The gimbal motor controller class. More...

#include <GimbalMotorCtrl.h>

Inheritance diagram for VisAO::GimbalMotorCtrl:

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

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

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

int	setupNetwork ()
	Establish the serial-over-ip connection. More...

int	checkConnStat ()
	Check connection status by querying the status of each controller. Changes curState. More...

int	getCurState ()
	Get the current process state.

double	get_x_pos ()
	Get the x position.

int	getXMoving ()
	Get the moving status of the x axis.

double	get_y_pos ()
	Get the y position.

int	getYMoving ()
	Get the moving status of the y axis.

int	getPowerStatus ()
	Get the status of the power outlet. More...

int	center ()
	Read the preset center position for current board conditions, and gimbal to it.

int	dark ()
	Gimbal to the dark position.

int	savepreset ()
	Save the current position as the preset for this board setup.

virtual int	sendCommand (std::string &com, std::string &resp, int timeout)
	Implementation of ESPMotorCtrl sendCommand.

virtual int	sendCommand (std::string &com)
	Implementation of ESPMotorCtrl sendCommand.

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.

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

virtual void	moveStart ()
	Called when a move starts, for data logging. Overriden from ESPMotorCtrl.

void	moveStop ()
	Called when a move stops, for data logging.

virtual int	update_statusboard ()
	Update the gimbal status board.

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

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

	ESPMotorCtrl (int no)
	Specify number of axes.

virtual	~ESPMotorCtrl ()
	Destructor.

std::string	getErrString ()
	Get the error string.

int	setNumAxes (int no)
	Sets the number of axes. Can only be called when uninitialized.

int	powerOnInit ()
	Checks the controllers for current errors, and populates the stageName vector.

char	getError (int axis)

std::string	getStageName (int axis)

int	getCtrlState (int axis, std::string &state)

double	getCurPos (int axis)

int	home (int axis)

int	stop (int axis=0)

int	gotoAbsPos (int axis, double apos)

int	gotoRelPos (int axis, double rpos)

int	makeCom (std::string &str, int axis, const char *com)

int	makeCom (std::string &str, int axis, const char *com, int val)

int	makeCom (std::string &str, int axis, const char *com, double val)

int	makeCom (std::string &str, int axis, const char *com, std::string &val)

int	splitResponse (int &axis, std::string &com, std::string &val, std::string &resp)

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 Attributes
std::string	ip_addr
	ip address of the serial converter

int	ip_port
	ip port on which the motor controllers are connected

int	curState
	The current controller state (READY, etc.)

int	postHoming
	When 1, the gimbal will center after homing.

int	x_addr
	The controller address of the x axis.

int	y_addr
	The controller address of the y axis.

int	xAxisNo
	The axis number of x, e.g. 0.

int	yAxisNo
	The axis number of y, e.g. 1.

int	power_outlet
	Configuration variable, setting which power outlet to monitor.

int *	powerOutletState
	The power strip outlet controlling shutter power.

power_status_board *	psb
	This is for monitoring power outlet state.

double	scale
	The conversion scale from encoder mm to arcsec on the CCD47, i.e. arcsec/mm.

double	x_center
	The configurable location of the default x-center.

double	x_dark
	The configurable location of the x dark location.

int	xMoving
	Status of moving in the x direction.

double	y_center
	The configurable location of the default x-center.

double	y_dark
	The configurable location of the y dark location.

bool	isMoving
	True if moving - set when move starts and updating data logger.

pthread_mutex_t	comMutex
	Mutex for communicating with the controllers.

VisAO::filterwheel_status_board *	fw2sb
	pointer to status board of F/W 2 (for presets)

VisAO::filterwheel_status_board *	fw3sb
	pointer to status board of F/W 3 (for presets)

VisAO::wollaston_status_board *	wsb
	pointer to status board of wollaston (for presets)

VisAO::aosystem_status_board *	aosb
	pointer to status board of VisAOI (for presets)

Protected Attributes inherited from VisAO::ESPMotorCtrl
std::stringstream	errStr

int	numAxes
	Number of motor controllers.

std::vector< int >	axisAddress
	The controller address of each axis.

std::vector< std::string >	stageName
	The names of the connected motors.

int	default_timeout

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.

Protected Member Functions inherited from VisAO::ESPMotorCtrl
void	getStageName (int axis, std::string &sname)

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 ()

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

Manages the X and Y axis controllers of the Gimbal mirror. This is a standalone VisAOApp, so it doesn't depend on MsgD. In addition to the optional standard config options inherited from VisAOApp_standalone this class REQUIRES:

x_addr int - the address of the x axis controller
y_addr int - the address of teh y axis controller
power_outlet int - the number of the power strip outlet the controllers are plugged in to.
scale double (arcsec/mm) - the conversion from encoder mm to arcsec on the CCD47
x_center double (arcsec) - the scaled encoder position of the x center of travel
y_center double (arcsec) - the scaled encoder position of the y senter of travel

See VisAOApp_standalone for command line arguments. There are no additional command line arguments for GimbalCtrl.

This app exposes the remote, local, and script command fifos. The following commands are recognized on all channels:

"state?" returns a state string "A,B,C,D,E,F,E\n" where the letters have the following meaning
- A = a one character representation of control mode, N, R, L, or S.
- B = the connection status with the controllers (STATE_READY, etc.)
- C = the power state of the controllers, derived from the power outlet status.
  - 0 = off
  - 1 = on
  - -1 = unknown
- D = x moving state.
  - 0 = not moving
  - 1 = moving
- E = x position (arcsec)
- F = y moving state.
  - 0 = not moving
  - 1 = moving
- G = y position (arcsec)
- E = scale (arcsec/mm)
"xpos?" returns the x position in mm
"xmoving?" returns the x moving state
- 0 = not moving
- 1 = moving
"ypos?" returns the y position in mm
"ymoving?" returns the y moving state
- 0 = not moving
- 1 = moving
"stop" stops motion on all axes
"stopx" stops motion on the x axis
"stopy" stops motion on the axis
"center" - center both axes
"savepreset" - save current position as preset
"xrel x" moves x by a relative amount x, in mm.
"xabs x" moves x to the absolute position x, in mm
"yrel x" moves y by a relative amount x, in mm.
"yabs x" moves y to the absolute position x, in mm