The focus stage stepper motor controller class. More...

#include <FocusMotorCtrl.h>

Inheritance diagram for VisAO::FocusMotorCtrl:

Public Member Functions
	FocusMotorCtrl (std::string name, const std::string &conffile) throw (AOException)
	Standard constructor with a config file.

	FocusMotorCtrl (int argc, char **argv) throw (AOException)
	Standard constructor with a command line.

void	initapp ()
	Initialization common to both constructors. More...

double	get_cur_pos ()
	Get the current position in microns.

int	set_cur_pos (double)
	Set the current position. This does not move the motor. More...

int	set_home ()
	Set the current position as the home position. More...

int	get_power_state ()
	Get the power state of the controller.

int	set_enable (bool en)
	Set the enable state of the controller. More...

int	enable ()
	Call set_enable(true);.

int	disable ()
	Call set_enable(false);.

int	set_direction (bool dir)
	Set the direction of the controller. More...

int	set_forward ()
	Call set_direction(true);.

int	set_backward ()
	Call set_direction(false);.

int	step (int nsteps)
	The routine to control motion of the stepper motor. More...

int	step ()
	Move by 1 step in current direction. More...

int	step_forward (int nsteps)
	Move the motor forward by nsteps. More...

int	step_forward ()
	Move by 1 step in forward direction. More...

int	step_backward (int nsteps)
	Move the motor backward by nsteps. More...

int	step_backward ()
	Move by 1 step in backward direction. More...

int	offset_pos (double dpos)
	Offset current position (in microns). More...

int	goto_pos (double pos)
	Move to an absolute position (in microns). More...

int	start_pending_move ()
	Calls either offset_pos(next_pos) or goto_pos(next_pos) when the main loop detects a pending move. More...

int	get_preset (double &fcal, std::vector< double > &preset, std::string &presetf)
	Reads the preset file for the current setup as determined from the shared memory status boards. More...

int	check_preset ()
	Check if the focus stage is currently at the preset (focused) position (within 2 microns)

int	goto_preset ()
	Move the focus stage to the preset position for the current VisAO setup. More...

virtual int	Run ()
	The main loop. More...

virtual std::string	remote_command (std::string com)
	Overridden from VisAOApp_base::remote_command, here just calls common_command.

virtual std::string	local_command (std::string com)
	Overridden from VisAOApp_base::local_command, here just calls common_command.

virtual std::string	script_command (std::string com)
	Overridden from VisAOApp_base::script_command, here just calls common_command.

std::string	common_command (std::string com, int cmode)
	The common command processor for commands received by fifo. More...

std::string	get_state_str ()
	Get the state string. More...

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

virtual void	dataLogger (timeval tv)
	Write focus positions to the data log.

Public Member Functions inherited from VisAO::VisAOApp_standalone
	VisAOApp_standalone () throw (AOException)
	Default constructor.

	VisAOApp_standalone (string name, int id, int logLevel=Logger::LOG_LEV_INFO) throw (AOException)
	Complicated constructor.

void	set_conffile (std::string name) throw (AOException)

	VisAOApp_standalone (std::string name, const std::string &conffile) throw (AOException)
	Config file constructor.

void	set_conffile (std::string name, const std::string &conffile) throw (AOException)
	For use if default constructed.

	VisAOApp_standalone (int argc, char **argv) throw (AOException)
	Command line constructor.

void	usage ()

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

void	log_msg (int LogLevel, std::string lmsg)
	Report an error. Also calls log_msg. Overloaded from VisAOApp_base. More...

virtual int	Exec ()
	Installs the term and XXXX signal handlers, and calls Run(). More...

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

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

virtual int	install_sig_mainthread_catcher ()
	Install the SIG_MAINTHREAD signal catcher.

virtual int	block_signal (int signum)
	Sets the signal mask to block signal signum.

virtual int	block_sigio ()
	Sets the signal mask to block SIGIO and RTSIGIO.

virtual int	kill_me ()
	Handle a timetodie condition upon exiting the signal catcher thread (e.g. tell main thread it is about to die) 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 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 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...

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...

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...

Protected Member Functions
int	check_limits ()
	Gets the limit switch status from dioserver, and performs homing logic checks.

int	save_init ()
	Save the initialization data to disk.

int	delete_init ()
	Delete the initialization file.

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
std::string	diofifo_path
	The path of the dioserver fifos.

int	dioch_enable
	The dioserver software channel connected to the enable pin.

int	dioch_dir
	The dioserver software channel connected to the direction pin.

int	dioch_step
	The dioserver software channel connected to the step pin.

int	dioch_pwr
	The dioserver software channel connected to +5V terminal.

int	dioch_limpos
	The dioserver software channel connected to the positive limit switch output.

int	dioch_limhome
	The dioserver software channel connected to the middle limit switch output.

int	dioch_limneg
	The dioserver software channel connected to the negative limit switch output.

pthread_mutex_t	dio_mutex

int	power_state

int	cur_enabled
	Power state of the controller. More...

int	DO_ENABLE
	Flag for main loop. +1 calls enable, -1 calls disable.

int	cur_dir
	Tracks the current setting of the direction pin TTL level.

double	min_step_time
	Minimum time between steps, in seconds. Can't be < 1e-6.

double	step_ratio
	Microns per step. For E35H4N-12-900 with BSD-02H in 1/8 step resolution this is 0.375.

int	hw_dir
	Sets the polarity of the direction pin relative to the software direction, that is so forward is forward as wired.

double	cur_pos
	The position, relative to home, in microns.

int	pending_move
	If non zero, a move is pending. Can be MOVE_OFFSET or MOVE_ABS.

double	next_pos
	Position of next move. Interpreted as either an offset or absolute position depending on pending_move.

bool	is_moving
	True if currently processing a position change.

bool	stop_moving
	If true, the currently processing position change is terminated.

timeval	last_step_time
	Time of the last step.

bool	neg_limit
	True if negative limit switch is active.

bool	pos_limit
	True if positive limit switch is active.

bool	home_switch
	True if home limit switch is active.

bool	pos_limit_disabled
	True if back limit is disabled for dismounting.

int	sw_limits_only

double	sw_neg_limit

double	sw_pos_limit

double	home_pos
	The position to set at the after homing to the home switch.

int	homing

VisAO::filterwheel_status_board *	fw2sb

VisAO::filterwheel_status_board *	fw3sb

VisAO::wollaston_status_board *	wsb

VisAO::aosystem_status_board *	aosb

Protected Attributes inherited from VisAO::VisAOApp_standalone
std::string	init_file

Config_File *	init_vars

pthread_t	main_thread
	Identifier for the main thread.

pthread_t	signal_thread
	Identifier for the separate signal handling thread.

pthread_mutex_t	signal_mutex
	Mutex for the condition signaling.

pthread_cond_t	signal_cond
	Condition for telling main thread that something changed.

double	signalth_sleeptime

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.

Static Public Member Functions inherited from VisAO::VisAOApp_standalone
static const std::string &	ConfigFile ()

static const std::string &	MyName ()

static const std::string &	MyFullName ()

static int	ID ()

static Config_File &	ConfigDictionary ()

static int	Verbosity ()

static string	getConffile (string identity)
	Return configuration file path based on identity.

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 Member Functions inherited from VisAO::VisAOApp_standalone
static void	SetMyName (const std::string &name)

static void	SetConfigFile (const std::string &conffile) throw (Config_File_Exception)

static void	SetID (int id)

Static Protected Attributes inherited from VisAO::VisAOApp_standalone
static Logger *	_logger = NULL

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

Manges the digital inputs to the BSD-02 stepper motor controller. Tracks position relative to the home position in microns, as an integer number of steps of size step_ratio. Is a standalone VisAOApp, and has remote, local and script fifos. No auto control is provided. The config file parameters are:

MyName string (required)
ID int (required)
LogLevel string (required)
com_path string (optional)
diofifo_path string (optional)
dioch_enable int (required)
dioch_dir int (required)
dioch_step int (required)
step_ratio double (required)
min_step_time double (required)
hw_dir int (optional)

Definition at line 77 of file FocusMotorCtrl.h.

Member Function Documentation

void VisAO::FocusMotorCtrl::initapp ( )

Reads the app specific config detals, and sets up the fifo_list and connects it. Upon exit, SIGIO is blocked.

Definition at line 35 of file FocusMotorCtrl.cpp.

References attach_shm(), VisAO::VisAOApp_base::create_statusboard(), cur_pos, dioch_dir, dioch_enable, dioch_limhome, dioch_limneg, dioch_limpos, dioch_pwr, dioch_step, diofifo_path, FIFOCH_DIR, FIFOCH_ENABLE, FIFOCH_HOMESW, FIFOCH_NEGL, FIFOCH_POSL, FIFOCH_PWR, FIFOCH_STEP, VisAO::VisAOApp_base::fl, get_dio_fnames(), home_pos, hw_dir, is_moving, last_step_time, MAX_FNAME_SZ, min_step_time, next_pos, VisAO::VisAOApp_base::pause_time, pending_move, pos_limit_disabled, set_fifo_list_channel(), VisAO::VisAOApp_base::setup_baseApp(), VisAO::VisAOApp_base::setup_fifo_list(), VisAO::VisAOApp_base::statusboard_shmemkey, VisAO::VisAOApp_base::statusboard_shmemptr, step_ratio, and stop_moving.

int VisAO::FocusMotorCtrl::set_cur_pos ( double cp )

Parameters

cp	the new value of the current position.

Return values

0	on succes (always)

Definition at line 476 of file FocusMotorCtrl.cpp.

References cur_pos.

Referenced by step().

int VisAO::FocusMotorCtrl::set_home ( )

Equivalent to set_cur_pos(0).

Definition at line 507 of file FocusMotorCtrl.cpp.

References cur_pos.

int VisAO::FocusMotorCtrl::set_enable ( bool en )

The software state is true=enabled, false=disabled. The hardware state is low=enabled, high=disabled. To enable call with en=true.

Parameters

en	the desired enable state.

Return values

0	on success
-1	on failure

Definition at line 514 of file FocusMotorCtrl.cpp.

References cur_enabled, FIFOCH_ENABLE, VisAO::VisAOApp_standalone::log_msg(), VisAO::VisAOApp_base::logss, and VisAO::VisAOApp_base::write_fifo_channel().

Referenced by disable(), and enable().

int VisAO::FocusMotorCtrl::set_direction ( bool dir )

The software direction determines whether cur_pos increases or decreases. This also changes the hardware direction by setting the direction pin, but the actual direction of motion is set by the wiring and hw_dir.

Parameters

dir	1 for forward, 0 for backward

Return values

0	on success
-1	on failure

Definition at line 554 of file FocusMotorCtrl.cpp.

References cur_dir, FIFOCH_DIR, hw_dir, VisAO::VisAOApp_standalone::log_msg(), VisAO::VisAOApp_base::logss, and VisAO::VisAOApp_base::write_fifo_channel().

Referenced by check_limits(), Run(), set_backward(), and set_forward().

int VisAO::FocusMotorCtrl::step ( int nsteps )

The BSD-02 steps on a low-high transition. There is a minimum dwell time for each of 1 microsecond. This loop also waits at least min_step_time between steps, as part of the low dwell time. Enables the controller prior to first step, and updates cur_pos at each step. Stops moving and exits normally if stop_moving becomes true. On exit, is_moving, pending_move, and stop_moving are all false and the controller is disabled.

Parameters

nsteps is the number of steps to take.

Return values

0	on success
-1	on failure.

Definition at line 619 of file FocusMotorCtrl.cpp.

References check_limits(), cur_dir, cur_pos, dataLogger(), delete_init(), disable(), enable(), FIFOCH_STEP, get_power_state(), is_moving, last_step_time, VisAO::VisAOApp_standalone::log_msg(), VisAO::VisAOApp_base::logss, min_step_time, pending_move, save_init(), set_cur_pos(), step_ratio, stop_moving, TimeToDie, update_statusboard(), and VisAO::VisAOApp_base::write_fifo_channel().

int VisAO::FocusMotorCtrl::step ( )

Calls step(1)

Return values

0	on success
-1	on failure.

Definition at line 786 of file FocusMotorCtrl.cpp.

Referenced by start_pending_move(), step_backward(), and step_forward().

int VisAO::FocusMotorCtrl::step_forward ( int nsteps )

First sets the direction, then calls step(nsteps).

Parameters

nsteps is the number of steps to take.

Return values

0	on success
-1	on failure.

Definition at line 791 of file FocusMotorCtrl.cpp.

References set_forward(), step(), and stop_moving.

int VisAO::FocusMotorCtrl::step_forward ( )

Calls step(1)

Return values

0	on success
-1	on failure.

Definition at line 798 of file FocusMotorCtrl.cpp.

Referenced by offset_pos().

int VisAO::FocusMotorCtrl::step_backward ( int nsteps )

First sets the direction, then calls step(nsteps).

Parameters

nsteps is the number of steps to take.

Return values

0	on success
-1	on failure.

Definition at line 803 of file FocusMotorCtrl.cpp.

References set_backward(), step(), and stop_moving.

int VisAO::FocusMotorCtrl::step_backward ( )

Calls step(1)

Return values

0	on success
-1	on failure.

Definition at line 810 of file FocusMotorCtrl.cpp.

Referenced by offset_pos().

int VisAO::FocusMotorCtrl::offset_pos ( double dpos )

Calculates the number of steps to move, and direction, then calls either step_forward(nsteps) or step_backward(nsteps) as appropriate.

Parameters

dpos	the size of the offset desired, in microns

Return values

0	on success.
-1	on failure.

Definition at line 815 of file FocusMotorCtrl.cpp.

References cur_pos, is_moving, MOVE_NONE, next_pos, pending_move, step_backward(), step_forward(), and step_ratio.

Referenced by goto_pos(), and start_pending_move().

int VisAO::FocusMotorCtrl::goto_pos ( double pos )

Calculates the number of steps to move, and direction, then calls either step_forward(nsteps) or step_backward(nsteps) as appropriate.

Parameters

pos	the position to move to, in microns

Return values

0	on success.
-1	on failure.

Definition at line 832 of file FocusMotorCtrl.cpp.

References cur_pos, and offset_pos().

Referenced by start_pending_move().

int VisAO::FocusMotorCtrl::start_pending_move ( )

The main loop pause() is interrupted by a SIGIO signal, and once control returns it checks pending_move, and if ture calls this routine. The move will continue until complete or stopped.

Return values

0	on success
-1	on failure.

Definition at line 838 of file FocusMotorCtrl.cpp.

References cur_pos, goto_pos(), home_pos, MOVE_ABS, MOVE_OFFSET, next_pos, offset_pos(), pending_move, set_backward(), set_forward(), step(), and stop_moving.

Referenced by Run().

int VisAO::FocusMotorCtrl::get_preset	(	double &	fcal,
		std::vector< double > &	preset,
		std::string &	presetf
	)

If a preset file exists for current conditions it is read and the arguments are populated.

Definition at line 868 of file FocusMotorCtrl.cpp.

References attach_shm(), VisAO::VisAOApp_standalone::log_msg(), and VisAO::VisAOApp_base::logss.

Referenced by check_preset(), and goto_preset().

int VisAO::FocusMotorCtrl::goto_preset ( )

Gets the current preset from get_preset. If a preset exists, the stage is moved.

Definition at line 926 of file FocusMotorCtrl.cpp.

References get_preset(), VisAO::VisAOApp_base::logss, MOVE_ABS, next_pos, and pending_move.

Referenced by common_command().

int VisAO::FocusMotorCtrl::Run ( )

virtual

Sets the signal handling for SIGIO then starts pause()-ing.

Reimplemented from VisAO::VisAOApp_standalone.

Definition at line 957 of file FocusMotorCtrl.cpp.

References VisAO::VisAOApp_standalone::block_sigio(), check_limits(), disable(), DO_ENABLE, enable(), FIFOCH_STEP, get_curr_time(), get_power_state(), VisAO::VisAOApp_standalone::install_sig_mainthread_catcher(), VisAO::VisAOApp_standalone::log_msg(), VisAO::VisAOApp_base::logss, VisAO::VisAOApp_base::pause_time, pending_move, set_direction(), VisAO::VisAOApp_standalone::signal_cond, VisAO::VisAOApp_standalone::signal_mutex, VisAO::VisAOApp_standalone::signal_thread, start_pending_move(), VisAO::VisAOApp_standalone::start_signal_catcher(), TimeToDie, and VisAO::VisAOApp_base::write_fifo_channel().

std::string VisAO::FocusMotorCtrl::common_command	(	std::string	com,
		int	cmode
	)

The return value depends on the command received. Recognized commands are:

POS? the return value is the current position in microns as "x.XXXX\n"
ISMOVING? the return value is "1\n" if moving, "0\n" if not moving.
STATE? returns the result of get_state_str()
ABORT if control_mode allows it, sets stop_moving = true and returns "0\n". Otherwise returns the control_mode in 1 letter.
POS x.x if control_mode allows it and not already moving, sets pending_move = MOVE_ABS and next_pos = x.x, and returns "1\n". if control_mode would allow it but already moving does nothing and returns "0\n". Othewrise, returns the control mode in 1 letter.
DPOS x.x if control_mode allows it and not already moving, sets pending_move = MOVE_OFFSET and next_pos = x.x, and returns "1\n". if control_mode would allow it but already moving does nothing and returns "0\n". Othewrise, returns the control mode in 1 letter.
For any other inputs returns "UNKNOWN COMMAND: (str)\n"

Definition at line 1060 of file FocusMotorCtrl.cpp.

References VisAO::VisAOApp_base::control_mode, VisAO::VisAOApp_base::control_mode_response(), cur_enabled, DO_ENABLE, get_cur_pos(), get_state_str(), goto_preset(), is_moving, VisAO::VisAOApp_standalone::main_thread, MOVE_ABS, MOVE_OFFSET, next_pos, pending_move, pos_limit_disabled, and stop_moving.

Referenced by local_command(), remote_command(), and script_command().

std::string VisAO::FocusMotorCtrl::get_state_str ( )

The state string encodes the current state of the controller as: C PPPPPPP.PPPP M RRRRRRR.RRRR Where C is the current control_mode, PPPPPPP.PPPP is the current position M is 1 if moving, 0 if not, and RRRRRRR.RRRR is the remaining distance to travel.