A class to provide VisAO functionality to the adopt motor controller. More...

#include <VisAOSimpleMotorCtrl.h>

Inheritance diagram for VisAO::VisAOSimpleMotorCtrl:

Public Types
enum	control_modes { CMODE_NONE, CMODE_REMOTE, CMODE_LOCAL, CMODE_SCRIPT, CMODE_AUTO, CMODE_max }
	The control modes.

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

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

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...

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

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

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

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

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

Static Public Attributes
static int	control_mode = VisAOSimpleMotorCtrl::CMODE_REMOTE
	The current control mode. More...

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

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

virtual SimpleMotor *	CreateMotor ()
	Overridden to test if this is a VisAOFilterWheel. More...

virtual void	updatePos (bool force=false)
	Update position 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.

Protected Attributes
RTDBvar	var_cmode_cur
	The current control mode in the RTDB.

RTDBvar	var_cmode_req
	The requested control mode in the RTDB.

double	cur_pos

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.

Detailed Description

Uses the control logic unchanged from SimpleMotorCtrl, and adds the VisAOApp_base command fifos for local and script control using a signal thread. No remote fifo is provided, as remote control is via the RTDB. Intercepts the PosReqChanged notification to test if in remote control, and provides the facility for changing control mode from RTDB.

Definition at line 39 of file VisAOSimpleMotorCtrl.h.

Member Function Documentation

SimpleMotor * VisAO::VisAOSimpleMotorCtrl::CreateMotor ( )

protectedvirtual

Handle notifications if it is. If not this behaves as a standard adopt SimpleMotorCtrl.

Definition at line 69 of file VisAOSimpleMotorCtrl.cpp.

References VisAO_PosLocalReqChanged(), VisAO_PosReqChanged(), and VisAO_PosScriptReqChanged().

int VisAO::VisAOSimpleMotorCtrl::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.

Definition at line 164 of file VisAOSimpleMotorCtrl.cpp.

References control_mode, and var_cmode_cur.

int VisAO::VisAOSimpleMotorCtrl::VisAO_PosReqChanged	(	void *	pt,
		Variable *	msgb
	)

static

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

Definition at line 229 of file VisAOSimpleMotorCtrl.cpp.

References control_mode, getAbortPos(), and VisAO::threadMutex.

Referenced by CreateMotor().

int VisAO::VisAOSimpleMotorCtrl::VisAO_PosLocalReqChanged	(	void *	pt,
		Variable *	msgb
	)

static

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

Definition at line 264 of file VisAOSimpleMotorCtrl.cpp.

References control_mode, getAbortPos(), and VisAO::threadMutex.

Referenced by CreateMotor().

int VisAO::VisAOSimpleMotorCtrl::VisAO_PosScriptReqChanged	(	void *	pt,
		Variable *	msgb
	)

static

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

Definition at line 299 of file VisAOSimpleMotorCtrl.cpp.

References control_mode, getAbortPos(), and VisAO::threadMutex.

Referenced by CreateMotor().

Member Data Documentation

int VisAO::VisAOSimpleMotorCtrl::control_mode = VisAOSimpleMotorCtrl::CMODE_REMOTE

static

Is static so it can be used by static RTDB handlers.

Definition at line 84 of file VisAOSimpleMotorCtrl.h.

Referenced by request_control(), SetupVars(), VisAO_PosLocalReqChanged(), VisAO_PosReqChanged(), and VisAO_PosScriptReqChanged().

int VisAO::VisAOSimpleMotorCtrl::default_control_mode = -1

static

If not -1, then this mode is always returned to, instead of NONE.

Definition at line 89 of file VisAOSimpleMotorCtrl.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation