Basda/ICE interface. More...

virtual void	rewind (Nice::Time _durat, bool _go, Nice::Time _delay)
	Move to the position where the previous derotation started and restart derotation. More...

virtual double	convertPosition (double _position, bool _absolute, std::string _unitFrom, std::string _unitTo)

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

virtual double	coordinateTransformation (double _value, std::string _unit)
	This method converts the given absolute value from steps into _unit. Thereby it uses dx to add the coordinate system offset. More...

virtual double	coordinateTransformationInverse (double _value, std::string _unit)
	Converts the given absolute value from _unit into steps. More...

virtual double	coordinateTranslateInverse (double _value, std::string _unit)
	Convert the given value from _unit into steps. Thereby it ignores the coordinate system offset dx. More...

virtual double	coordinateTranslate (double _value, std::string _unit)
	Convert the given value from steps into _unit. Thereby it ignores the coordinate system offset dx. More...

virtual std::string	getRA ()
	ask the LN proxy IIF server for the right ascension. More...

Nice::Time	timeLeft ()
	Get an estimate of the time that is left on the trajectory. More...

Nice::Time	timeLeft (int frequency, double _startPosition, std::string _unit, bool trunc)
	Get an estimate of the time that is left on the trajectory till hitting the limit switch. More...

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

virtual	~DrotServiceWorker ()

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

virtual void	idleOnline ()

virtual void	changeDerotationWithAbsoluteOffset (const Nice::Date &_startPositionAbsolute, double _startPosition, std::string _unit)

virtual void	changeDerotationWithRelativeOffset (const Nice::Date &_startPositionRelative, double _startPosition, std::string _unit)

virtual Nice::SeqPoint	getKFPCoordinates ()

virtual lbto::SeqPos2	getPresetStars ()

bool	isSlewing ()

bool	isRotating ()

virtual std::string	getLINCstation ()

virtual double	getParallacticAngle ()

virtual void	startDerotation (const Nice::Date &_startDate, double _startPosition, std::string _unit)

virtual void	startTimedDerotation (const Nice::Date &_startDate, double _startPosition, Nice::Time _durat, std::string _unit)

virtual void	startDerotationHere (const Nice::Date &_startDate)

virtual void	rewind (Nice::Time _durat, bool _go, Nice::Time _delay)

virtual double	convertPosition (double _position, bool _absolute, std::string _unitFrom, std::string _unitTo)

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

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

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

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

virtual double	coordinateTranslate (double _value, std::string _unit)

virtual std::string	getRA ()

Nice::Time	timeLeft ()

Nice::Time	timeLeft (int frequency, double _startPosition, std::string _unit, bool trunc)

Public Member Functions inherited from Basda::MoccaNServiceWorkerCore< double, double, Nice::Point, DrotServiceWorkerSkeleton >
	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	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	send (std::string _cardNo, std::string _commandID, std::string _moduleNo, std::string _selectID, std::string _parameter, std::string _numberOfLines)
	This method send the command string to the electronic. More...

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

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

virtual std::string	receive ()
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

virtual std::string	receive ()
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

virtual std::string	receive ()
	This method was requested by Lorenzo Busoni (lbuso.nosp@m.ni@a.nosp@m.rcetr.nosp@m.i.as.nosp@m.tro.i.nosp@m.t 02.03.2012) More...

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

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

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

virtual bool	isReachable ()

virtual bool	isReachable ()

virtual bool	isReachable ()

virtual void	dumpStatusInformation ()

virtual void	dumpStatusInformation ()

virtual void	dumpStatusInformation ()

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual void	moveToHomeSingle (int _motor)

virtual void	moveToHomeSingle (int _motor)

virtual void	moveToHomeSingle (int _motor)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual double	getPosition ()
	Returns the current positions of all motors. More...

virtual double	getPosition (std::string _unit)

virtual double	getPosition ()
	Returns the current positions of all motors. More...

virtual double	getPosition (std::string _unit)

virtual double	getPosition ()
	Returns the current positions of all motors. More...

virtual double	getPosition (std::string _unit)

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

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

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

virtual double	getAbsoluteEncoderPosition ()
	Returns the current absolute encoder positions of all motors. More...

virtual double	getAbsoluteEncoderPosition ()
	Returns the current absolute encoder positions of all motors. More...

virtual double	getAbsoluteEncoderPosition ()
	Returns the current absolute encoder positions of all motors. More...

virtual double	getIncrementalEncoderPosition ()
	Returns the current incremental encoder positions of all motors. More...

virtual double	getIncrementalEncoderPosition ()
	Returns the current incremental encoder positions of all motors. More...

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

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

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

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

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

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

virtual 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 &)

Private Member Functions
void	createTrajectory (const Nice::Date &_startDate)
	Get IIF rotator polynomials and convert them to MoCon steps. Note that the entire calculation is unaware of a start position (in steps). So the trajectory is starting (virtually) at step 0. It is left to getReady() to change the steps into absolute steps for the MoCon. The number of polynomials (which implies a duration) is obtained from the configuration file. More...

void	createTrajectory (const Nice::Date &_startDate, Nice::Time _durat)
	Get IIF rotator polynomials and convert them to MoCon steps. Note that the entire calculation is unaware of a start position (in steps). So the trajectory is starting (virtually) at step 0. It is left to getReady() to change the steps into absolute steps for the MoCon. More...

void	getReady (double _startPosition, std::string _unit)
	Move to the start/initial position of the rotator trajectory. Also convert the relative positions in m_positionSequence to absolute positions. More...

void	createTrajectory (const Nice::Date &_startDate)

void	createTrajectory (const Nice::Date &_startDate, Nice::Time _durat)

void	getReady (double _startPosition, std::string _unit)

Private Attributes
Ltcs::IifServiceWorkerInterfacePtr	m_iif
	the interface to ask the IIF for derotator polynomials or parallactic angle. More...

Nice::MapStringPoint	m_transformation
	A vector with the coordinate transformation values. More...

Nice::Date	m_startDate
	projected start time of the derotator polynomial More...

double	m_samplingRate
	Time interval for the duration of one derotator polynomial (seconds) More...

int	m_numberOfPolynomials
	Number of polynomial slices from the IIF. More...

double	m_stepsPerRad
	number of motor steps to rotate by one radian More...

double	m_stepsPerDegree
	number of motor steps to rotate by one degree More...

double	m_ang_rad
	accumulated angle since trajectory start in radian More...

double	m_ang_steps
	accumulated angle since trajectory start in steps More...

float	m_direction
	direction of motor steps relative to derotator polynomials. More...

Nice::Point	m_trange
	The configured travel range (steps) More...

Nice::NPoint	m_positionSequence

Nice::JointPtr	m_resolutionProperty

Additional Inherited Members
Protected Member Functions inherited from Basda::MoccaNServiceWorkerCore< double, double, Nice::Point, DrotServiceWorkerSkeleton >
virtual void	status ()
	The method calls different commands in order to update the status. More...

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

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

virtual DeviceAsyncImpl &	deviceAsyncImpl ()

virtual DeviceAsyncImpl &	deviceAsyncImpl ()

virtual DeviceAsyncImpl &	deviceAsyncImpl ()

virtual DeviceAsyncImpl &	deviceCmdAsyncImpl ()

virtual DeviceAsyncImpl &	deviceCmdAsyncImpl ()

virtual DeviceAsyncImpl &	deviceCmdAsyncImpl ()

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

Nice::Point	getDefaultTransformation ()

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

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::W3Matrix	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::Point	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

Nice::WMatrix	getDefaultTransformation ()

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

static Nice::Point	getDefaultTransformation ()

static Nice::Point	getDefaultTransformation ()

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

Detailed Description

Since: 2014-08-22

Author: kittmann

Constructor & Destructor Documentation

◆ DrotServiceWorker() [1/2]

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

ctor

Parameters

_config
_device

◆ ~DrotServiceWorker() [1/2]

Laos::DrotServiceWorker::~DrotServiceWorker ( )

virtual

dtor Removes bridges that have been created by the ctor.

◆ DrotServiceWorker() [2/2]

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

◆ ~DrotServiceWorker() [2/2]

virtual Laos::DrotServiceWorker::~DrotServiceWorker ( )

virtual

Member Function Documentation

◆ changeDerotationWithAbsoluteOffset() [1/2]

void Laos::DrotServiceWorker::changeDerotationWithAbsoluteOffset	(	const Nice::Date &	_startDate,
		double	_startPositionAbsolute,
		std::string	_unit
	)

virtual

Parameters

_startDate	Time in the future when the new segment should start.
_startPositionAbsolute	Position at which the new segment should start.
_unit	The unit in which _startPosition is expressed.

◆ changeDerotationWithAbsoluteOffset() [2/2]

virtual void Laos::DrotServiceWorker::changeDerotationWithAbsoluteOffset	(	const Nice::Date &	_startPositionAbsolute,
		double	_startPosition,
		std::string	_unit
	)

virtual

◆ changeDerotationWithRelativeOffset() [1/2]

virtual void Laos::DrotServiceWorker::changeDerotationWithRelativeOffset	(	const Nice::Date &	_startPositionRelative,
		double	_startPosition,
		std::string	_unit
	)

virtual

◆ changeDerotationWithRelativeOffset() [2/2]

void Laos::DrotServiceWorker::changeDerotationWithRelativeOffset	(	const Nice::Date &	_startDate,
		double	_startPositionRelative,
		std::string	_unit
	)

virtual

Change the trajectory at some time in the future by a relative amount.

Parameters

_startDate	The time in the future (when the old trajectory is still alive)
_startPositionRelative	The kink to the trajectory at the time.
_unit	The units to interpret _startPositionRelative .

◆ convertPosition() [1/2]

double Laos::DrotServiceWorker::convertPosition	(	double	_position,
		bool	_absolute,
		std::string	_unitFrom,
		std::string	_unitTo
	)

virtual

Parameters

_position
_absolute	If true the _position is in absolute units
_unitFrom
_unitTo

◆ convertPosition() [2/2]

virtual double Laos::DrotServiceWorker::convertPosition	(	double	_position,
		bool	_absolute,
		std::string	_unitFrom,
		std::string	_unitTo
	)

virtual

◆ coordinateTransformation() [1/2]

double Laos::DrotServiceWorker::coordinateTransformation	(	double	_value,
		std::string	_unit
	)

virtual

This method converts the given absolute value from steps into _unit. Thereby it uses dx to add the coordinate system offset.

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, double, Nice::Point, DrotServiceWorkerSkeleton >.

◆ coordinateTransformation() [2/2]

virtual double Laos::DrotServiceWorker::coordinateTransformation	(	double	_value,
		std::string	_unit
	)

virtual

This method converts the given value from steps into _unit.

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

Parameters

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

Returns: the absolute position in _unit

Implements Basda::MoccaNServiceWorkerCore< double, double, Nice::Point, DrotServiceWorkerSkeleton >.

◆ coordinateTransformationInverse() [1/2]

double Laos::DrotServiceWorker::coordinateTransformationInverse	(	double	_value,
		std::string	_unit
	)

virtual

Converts the given absolute value from _unit into steps.

Thereby it uses dx to subtract the coordinate system offset.

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, double, Nice::Point, DrotServiceWorkerSkeleton >.

◆ coordinateTransformationInverse() [2/2]

virtual double Laos::DrotServiceWorker::coordinateTransformationInverse	(	double	_value,
		std::string	_unit
	)

virtual

This method converts the given value from _unit into steps.

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

Parameters

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

Implements Basda::MoccaNServiceWorkerCore< double, double, Nice::Point, DrotServiceWorkerSkeleton >.

◆ coordinateTranslate() [1/2]

double Laos::DrotServiceWorker::coordinateTranslate	(	double	_value,
		std::string	_unit
	)

virtual

Convert the given value from steps into _unit. Thereby it ignores the coordinate system offset dx.

Parameters

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

Returns: the relative position value in _unit

◆ coordinateTranslate() [2/2]

virtual double Laos::DrotServiceWorker::coordinateTranslate	(	double	_value,
		std::string	_unit
	)

virtual

◆ coordinateTranslateInverse() [1/2]

double Laos::DrotServiceWorker::coordinateTranslateInverse	(	double	_value,
		std::string	_unit
	)

virtual

Convert 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, double, Nice::Point, DrotServiceWorkerSkeleton >.

◆ coordinateTranslateInverse() [2/2]

virtual double Laos::DrotServiceWorker::coordinateTranslateInverse	(	double	_value,
		std::string	_unit
	)

virtual

This method converts the given value from _unit into steps.

Thereby it ignores the coordinate system offset dx.

Parameters

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

Returns: the relative position in steps

Implements Basda::MoccaNServiceWorkerCore< double, double, Nice::Point, DrotServiceWorkerSkeleton >.

◆ createTrajectory() [1/4]

void Laos::DrotServiceWorker::createTrajectory ( const Nice::Date & _startDate )

private

◆ createTrajectory() [2/4]

void Laos::DrotServiceWorker::createTrajectory ( const Nice::Date & _startDate )

private

Get IIF rotator polynomials and convert them to MoCon steps. Note that the entire calculation is unaware of a start position (in steps). So the trajectory is starting (virtually) at step 0. It is left to getReady() to change the steps into absolute steps for the MoCon. The number of polynomials (which implies a duration) is obtained from the configuration file.

Parameters

_startDate Datum of the start of the trajectory (in the future)

◆ createTrajectory() [3/4]

void Laos::DrotServiceWorker::createTrajectory	(	const Nice::Date &	_startDate,
		Nice::Time	_durat
	)

private

Get IIF rotator polynomials and convert them to MoCon steps. Note that the entire calculation is unaware of a start position (in steps). So the trajectory is starting (virtually) at step 0. It is left to getReady() to change the steps into absolute steps for the MoCon.

Parameters

_startDate	Datum of the start of the trajectory (in the future)
_durat	Duration of the trajectory. This overrides the (quasi-fixed) number of polynomials of the config file.

Since: 2018-12-04

Todo:: don't accept unreasonable _durat values (say smaller than a few seconds or longer than some hours)

Parameters

_startDate	Datum of the start of the trajectory (in the future)
_durat	Duration of the trajectory. This overrides the (quasi-fixed) number of polynomials of the config file.

Since: 2018-12-04

Todo:: don't accept unreasonable _durat values (say smaller than a few seconds or longer than some hours)

◆ createTrajectory() [4/4]

void Laos::DrotServiceWorker::createTrajectory	(	const Nice::Date &	_startDate,
		Nice::Time	_durat
	)

private

◆ getKFPCoordinates() [1/2]

virtual Nice::SeqPoint Laos::DrotServiceWorker::getKFPCoordinates ( )

virtual

◆ getKFPCoordinates() [2/2]

Nice::SeqPoint Laos::DrotServiceWorker::getKFPCoordinates ( )

virtual

◆ getLINCstation() [1/2]

virtual std::string Laos::DrotServiceWorker::getLINCstation ( )

virtual

◆ getLINCstation() [2/2]

std::string Laos::DrotServiceWorker::getLINCstation ( )

virtual

◆ getParallacticAngle() [1/2]

double Laos::DrotServiceWorker::getParallacticAngle ( )

virtual

◆ getParallacticAngle() [2/2]

virtual double Laos::DrotServiceWorker::getParallacticAngle ( )

virtual

◆ getPresetStars() [1/2]

virtual lbto::SeqPos2 Laos::DrotServiceWorker::getPresetStars ( )

virtual

◆ getPresetStars() [2/2]

lbto::SeqPos2 Laos::DrotServiceWorker::getPresetStars ( )

virtual

◆ getRA() [1/2]

std::string Laos::DrotServiceWorker::getRA ( )

virtual

ask the LN proxy IIF server for the right ascension.

Returns: the R.A. in the hex-string HH:MM::SS format. If connection to the proxy server is disabled, the string is empty.

◆ getRA() [2/2]

virtual std::string Laos::DrotServiceWorker::getRA ( )

virtual

◆ getReady() [1/2]

void Laos::DrotServiceWorker::getReady	(	double	_startPosition,
		std::string	_unit
	)

private

Move to the start/initial position of the rotator trajectory. Also convert the relative positions in m_positionSequence to absolute positions.

Parameters

_startPosition	Start position of derotation.
_unit	The unit of the _startPosition value.

◆ getReady() [2/2]

void Laos::DrotServiceWorker::getReady	(	double	_startPosition,
		std::string	_unit
	)

private

◆ idleOnline() [1/2]

void Laos::DrotServiceWorker::idleOnline ( )

virtual

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

◆ idleOnline() [2/2]

virtual void Laos::DrotServiceWorker::idleOnline ( )

virtual

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

◆ init() [1/2]

void Laos::DrotServiceWorker::init ( )

virtual

This method initiate and open the interface.

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

◆ init() [2/2]

virtual void Laos::DrotServiceWorker::init ( )

virtual

This method initiate and open the interface.

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

◆ isRotating() [1/2]

bool Laos::DrotServiceWorker::isRotating ( )

◆ isRotating() [2/2]

bool Laos::DrotServiceWorker::isRotating ( )

◆ isSlewing() [1/2]

bool Laos::DrotServiceWorker::isSlewing ( )

◆ isSlewing() [2/2]

bool Laos::DrotServiceWorker::isSlewing ( )

◆ rewind() [1/2]

virtual void Laos::DrotServiceWorker::rewind	(	Nice::Time	_durat,
		bool	_go,
		Nice::Time	_delay
	)

virtual

◆ rewind() [2/2]

void Laos::DrotServiceWorker::rewind	(	Nice::Time	_durat,
		bool	_go,
		Nice::Time	_delay
	)

virtual

Move to the position where the previous derotation started and restart derotation.

Parameters

_durat	The duration of the trajectory to be started. Equivalent to specify a size of the derotator polynomial stack to be used. The argument is not used if _go=false.
_go	If true, do not just rewind but also start the derotation. If false, only rewind to previous start position and halt there.
_delay	A time to delay the start into the future. If this is zero or negative, the function tries to calculate a reasonable time that should not lead to timeouts as shortly as possible into the future.

Since: 2018-12-04

◆ startDerotation() [1/2]

void Laos::DrotServiceWorker::startDerotation	(	const Nice::Date &	_startDate,
		double	_startPosition,
		std::string	_unit
	)

virtual

Get polynomials from the TCS, move to start position, and start the derotator motion.

Parameters

_startDate	Start time of the derotation.
_startPosition	Start position of the bearing.
_unit	Units of the start position.

◆ startDerotation() [2/2]

virtual void Laos::DrotServiceWorker::startDerotation	(	const Nice::Date &	_startDate,
		double	_startPosition,
		std::string	_unit
	)

virtual

◆ startDerotationHere() [1/2]

void Laos::DrotServiceWorker::startDerotationHere ( const Nice::Date & _startDate )

virtual

Get polynomials from the TCS and start the derotator motion. The difference to startDerotation() is that this function does not move the motor to any particular position but starts from where it is. The function is not overloading startDerotation() because this allows to have them both exposed to the Basda/ICE interface.

Parameters

_startDate Start time of the derotation.

Since: 2017-06-08

◆ startDerotationHere() [2/2]

virtual void Laos::DrotServiceWorker::startDerotationHere ( const Nice::Date & _startDate )

virtual

◆ startTimedDerotation() [1/2]

virtual void Laos::DrotServiceWorker::startTimedDerotation	(	const Nice::Date &	_startDate,
		double	_startPosition,
		Nice::Time	_durat,
		std::string	_unit
	)

virtual

◆ startTimedDerotation() [2/2]

void Laos::DrotServiceWorker::startTimedDerotation	(	const Nice::Date &	_startDate,
		double	_startPosition,
		Nice::Time	_durat,
		std::string	_unit
	)

virtual

Get polynomials from the TCS, move to start position, and start the derotator motion.

Parameters

_startDate	Start time of the derotation.
_startPosition	Start position of the bearing.
_unit	Units of the start position.
_durat	The time the trajectory should last. The actual duration of the trajectory will be the minimum o fthis parameter and of how much is left in the travel range if starting at the _startPosition parameter.

Since: 2018-12-04

◆ timeLeft() [1/4]

Nice::Time Laos::DrotServiceWorker::timeLeft ( )

◆ timeLeft() [2/4]

Nice::Time Laos::DrotServiceWorker::timeLeft ( )

Get an estimate of the time that is left on the trajectory.

This subtracts the time "now" from the estimated finish time that was deposited in the property tree at the start of the derotation.

Returns: The estimated residual derotation time.

Warning: If used before the derotation started this will return zero seconds.

Since: 2017-04-05

Author: R. J. Mathar

◆ timeLeft() [3/4]

Nice::Time Laos::DrotServiceWorker::timeLeft	(	int	frequency,
		double	_startPosition,
		std::string	_unit,
		bool	trunc
	)

◆ timeLeft() [4/4]

Nice::Time Laos::DrotServiceWorker::timeLeft	(	int	frequency,
		double	_startPosition,
		std::string	_unit,
		bool	trunc
	)

Get an estimate of the time that is left on the trajectory till hitting the limit switch.

Optionally truncate the list of positions such that the trajectory fits into the travel range.

This is a static evaluation of the profile; it does not look at what the current motor positions are or whether parts of the trajectory are already executed..

There is a basda-mocca/src/device/mpia/mocon/Module.cc with validateExternalProfile() that does a similar job. This is called by mpia/mocon/NDevice.cc, which is the base class of this here, within generateExternalProfile().

Parameters

_startPosition	Start position of derotation. If the function is called after getReady(), the offset of the start position is already added to the local m_positionSequence, and the paramter _startPosition of this function here should be set to zero to avoid double application of the offset.
_unit	The unit of the _startPosition value.
trunc	If true, truncate the polynomials. This means parts of the trajectory are deleted at the end (if needed) such that remaining first part can be excuted within the limit switches. This is useful to have a dynamic adaptation into the residual travel range; then validateExternalProfile() does not block execution of the entire trajectory.

Returns: The time estimate according to the profile and distance to the limit. This is the time interval needed to execute the trajectory starting at the start position until either the down-loaded polynomials are exhausted or until one of the limit switches is reached, whichever happens first.

Since: 2017-04-05

Author: R. J. Mathar

◆ transformationFactorChanged() [1/2]

virtual void Laos::DrotServiceWorker::transformationFactorChanged ( const Nice::Any & _a )

virtual

◆ transformationFactorChanged() [2/2]

void Laos::DrotServiceWorker::transformationFactorChanged ( const Nice::Any & _a )

virtual

called automatically whenever the transformation property has changed.

Member Data Documentation

◆ m_ang_rad

double Laos::DrotServiceWorker::m_ang_rad

private

accumulated angle since trajectory start in radian

◆ m_ang_steps

double Laos::DrotServiceWorker::m_ang_steps

private

accumulated angle since trajectory start in steps

◆ m_direction

float Laos::DrotServiceWorker::m_direction

private

direction of motor steps relative to derotator polynomials.

Includes a factor 1/2 to slow down axle for the K-mirrors.

◆ m_iif

Ltcs::IifServiceWorkerInterfacePtr Laos::DrotServiceWorker::m_iif

private

the interface to ask the IIF for derotator polynomials or parallactic angle.

◆ m_numberOfPolynomials

int Laos::DrotServiceWorker::m_numberOfPolynomials

private

Number of polynomial slices from the IIF.

◆ m_positionSequence

Nice::NPoint Laos::DrotServiceWorker::m_positionSequence

private

◆ m_resolutionProperty

Nice::JointPtr Laos::DrotServiceWorker::m_resolutionProperty

private

◆ m_samplingRate

double Laos::DrotServiceWorker::m_samplingRate

private

Time interval for the duration of one derotator polynomial (seconds)

◆ m_startDate

Nice::Date Laos::DrotServiceWorker::m_startDate

private

projected start time of the derotator polynomial

◆ m_stepsPerDegree

double Laos::DrotServiceWorker::m_stepsPerDegree

private

number of motor steps to rotate by one degree

◆ m_stepsPerRad

double Laos::DrotServiceWorker::m_stepsPerRad

private

number of motor steps to rotate by one radian

◆ m_trange

Nice::Point Laos::DrotServiceWorker::m_trange

private

The configured travel range (steps)

Since: 2018-12-04

◆ m_transformation

Nice::MapStringPoint Laos::DrotServiceWorker::m_transformation

private

A vector with the coordinate transformation values.

(eg. degree to steps)

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

ln/laos-drot/doc/include/LaosDrotServiceWorker.h
ln/laos-drot/doc/include/LaosDrotServiceWorker.cc

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DrotServiceWorker() [1/2]

◆ ~DrotServiceWorker() [1/2]

◆ DrotServiceWorker() [2/2]

◆ ~DrotServiceWorker() [2/2]

Member Function Documentation

◆ changeDerotationWithAbsoluteOffset() [1/2]

◆ changeDerotationWithAbsoluteOffset() [2/2]

◆ changeDerotationWithRelativeOffset() [1/2]

◆ changeDerotationWithRelativeOffset() [2/2]

◆ convertPosition() [1/2]

◆ convertPosition() [2/2]

◆ coordinateTransformation() [1/2]

◆ coordinateTransformation() [2/2]

◆ coordinateTransformationInverse() [1/2]

◆ coordinateTransformationInverse() [2/2]

◆ coordinateTranslate() [1/2]

◆ coordinateTranslate() [2/2]

◆ coordinateTranslateInverse() [1/2]

◆ coordinateTranslateInverse() [2/2]

◆ createTrajectory() [1/4]

◆ createTrajectory() [2/4]

◆ createTrajectory() [3/4]

◆ createTrajectory() [4/4]

◆ getKFPCoordinates() [1/2]

◆ getKFPCoordinates() [2/2]

◆ getLINCstation() [1/2]

◆ getLINCstation() [2/2]

◆ getParallacticAngle() [1/2]

◆ getParallacticAngle() [2/2]

◆ getPresetStars() [1/2]

◆ getPresetStars() [2/2]

◆ getRA() [1/2]

◆ getRA() [2/2]

◆ getReady() [1/2]

◆ getReady() [2/2]

◆ idleOnline() [1/2]

◆ idleOnline() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ isRotating() [1/2]

◆ isRotating() [2/2]

◆ isSlewing() [1/2]

◆ isSlewing() [2/2]

◆ rewind() [1/2]

◆ rewind() [2/2]

◆ startDerotation() [1/2]

◆ startDerotation() [2/2]

◆ startDerotationHere() [1/2]

◆ startDerotationHere() [2/2]

◆ startTimedDerotation() [1/2]

◆ startTimedDerotation() [2/2]

◆ timeLeft() [1/4]

◆ timeLeft() [2/4]

◆ timeLeft() [3/4]

◆ timeLeft() [4/4]

◆ transformationFactorChanged() [1/2]

◆ transformationFactorChanged() [2/2]

Member Data Documentation

◆ m_ang_rad

◆ m_ang_steps

◆ m_direction

◆ m_iif

◆ m_numberOfPolynomials

◆ m_positionSequence

◆ m_resolutionProperty

◆ m_samplingRate

◆ m_startDate

◆ m_stepsPerDegree

◆ m_stepsPerRad

◆ m_trange

◆ m_transformation