A class to provide Filter Wheel functionality for the VisAO Camera. More...

#include <FilterWheelLocal.h>

Inheritance diagram for VisAO::FilterWheelLocal:

Public Member Functions
	FilterWheelLocal (std::string name, const std::string &conffile) throw (AOException)
	Standard adopt style config file constructor.

	FilterWheelLocal (int argc, char **argv) throw (AOException)
	Standard adopt style command line constructor.

void	signal_catcher ()
	Signal loop, normally won't need to be overridden. More...

virtual int	request_control (int cmode)
	Calls request_control(cmode, 0).

virtual int	request_control (int cmode, bool override)
	Attempts to change the control type. More...

int	ChangePos (double pos)
	An interface to SimpleMotorCtrl::PosReqChanged for the fifo command processors. More...

double	getAbortPos ()
	Exposes the abort Position (_abortPos) for use in PosReqChanged (which is static)

virtual std::string	remote_command (std::string com)
	VisAO remote command fifo handler. More...

virtual std::string	local_command (std::string com)
	VisAO local command fifo handler.

virtual std::string	script_command (std::string com)
	VisAO script command fifo handler.

std::string	common_command (std::string com, int)
	Where the command logic actually happens, since it is common.

std::string	get_state_str ()
	Produce the state string for response to state?

virtual int	update_statusboard ()
	Update the status board. More...

Public Member Functions inherited from VisAO::VisAOApp_base
	VisAOApp_base ()
	Default constructor.

virtual	~VisAOApp_base ()
	Virtual destructor.

int	set_euid_called ()
	Changes the user id of the process to euid_called.

int	set_euid_real ()
	Changes the user id fo the process to the real user id.

int	set_RT_priority (int prio)
	Set the real-time priority of the current process. More...

int	get_RT_priority ()
	Get the real-time priority of the current process.

int	set_app_name (std::string an)
	Set the application name.

virtual std::string	get_app_name ()
	Get the application name.

virtual int	setup_baseApp (bool usethreads=false)
	Install fifo channels. More...

virtual int	setup_baseApp (bool remfifo, bool locfifo, bool scrfifo, bool autfifo, bool usethreads=false)
	Create fifo names, then installs the fifo channels. More...

int	setup_fifo_list (int nfifos)
	Allocate the fifo_list. More...

int	connect_fifo_list ()
	Connect the fifo_list with exclusive locking. More...

int	connect_fifo_list_nolock ()
	Connect the fifo_list without exclusive locking. More...

int	setup_sigio ()
	Setup the SIGIO signal handling. More...

int	setup_RTsigio ()
	Setup SIGIO signal handling using realtime signals. More...

int	check_fifo_list_RTpending ()
	Check for pending reads for the fifo list while using the RT signals.

int	write_fifo_channel (int ch, const char com, int comlen, std::string resp)
	Write data to a fifo_channel, and get a response if desired. More...

int	write_fifo_channel (int ch, const char com, int comlen, std::string resp, char *sm)
	Write data to a fifo_channel, with a sequence message attached, and get a response if desired. More...

int	get_fifo_channel_response (std::string *resp, int ch)
	Check, and wait if neccessary, for data on a fifo channel. More...

int	set_wait_to (double to)
	Set the wait timeout for fifo channel responses. More...

double	get_wait_to ()
	Get the wait timeout for fifo channel responses. More...

virtual std::string	__remote_command (std::string com, char *seqmsg)
	Processing for remote commands. More...

virtual std::string	remote_command (std::string com, char *seqmsg)

virtual std::string	__local_command (std::string com, char *seqmsg)
	Processing for local commands. More...

virtual std::string	local_command (std::string com, char *seqmsg)

virtual std::string	__script_command (std::string com, char *seqmsg)
	Processing for script commands - not normally overriden. More...

virtual std::string	script_command (std::string com, char *seqmsg)

virtual std::string	auto_command (std::string com, char *seqmsg)
	Processing for auto commands - to be overriden. More...

virtual std::string	post_auto_command (std::string com, char *seqmsg=0)
	Processing for auto commands - not normally overriden. More...

std::string	control_mode_string ()
	Convenience function to return the control type string, e.g. "REMOTE".

std::string	control_mode_response ()
	Convenience function to return the control type response string, e.g. "A\n".

virtual void	error_report (int LogLevel, std::string emsg)
	Report an error. Also calls log_msg. More...

virtual void	log_msg (int LogLevel, std::string lmsg)
	Log a message. More...

VisAO::profiler *	get_profile ()

int	get_use_profiler ()

int	start_profiler ()

void *	get_statusboard_shmemptr ()
	Get the status board shared memory pointer. More...

int	set_statusboard_shmemkey (key_t mkey)
	Set the status board shared memory key. Does nothing else. More...

key_t	get_statusboard_shmemkey ()
	Get the status board shared memory key. More...

virtual void	dataLogger (timeval tv)
	Log data at intervals.

Static Public Member Functions
static int	CModeCurChanged (void pt, Variable msgb)
	RTDB handler for a control mode change request from the AO Supervisor.

static int	PosCurChanged (void pt, Variable msgb)
	RTDB handler for a position change by the AO Supervisor. More...

static int	PosReqChanged (void pt, Variable msgb)

static int	StatusChanged (void pt, Variable msgb)

Protected Member Functions
void	setupVisAOApp ()
	Basic setup of the class, called by both constructors. More...

void	readFilterConfig ()
	Read the corresponding filter wheel controller configuration file.

void	SetupVars ()
	Virtual function to setup variables in RTDB.

std::string	GetPosName (double pos)
	Get the position name from wheel position.

int	GetType (double pos)
	Get the position type from the wheel position.

void	Run ()
	The main loop.

int	DoFSM ()
	Local FSM.

virtual void	updatePos (double pos)
	Update position variables in RTDB.

virtual void	updateReq (double pos)
	Update req position variables in RTDB.

void	set_control_mode (int cmode)

void	set_status (int stat)

virtual int	start_signal_catcher (bool inherit_sched=true)
	Starts the signal catching loop. More...

Protected Member Functions inherited from VisAO::VisAOApp_base
int	create_statusboard (size_t sz)
	Creates and attaches to the statusboard shared memory. More...

std::string	getDataFileName ()

int	checkDataFileOpen ()

Protected Attributes
RTDBvar	var_status
	The current status of the controller, STATE_CONNECTED, STATE_OPERATING,STATE_HOMING, etc.

RTDBvar	var_cmode_cur
	The current control mode in the RTDB.

RTDBvar	var_cmode_req
	The requested control mode in the RTDB.

RTDBvar	var_pos_cur
	The current position.

RTDBvar	var_pos_req
	The requested position.

RTDBvar	var_pos_local_req
	Position requester for local control.

RTDBvar	var_pos_script_req
	Position requester for script control.

double	_abortPos

double	_homingPos

float	_startingPos

map< string, float >	_customPos

int	cur_state

double	cur_pos

double	req_pos

std::string	aoapp_name

map< std::string, float >::iterator	cpos_it
	An iterator for accessing the custom pos list.

multimap< int, float >	_customTypes
	Custom filter types list.

multimap< int, float >::iterator	ctype_it
	An iterator for accessing the custom pos list.

pthread_t	signal_thread
	The thread where fifo async signals are caught.

Protected Attributes inherited from VisAO::VisAOApp_base
std::string	app_name
	The name of the application.

double	pause_time
	Time to pause during application main loop.

fifo_list	fl
	The list of named-pipe fifos used for inter-process comms.

std::string	com_path
	The control fifo path base name.

std::string	com_path_remote
	The path for the remote control fifos.

std::string	com_path_local
	The path for the local control fifos.

std::string	com_path_script
	The path for the script control fifos.

std::string	com_path_auto
	The path for the auto control fifos.

double	wait_to
	The timeout for waiting on responses from FIFOs in seconds.

std::ostringstream	logss
	Conveninence string stream for building log messages.

VisAO::profiler *	profile

std::string	profile_path

int	use_profiler

void *	statusboard_shmemptr
	The pointer to the shared memory block for the statusboard.

key_t	statusboard_shmemkey
	The key used to lookup the shared memory.

int	statusboard_shmemid
	The ID of the shared memory block.

std::ofstream	dataof

bool	dataFileOpen

double	dataFileOpenTime

double	data_log_time_length

std::string	data_save_path

std::string	data_file_prefix

Additional Inherited Members
Public Types inherited from VisAO::VisAOApp_base
enum	control_modes { CMODE_NONE, CMODE_REMOTE, CMODE_LOCAL, CMODE_SCRIPT, CMODE_AUTO, CMODE_max }
	The control modes.

Public Attributes inherited from VisAO::VisAOApp_base
pthread_mutex_t	my_mutex
	Mutex used by the threaded versions of the standard command handlers.

Static Protected Attributes inherited from VisAO::VisAOApp_base
static int	control_mode = VisAOApp_base::CMODE_NONE
	The current control mode. More...

static int	default_control_mode = -1
	The default control mode. More...

Detailed Description

Exposes Local and Script fifos, and passes commands on the the F/W controllers on the supervisor via the MsgD.

Definition at line 36 of file FilterWheelLocal.h.

Member Function Documentation

void VisAO::FilterWheelLocal::setupVisAOApp ( )

protected

Reads the com_path parameter from config, and sets up the fifo_list to have local and script command fifos. Also established the COMMODE RTDB varialbe and its notifier.

Definition at line 35 of file FilterWheelLocal.cpp.

References VisAO::VisAOApp_base::com_path, VisAO::VisAOApp_base::create_statusboard(), VisAO::VisAOApp_base::pause_time, readFilterConfig(), VisAO::VisAOApp_base::set_app_name(), VisAO::VisAOApp_base::setup_baseApp(), VisAO::VisAOApp_base::setup_fifo_list(), VisAO::VisAOApp_base::statusboard_shmemkey, and VisAO::VisAOApp_base::statusboard_shmemptr.

void VisAO::FilterWheelLocal::signal_catcher ( )

This does need to be started by the Run() function if it is desired. Before starting, must have setup and connected the fifo list. Can be started with start_signal_catcher(). The main loop should then block SIGIO and RTSIGIO.

Definition at line 407 of file FilterWheelLocal.cpp.

References VisAO::VisAOApp_base::check_fifo_list_RTpending(), VisAO::VisAOApp_base::connect_fifo_list(), VisAO::VisAOApp_base::error_report(), VisAO::VisAOApp_base::fl, get_curr_time(), global_fifo_list, VisAO::VisAOApp_base::log_msg(), VisAO::VisAOApp_base::logss, VisAO::VisAOApp_base::pause_time, VisAO::VisAOApp_base::setup_RTsigio(), TimeToDie, and update_statusboard().

int VisAO::FilterWheelLocal::start_signal_catcher ( bool inherit_sched = true )

protectedvirtual

Parameters

inherit_sched if true (default) then the signal_catcher is started with the same RT priority as the main loop.

Definition at line 463 of file FilterWheelLocal.cpp.

References signal_thread.

Referenced by Run().

int VisAO::FilterWheelLocal::request_control	(	int	cmode,
		bool	override
	)

virtual

Parameters

cmode The requested control mode

See also: control_modes.

Parameters

override If not true, forces the change no matter what current mode is.

Return values

control_mode	if successful.
-1	if unsuccessful.

Reimplemented from VisAO::VisAOApp_base.

Definition at line 497 of file FilterWheelLocal.cpp.

References var_cmode_req.

int VisAO::FilterWheelLocal::PosCurChanged	(	void *	pt,
		Variable *	msgb
	)

static

After checking if control_mode == CMODE_REMOTE, just calls SimpleMotorCtrl::PosReqChanged.

Definition at line 527 of file FilterWheelLocal.cpp.

References updatePos().

Referenced by SetupVars().

int VisAO::FilterWheelLocal::ChangePos ( double pos )

We don't actually reimplement any motor control logic.

Definition at line 564 of file FilterWheelLocal.cpp.

References VisAO::VisAOApp_base::control_mode, getAbortPos(), updateReq(), var_pos_local_req, and var_pos_script_req.

Referenced by common_command().

std::string VisAO::FilterWheelLocal::remote_command ( std::string com )

virtual

Though no fifo is created, this is used to process the RTDB control mode changes.

Reimplemented from VisAO::VisAOApp_base.

Definition at line 605 of file FilterWheelLocal.cpp.

References common_command().

int VisAO::FilterWheelLocal::update_statusboard ( )

virtual

Calls this as VisAOApp_base::update_statusboard so the basics are taken care of.

Return values

0	on success
-1	on failure

Reimplemented from VisAO::VisAOApp_base.

Definition at line 789 of file FilterWheelLocal.cpp.

References GetPosName(), GetType(), VisAO::VisAOApp_base::statusboard_shmemptr, VisAO::VisAOApp_base::update_statusboard(), and var_pos_cur.

Referenced by signal_catcher().

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation