Laos::StarEnlargerServiceWorker Class Reference

#include <LaosStarEnlargerServiceWorker.h>

Inheritance diagram for Laos::StarEnlargerServiceWorker:

Collaboration diagram for Laos::StarEnlargerServiceWorker:

Classes
struct	DeviceAsyncImpl
struct	DeviceCmdAsyncImpl
	This struct is the implementation of the asynchronous command status method. More...

Public Member Functions
	StarEnlargerServiceWorker (const Nice::JointPtr &_config, Basda::MoccaCDevicePtr _coconDevice, std::vector< Basda::MoccaNDevicePtr > _moconDevice)
virtual	~StarEnlargerServiceWorker ()
virtual void	init ()
virtual void	deinit ()
virtual void	activate ()
virtual void	deactivate ()
virtual void	terminate ()
	schedule EXIT as the next target state. More...
virtual void	errorOffline ()
	set the target state to OFFLINE. More...
virtual void	errorStandby ()
	set the target state to OFFLINE. More...
virtual void	errorOnline ()
	set the target state to OFFLINE. More...
virtual void	errorWorking ()
	set the target state to OFFLINE. More...
virtual void	idleOffline ()
	wait for a state change. More...
virtual void	idleOnline ()
	wait for a state change. More...
virtual void	stop ()
	does nothing. More...
virtual void	abort ()
	does nothing. More...
virtual bool	isReachable ()
virtual bool	isAtHome ()
virtual bool	isAtLimit ()
virtual bool	isMoving ()
virtual bool	isCurrentlyEnabled (std::string _device)
virtual void	getCollision ()
virtual void	setCollision ()
virtual void	resetCollision ()
virtual Nice::MapStringPoint	getPosition ()
virtual Nice::MapStringPoint	getPosition (std::string _unit, std::string _coordSys, bool _devEncoder=true)
virtual Nice::MapStringRect	getTravelrange ()
virtual Nice::MapStringWMatrix	getTransformation (std::string _unit="UM", std::string _coordSys="F")
virtual void	setPosition (std::string _name, const Nice::Point &_position)
virtual Nice::MapStringPoint	convertPosition (const Nice::MapStringPoint &_position, bool _fromAbsolute, std::string _fromUnit, std::string _fromCoordSys, bool _toAbsolute, std::string _toUnit, std::string _toCoordSys)
std::map< std::string, Nice::BitSet >	identifyMovingMotors (Nice::MapStringPoint _positions, std::string _unit, std::string _coordSys, bool _absolute)
virtual bool	validateMoveTo (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordSys)
virtual void	moveTo (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordSys)
virtual void	retreatToBase (const Nice::MapStringPoint &_positions)
	Move the y-positions of all devices in the _positions to zero. Effectively this retreats all motors to their base positions, keeping the x component and minimizing the amount the individual motors stick into the common area. The implementation is serialized, which means, the motors move individually in the order detailed in the _positions, and the next motor moves once the previous motor has settled to its base position. More...
virtual bool	validateMoveBy (const Nice::MapStringPoint &_distance, std::string _unit, std::string _coordSys)
virtual void	moveBy (const Nice::MapStringPoint &_distance, std::string _unit, std::string _coordSys)
virtual void	moveToStart (std::string _name, const Nice::Point &_position, std::string _unit, std::string _coordSys)
	Start moving a motor to an absolute position. If the motor is not enabled, it will not be moved. More...
virtual void	moveToWait ()
virtual void	moveByStart (std::string _name, const Nice::Point &_position, std::string _unit, std::string _coordSys)
	Start moving a motor by a relative amount. If the motor is not enabled, it will not be moved. More...
virtual void	moveByWait ()
virtual void	moveToLimitStart (std::string _name, const Nice::Point &_limit)
	Start moving a motor to a combined limit in both coordinates. If the motor is not enabled, it will not be moved. More...
virtual void	moveToLimitWait ()
virtual void	moveToHomeSingleStart (std::string _name, const int _motor)
	Start moving a motor to its home position. If the motor is not enabled, it will not be moved. More...
virtual void	moveToHomeSingleWait ()
virtual void	moveToHomeStart (std::string _name)
	Start moving a motor to its home position. If the motor is not enabled, it will not be moved. More...
virtual void	moveToHomeWait ()
virtual void	moveToHome ()
virtual void	setTargets (const Nice::MapStringPoint &)
virtual void	setEnabledDevice (std::string _device, bool _enable, const Nice::Point &_position)
virtual void	setEnabledDevices (const Nice::MapStringPoint &_positions, Nice::DynamicBitset _enable)
Public Member Functions inherited from Laos::StarEnlargerServiceWorkerSkeleton
	StarEnlargerServiceWorkerSkeleton (const Nice::JointPtr &_config)
virtual	~StarEnlargerServiceWorkerSkeleton ()
	StarEnlargerServiceWorkerSkeleton (const Nice::JointPtr &_config)
virtual	~StarEnlargerServiceWorkerSkeleton ()
Public Member Functions inherited from Basda::ServiceWorkerSkeleton
const Nice::PropertyPtr &	cmd ()
void	setCompletion (const Nice::Completion &_c)
void	cmdStart (const std::string &_action="")
void	cmdDone ()
void	cmdWarning (const std::string &_l)
void	cmdWarning (const Nice::LoggerObject &_o)
void	cmdError (const std::string &_l)
void	cmdError (const Nice::LoggerObject &_o)
void	cmdError (const Nice::SeqLoggerObject &_oo)
void	cmdPercent (Nice::Int _v)
void	cmdAction (Nice::Int _v, const std::string &_s)
virtual void	cmd (const Nice::Completion &_c)
template<typename DataType >
Nice::Completion	exec (const Nice::Completion &_c, DataType &_localdata, const DataType &_indata=DataType())
	if currently online, push the state into WORKING More...
template<typename DataType >
void	execCommand (DataType _cmd)
const Nice::PropertyPtr &	cmd ()
void	setCompletion (const Nice::Completion &_c)
void	cmdStart (const std::string &_action="")
void	cmdDone ()
void	cmdWarning (const std::string &_l)
void	cmdWarning (const Nice::LoggerObject &_o)
void	cmdError (const std::string &_l)
void	cmdError (const Nice::LoggerObject &_o)
void	cmdError (const Nice::SeqLoggerObject &_oo)
void	cmdPercent (Nice::Int _v)
void	cmdAction (Nice::Int _v, const std::string &_s)
virtual void	cmd (const Nice::Completion &_c)
template<typename DataType >
Nice::Completion	exec (const Nice::Completion &_c, DataType &_localdata, const DataType &_indata=DataType())
template<typename DataType >
void	execCommand (DataType _cmd)
Public Member Functions inherited from Basda::ServiceWorker
const Nice::JointPtr &	config ()
Nice::JointPtr	cfg ()
Nice::JointPtr	var ()
virtual const std::string &	name ()
virtual WorkerThreadPtr	worker ()
virtual Nice::Monitor &	monitor ()
virtual void	lock ()
virtual void	unlock ()
bool	stateIsSettled ()
bool	stateHasChanged ()
void	changeState (Basda::ServiceState _state)
	change state to a new state If the state is the current state, or a negative state, do nothing. Otherwise change the "next" state in the state machine and notify all threads. More...
bool	tryChangeState (Basda::ServiceState _state, const Nice::Time &_timeout=Nice::Time::seconds(0.0))
	change state to a new state More...
void	waitForState (Basda::ServiceState _state)
	wait (indefinitely) until the worker has reached a spcifici state More...
bool	timedWaitForState (Basda::ServiceState _state, const Nice::Time &_timeout)
	wait (indefinitely) until the worker has reached a specific state More...
bool	changeStateOnlyFromTo (Basda::ServiceState _from, Basda::ServiceState _to)
	wait (indefinitely) until the worker has reached a spcifici state More...
Basda::ServiceState	state ()
Basda::ServiceState	stateNow ()
Basda::ServiceState	stateNext ()
Basda::ServiceState	stateLast ()
bool	isTransit ()
bool	isTerminated ()
const Nice::JointPtr &	config ()
Nice::JointPtr	cfg ()
Nice::JointPtr	var ()
virtual const std::string &	name ()
virtual WorkerThreadPtr	worker ()
virtual Nice::Monitor &	monitor ()
virtual void	lock ()
virtual void	unlock ()
bool	stateIsSettled ()
bool	stateHasChanged ()
void	changeState (Basda::ServiceState _state)
bool	tryChangeState (Basda::ServiceState _state, const Nice::Time &_timeout=Nice::Time::seconds(0.0))
void	waitForState (Basda::ServiceState _state)
bool	timedWaitForState (Basda::ServiceState _state, const Nice::Time &_timeout)
bool	changeStateOnlyFromTo (Basda::ServiceState _from, Basda::ServiceState _to)
Basda::ServiceState	state ()
Basda::ServiceState	stateNow ()
Basda::ServiceState	stateNext ()
Basda::ServiceState	stateLast ()
bool	isTransit ()
bool	isTerminated ()

Protected Member Functions
virtual void	status ()
void	predict ()
	predict the time to reach the target positions and detect collisions. More...
Protected Member Functions inherited from Laos::StarEnlargerServiceWorkerSkeleton
const char *	isReachableNode ()
const char *	convertPositionNode ()
void	convertPositionInit (const Nice::MapStringPoint &_position, bool _from_absolute, std::string _from_unit, std::string _from_coordinate_system, bool _to_absolute, std::string _to_unit, std::string _to_coordinate_system)
const char *	getPositionNode ()
void	getPositionInit (std::string _unit, std::string _coordinate_system, bool _dev_enc)
const char *	setTargetsNode ()
void	setTargetsInit (const Nice::MapStringPoint &_position)
const char *	resetCollisionNode ()
const char *	isCurrentlyEnabledNode ()
void	isCurrentlyEnabledInit (std::string _device)
const char *	getTravelrangeNode ()
const char *	getTransformationNode ()
void	getTransformationInit (std::string _unit, std::string _coordinate_system)
const char *	moveToNode ()
void	moveToInit (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordinate_system)
const char *	retreatToBaseNode ()
void	retreatToBaseInit (const Nice::MapStringPoint &_positions)
const char *	moveByNode ()
void	moveByInit (const Nice::MapStringPoint &_distance, std::string _unit, std::string _coordinate_system)
const char *	moveToHomeNode ()
const char *	validateMoveToNode ()
void	validateMoveToInit (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordinate_system)
const char *	validateMoveByNode ()
void	validateMoveByInit (const Nice::MapStringPoint &_distance, std::string _unit, std::string _coordinate_system)
const char *	setEnabledDeviceNode ()
void	setEnabledDeviceInit (std::string _device, bool _enable, const Nice::Point &_position)
const char *	setEnabledDevicesNode ()
void	setEnabledDevicesInit (const Nice::MapStringPoint &_positions, Nice::DynamicBitset _enable)
virtual void	work ()
const char *	isReachableNode ()
const char *	convertPositionNode ()
void	convertPositionInit (const Nice::MapStringPoint &_position, bool _from_absolute, std::string _from_unit, std::string _from_coordinate_system, bool _to_absolute, std::string _to_unit, std::string _to_coordinate_system)
const char *	getPositionNode ()
void	getPositionInit (std::string _unit, std::string _coordinate_system, bool _dev_enc)
const char *	setTargetsNode ()
void	setTargetsInit (const Nice::MapStringPoint &_position)
const char *	resetCollisionNode ()
const char *	isCurrentlyEnabledNode ()
void	isCurrentlyEnabledInit (std::string _device)
const char *	getTravelrangeNode ()
const char *	getTransformationNode ()
void	getTransformationInit (std::string _unit, std::string _coordinate_system)
const char *	moveToNode ()
void	moveToInit (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordinate_system)
const char *	retreatToBaseNode ()
void	retreatToBaseInit (const Nice::MapStringPoint &_positions)
const char *	moveByNode ()
void	moveByInit (const Nice::MapStringPoint &_distance, std::string _unit, std::string _coordinate_system)
const char *	moveToHomeNode ()
const char *	validateMoveToNode ()
void	validateMoveToInit (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordinate_system)
const char *	validateMoveByNode ()
void	validateMoveByInit (const Nice::MapStringPoint &_distance, std::string _unit, std::string _coordinate_system)
const char *	setEnabledDeviceNode ()
void	setEnabledDeviceInit (std::string _device, bool _enable, const Nice::Point &_position)
const char *	setEnabledDevicesNode ()
void	setEnabledDevicesInit (const Nice::MapStringPoint &_positions, Nice::DynamicBitset _enable)
virtual void	work ()
Protected Member Functions inherited from Basda::ServiceWorkerSkeleton
	ServiceWorkerSkeleton (const Nice::JointPtr &_config)
	ServiceWorkerSkeleton (const Nice::JointPtr &_config)
Protected Member Functions inherited from Basda::ServiceWorker
	ServiceWorker (const Nice::JointPtr &_jointPtr)
	ctor More...
virtual	~ServiceWorker ()
	dtor Does nothing (in this base class) More...
void	triggerState (const Basda::ServiceStateMachine &_state)
	change state to a new state More...
void	sendStateStatus (const std::string &_action, int _percent)
void	setState (Basda::ServiceState _next)
virtual void	waitForNewState ()
virtual bool	timedWaitForNewState (const Nice::Time &_timeout)
virtual void	preinit ()
virtual void	packin ()
	schedule ONLINE as the next target state. More...
virtual void	idleStandby ()
	wait for a state change. More...
	ServiceWorker (const Nice::JointPtr &_jointPtr)
virtual	~ServiceWorker ()
void	triggerState (const Basda::ServiceStateMachine &_state)
void	sendStateStatus (const std::string &_action, int _percent)
void	setState (Basda::ServiceState _next)
virtual void	waitForNewState ()
virtual bool	timedWaitForNewState (const Nice::Time &_timeout)
virtual void	preinit ()
virtual void	packin ()
virtual void	idleStandby ()

Protected Attributes
DeviceAsyncImpl	m_deviceAsync
	the call back object for the devices More...
DeviceCmdAsyncImpl	m_deviceCmdAsync
	the call back object for the devices More...
Protected Attributes inherited from Basda::ServiceWorkerSkeleton
Nice::Completion	m_completion
Nice::I64	m_id
Nice::PropertyPtr	m_cmd
Protected Attributes inherited from Basda::ServiceWorker
Nice::JointPtr	m_config
Nice::PropertyPtr	m_state
std::string	m_name

Private Types
typedef std::vector< Basda::ServiceWorkerPtr >	SeqServiceWorker
typedef std::vector< Basda::MoccaNDevicePtr >	SeqMoccaNDevicePtr
typedef std::vector< Basda::ServiceLitePtr >	SeqServiceLitePtr

Private Member Functions
Nice::MapStringPoint	validateMove (const Nice::MapStringPoint &_positions, std::string _unit, std::string _coordSys, bool _absolute)
	Check that target positions are reachable and do not lead to collisions. More...
void	waitForCompletion (std::string _cmd, Basda::DeviceAsync &=Basda::Device::s_async)
	Calculate the completion percent. More...
std::string	getPythonTraceback ()
void	updateCardlist ()

Private Attributes
Basda::MoccaCDevicePtr	m_coconDevice
std::map< std::string, Laos::StarEnlargerPtr >	m_starEnlarger
std::map< std::string, Laos::StarEnlargerPtr >	m_starEnlargerCards
boost::python::dict	m_starEnlargerNames
SeqServiceLitePtr	m_overlays
std::string	m_basicUnit
std::string	m_basicCoordSys
std::string	m_defaultUnit
std::string	m_defaultCoordSys
std::map< std::string, int >	m_unitNamePrecMap
std::string	m_notDefined
bool	m_homeScriptException
bool	m_coconInitFailed

Additional Inherited Members
Protected Types inherited from Basda::ServiceWorker
typedef void(ServiceWorker::*	ServiceWorkerMemFn) ()
typedef Branch	BranchTable[6][6]
typedef IceUtil::Handle< WorkerThread >	WorkerThreadPtr
typedef void(ServiceWorker::*	ServiceWorkerMemFn) ()
typedef Branch	BranchTable[6][6]
typedef IceUtil::Handle< WorkerThread >	WorkerThreadPtr
Static Protected Attributes inherited from Basda::ServiceWorker
static BranchTable	s_stateTable
	A table which tells which state should go via which intermediate state to a target state. The 6 states are SHUTDOWN, OFFLINE, STANDBY, ONLINE, WORKING and ERROR. The principles are that. More...

Member Typedef Documentation

SeqMoccaNDevicePtr

typedef std::vector<Basda::MoccaNDevicePtr> Laos::StarEnlargerServiceWorker::SeqMoccaNDevicePtr

private

SeqServiceLitePtr

typedef std::vector<Basda::ServiceLitePtr> Laos::StarEnlargerServiceWorker::SeqServiceLitePtr

private

SeqServiceWorker

typedef std::vector<Basda::ServiceWorkerPtr> Laos::StarEnlargerServiceWorker::SeqServiceWorker

private

Constructor & Destructor Documentation

StarEnlargerServiceWorker()

Laos::StarEnlargerServiceWorker::StarEnlargerServiceWorker	(	const Nice::JointPtr &	_config,
		Basda::MoccaCDevicePtr	_coconDevice,
		std::vector< Basda::MoccaNDevicePtr >	_moconDevice
	)

~StarEnlargerServiceWorker()

Laos::StarEnlargerServiceWorker::~StarEnlargerServiceWorker ( )

virtual

Member Function Documentation

abort()

void Laos::StarEnlargerServiceWorker::abort ( void  )

virtual

does nothing.

---

Reimplemented from Basda::ServiceWorkerSkeleton.

activate()

void Laos::StarEnlargerServiceWorker::activate ( )

virtual

Implements Basda::ServiceWorker.

convertPosition()

Nice::MapStringPoint Laos::StarEnlargerServiceWorker::convertPosition ( const Nice::MapStringPoint &  _position, bool  _fromAbsolute, std::string  _fromUnit, std::string  _fromCoordSys, bool  _toAbsolute, std::string  _toUnit, std::string  _toCoordSys  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

deactivate()

void Laos::StarEnlargerServiceWorker::deactivate ( )

virtual

Implements Basda::ServiceWorker.

deinit()

void Laos::StarEnlargerServiceWorker::deinit ( )

virtual

Implements Basda::ServiceWorker.

errorOffline()

void Laos::StarEnlargerServiceWorker::errorOffline ( )

virtual

set the target state to OFFLINE.

---

Reimplemented from Basda::ServiceWorker.

errorOnline()

void Laos::StarEnlargerServiceWorker::errorOnline ( )

virtual

set the target state to OFFLINE.

---

Reimplemented from Basda::ServiceWorker.

errorStandby()

void Laos::StarEnlargerServiceWorker::errorStandby ( )

virtual

set the target state to OFFLINE.

---

Reimplemented from Basda::ServiceWorker.

errorWorking()

void Laos::StarEnlargerServiceWorker::errorWorking ( )

virtual

set the target state to OFFLINE.

---

Reimplemented from Basda::ServiceWorker.

getCollision()

void Laos::StarEnlargerServiceWorker::getCollision ( )

virtual

getPosition() [1/2]

Nice::MapStringPoint Laos::StarEnlargerServiceWorker::getPosition ( )

virtual

getPosition() [2/2]

Nice::MapStringPoint Laos::StarEnlargerServiceWorker::getPosition ( std::string  _unit, std::string  _coordSys, bool  _devEncoder = true  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

getPythonTraceback()

std::string Laos::StarEnlargerServiceWorker::getPythonTraceback ( )

private

getTransformation()

Nice::MapStringWMatrix Laos::StarEnlargerServiceWorker::getTransformation ( std::string  _unit = "UM", std::string  _coordSys = "F"  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

getTravelrange()

Nice::MapStringRect Laos::StarEnlargerServiceWorker::getTravelrange ( )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

identifyMovingMotors()

std::map< std::string, Nice::BitSet > Laos::StarEnlargerServiceWorker::identifyMovingMotors	(	Nice::MapStringPoint	_positions,
		std::string	_unit,
		std::string	_coordSys,
		bool	_absolute
	)

idleOffline()

void Laos::StarEnlargerServiceWorker::idleOffline ( )

virtual

wait for a state change.

---

Reimplemented from Basda::ServiceWorker.

idleOnline()

void Laos::StarEnlargerServiceWorker::idleOnline ( )

virtual

wait for a state change.

---

Reimplemented from Basda::ServiceWorker.

init()

void Laos::StarEnlargerServiceWorker::init ( )

virtual

Implements Basda::ServiceWorker.

isAtHome()

bool Laos::StarEnlargerServiceWorker::isAtHome ( )

virtual

isAtLimit()

bool Laos::StarEnlargerServiceWorker::isAtLimit ( )

virtual

isCurrentlyEnabled()

bool Laos::StarEnlargerServiceWorker::isCurrentlyEnabled ( std::string  _device )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

isMoving()

bool Laos::StarEnlargerServiceWorker::isMoving ( )

virtual

isReachable()

bool Laos::StarEnlargerServiceWorker::isReachable ( )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

moveBy()

void Laos::StarEnlargerServiceWorker::moveBy ( const Nice::MapStringPoint &  _distance, std::string  _unit, std::string  _coordSys  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

moveByStart()

void Laos::StarEnlargerServiceWorker::moveByStart ( std::string  _name, const Nice::Point &  _position, std::string  _unit, std::string  _coordSys  )

virtual

Start moving a motor by a relative amount. If the motor is not enabled, it will not be moved.

---

Parameters

_name	Name of the motor to be moved.
_position	The 2 coordinates of the target position.
_unit	Unit string of the coordinates.
_coordSys	coordinate system in which _position is expressed.

python home script command interface

moveByWait()

void Laos::StarEnlargerServiceWorker::moveByWait ( )

virtual

moveTo()

void Laos::StarEnlargerServiceWorker::moveTo ( const Nice::MapStringPoint &  _positions, std::string  _unit, std::string  _coordSys  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

moveToHome()

void Laos::StarEnlargerServiceWorker::moveToHome ( )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

moveToHomeSingleStart()

void Laos::StarEnlargerServiceWorker::moveToHomeSingleStart ( std::string  _name, const int  _motor  )

virtual

Start moving a motor to its home position. If the motor is not enabled, it will not be moved.

---

Parameters

_name	The name of the motor as known in the configuration files. This is just used to figure out whether the motor is enabled, but not which of its coodinates is effected.
_motor	The motor to be moved, by coordinate index. python home script command interface

moveToHomeSingleWait()

void Laos::StarEnlargerServiceWorker::moveToHomeSingleWait ( )

virtual

moveToHomeStart()

void Laos::StarEnlargerServiceWorker::moveToHomeStart ( std::string  _name )

virtual

Start moving a motor to its home position. If the motor is not enabled, it will not be moved.

---

Parameters

_name

The name of the motor as known in the configuration files. python home script command interface

moveToHomeWait()

void Laos::StarEnlargerServiceWorker::moveToHomeWait ( )

virtual

moveToLimitStart()

void Laos::StarEnlargerServiceWorker::moveToLimitStart ( std::string  _name, const Nice::Point &  _limit  )

virtual

Start moving a motor to a combined limit in both coordinates. If the motor is not enabled, it will not be moved.

---

Parameters

_limit

The two positive or negative limit specifications. python home script command interface

moveToLimitWait()

void Laos::StarEnlargerServiceWorker::moveToLimitWait ( )

virtual

moveToStart()

void Laos::StarEnlargerServiceWorker::moveToStart ( std::string  _name, const Nice::Point &  _position, std::string  _unit, std::string  _coordSys  )

virtual

Start moving a motor to an absolute position. If the motor is not enabled, it will not be moved.

---

Parameters

_name	Name of the motor to be moved.
_position	The 2 coordinates of the target position.
_unit	Unit string of the coordinates.
_coordSys	coordinate system in which _position is expressed.

python home script command interface

moveToWait()

void Laos::StarEnlargerServiceWorker::moveToWait ( )

virtual

predict()

void Laos::StarEnlargerServiceWorker::predict ( )

protected

predict the time to reach the target positions and detect collisions.

---

Exceptions

SECollisionException

if some SE would touch while moving to the target position.

resetCollision()

void Laos::StarEnlargerServiceWorker::resetCollision ( )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

retreatToBase()

void Laos::StarEnlargerServiceWorker::retreatToBase ( const Nice::MapStringPoint &  _positions )

virtual

Move the y-positions of all devices in the _positions to zero. Effectively this retreats all motors to their base positions, keeping the x component and minimizing the amount the individual motors stick into the common area. The implementation is serialized, which means, the motors move individually in the order detailed in the _positions, and the next motor moves once the previous motor has settled to its base position.

---

The standard use is starting the SE positioning after a preset and after derotation started, where some of the SE are selected to move to new positions; all others (to be used here) should first move their y-motors to their bases, before the others are moved to their new destinations.

Parameters

_positions

The list of the motors to be moved. The actual positions (Points) in that list are not much relevant.

Since

2017-07-02

Author

R. J. Mathar

Implements Laos::StarEnlargerServiceWorkerSkeleton.

setCollision()

void Laos::StarEnlargerServiceWorker::setCollision ( )

virtual

setEnabledDevice()

void Laos::StarEnlargerServiceWorker::setEnabledDevice ( std::string  _device, bool  _enable, const Nice::Point &  _position  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

setEnabledDevices()

void Laos::StarEnlargerServiceWorker::setEnabledDevices ( const Nice::MapStringPoint &  _positions, Nice::DynamicBitset  _enable  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

setPosition()

void Laos::StarEnlargerServiceWorker::setPosition ( std::string  _name, const Nice::Point &  _position  )

virtual

setTargets()

void Laos::StarEnlargerServiceWorker::setTargets ( const Nice::MapStringPoint &  _targetPositions )

virtual

---

This is a conversion method. The service itself does not have units.

Implements Laos::StarEnlargerServiceWorkerSkeleton.

status()

void Laos::StarEnlargerServiceWorker::status ( )

protectedvirtual

stop()

void Laos::StarEnlargerServiceWorker::stop ( )

virtual

does nothing.

---

Reimplemented from Basda::ServiceWorkerSkeleton.

terminate()

void Laos::StarEnlargerServiceWorker::terminate ( )

virtual

schedule EXIT as the next target state.

---

Reimplemented from Basda::ServiceWorker.

updateCardlist()

void Laos::StarEnlargerServiceWorker::updateCardlist ( )

private

validateMove()

Nice::MapStringPoint Laos::StarEnlargerServiceWorker::validateMove ( const Nice::MapStringPoint &  _positions, std::string  _unit, std::string  _coordSys, bool  _absolute  )

private

Check that target positions are reachable and do not lead to collisions.

---

Parameters

_positions	The mangled map of names SE01, SE02 and so on as keys and the Nice::Point as second values.
_unit	"UM" for microns.
_coordSys	"F" for the focal plane system.
_absolute	True if the positions are absolute inthe coordinate system, not relative to the current positions.

validateMoveBy()

bool Laos::StarEnlargerServiceWorker::validateMoveBy ( const Nice::MapStringPoint &  _distance, std::string  _unit, std::string  _coordSys  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

validateMoveTo()

bool Laos::StarEnlargerServiceWorker::validateMoveTo ( const Nice::MapStringPoint &  _positions, std::string  _unit, std::string  _coordSys  )

virtual

Implements Laos::StarEnlargerServiceWorkerSkeleton.

waitForCompletion()

void Laos::StarEnlargerServiceWorker::waitForCompletion ( std::string  _cmd, Basda::DeviceAsync &  _async = Basda::Device::s_async  )

private

Calculate the completion percent.

Parameters

_cmd	the command name which appears in the completion bar
_asynch	the call back object

Member Data Documentation

m_basicCoordSys

std::string Laos::StarEnlargerServiceWorker::m_basicCoordSys

private

m_basicUnit

std::string Laos::StarEnlargerServiceWorker::m_basicUnit

private

m_coconDevice

Basda::MoccaCDevicePtr Laos::StarEnlargerServiceWorker::m_coconDevice

private

m_coconInitFailed

bool Laos::StarEnlargerServiceWorker::m_coconInitFailed

private

m_defaultCoordSys

std::string Laos::StarEnlargerServiceWorker::m_defaultCoordSys

private

m_defaultUnit

std::string Laos::StarEnlargerServiceWorker::m_defaultUnit

private

m_deviceAsync

DeviceAsyncImpl Laos::StarEnlargerServiceWorker::m_deviceAsync

protected

the call back object for the devices

m_deviceCmdAsync

DeviceCmdAsyncImpl Laos::StarEnlargerServiceWorker::m_deviceCmdAsync

protected

the call back object for the devices

m_homeScriptException

bool Laos::StarEnlargerServiceWorker::m_homeScriptException

private

m_notDefined

std::string Laos::StarEnlargerServiceWorker::m_notDefined

private

m_overlays

SeqServiceLitePtr Laos::StarEnlargerServiceWorker::m_overlays

private

m_starEnlarger

std::map<std::string, Laos::StarEnlargerPtr> Laos::StarEnlargerServiceWorker::m_starEnlarger

private

m_starEnlargerCards

std::map<std::string, Laos::StarEnlargerPtr> Laos::StarEnlargerServiceWorker::m_starEnlargerCards

private

m_starEnlargerNames

boost::python::dict Laos::StarEnlargerServiceWorker::m_starEnlargerNames

private

m_unitNamePrecMap

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

private

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

• ln/laos-se/src/Service/LaosStarEnlargerServiceWorker.h
• ln/laos-se/src/Service/LaosStarEnlargerServiceWorker.cc