FACT++  1.0
Public Member Functions | Private Member Functions | Private Attributes | List of all members
ConnectionDimDrive Class Reference
+ Inheritance diagram for ConnectionDimDrive:
+ Collaboration diagram for ConnectionDimDrive:

Public Member Functions

 ConnectionDimDrive (ba::io_service &ioservice, MessageImp &imp)
 
void UpdateSource (const string &name="", bool tracking=false)
 
void UpdateSource (const array< double, 6 > &arr, const string &name="")
 
void UpdatePointing (const Time &t, const array< double, 2 > &arr)
 
void UpdateTracking (const Time &t, const array< double, 12 > &arr)
 
void UpdateStatus (const Time &t, const array< uint8_t, 3 > &arr)
 
void UpdateTPoint (const Time &t, const DimTPoint &data, const string &name)
 
void UpdateSource (const Time &t, const string &name, bool tracking)
 
void UpdateSource (const Time &t, const array< double, 5 > &arr, const string &name="")
 
 ConnectionDimDrive (ba::io_service &ioservice, MessageImp &imp)
 
- Public Member Functions inherited from ConnectionDrive
double GetDevAbs (double nomzd, double meszd, double devaz)
 
void ProcessDriveStatus (const string &line)
 
bool ProcessStargReport (const string &line)
 
bool ProcessTpointReport (const string &line)
 
bool ProcessDriveReport (const string &line)
 
 ConnectionDrive (ba::io_service &ioservice, MessageImp &imp)
 
void SetVerbose (bool b)
 
void SetDeviationCondition (uint16_t limit, uint16_t counter, uint16_t max)
 
int GetState () const
 
 ConnectionDrive (ba::io_service &ioservice, MessageImp &imp)
 
void SetVerbosity (const uint16_t &v)
 
uint16_t GetVerbosity () const
 
void RequestSdo (uint8_t node, uint16_t idx, uint8_t subidx=0)
 
void SendSdo (uint8_t node, uint16_t idx, uint8_t subidx, uint32_t val)
 
void SendSdo (uint8_t node, uint16_t idx, uint32_t val)
 
bool IsMoving () const
 
bool IsInitialized () const
 
bool HasError () const
 
bool IsOnline () const
 
bool IsReady () const
 
bool IsBlocked () const
 
Encoder GetSePos () const
 
double GetSeTime () const
 
Encoder GetVelUnit () const
 
void SetRpmMode (bool mode)
 
void SetAcceleration (const Acceleration &acc)
 
void SetPointingVelocity (const Velocity &vel, double scale=1)
 
void SetTrackingVelocity (const Velocity &vel)
 
void StartAbsolutePositioning (const Encoder &enc, bool zd, bool az)
 
void SetLedVoltage (const uint32_t &v1, const uint32_t &v2)
 
- Public Member Functions inherited from Connection
void SetLogStream (MessageImp *log)
 
std::ostream & Out ()
 
void AsyncRead (const boost::asio::mutable_buffers_1 buffers, int type=0)
 
void AsyncWrite (const boost::asio::const_buffers_1 &buffers)
 
template<class T >
void AsyncWaitImp (boost::asio::deadline_timer &timer, int millisec, void(T::*handler)(const boost::system::error_code &))
 
void AsyncWait (boost::asio::deadline_timer &timer, int millisec, void(Connection::*handler)(const boost::system::error_code &))
 
 Connection (boost::asio::io_service &io_service, std::ostream &out)
 
void SetEndpoint (const std::string &addr, int port)
 
void SetEndpoint (const std::string &addr, const std::string &port)
 
void SetEndpoint (const std::string &addr)
 
void SetEndpoint (const boost::asio::ip::tcp::endpoint &ep)
 
virtual void StartConnect ()
 
void PostClose (bool restart=true)
 
void PostMessage (const void *msg, size_t s=0)
 
void PostMessage (const std::string &cmd, size_t s=-1)
 
template<typename T , size_t N>
void PostMessage (const std::array< T, N > &msg)
 
template<typename T >
void PostMessage (const std::vector< T > &msg)
 
virtual void HandleReadTimeout (const boost::system::error_code &)
 
bool IsTxQueueEmpty () const
 
int IsClosed () const
 
bool IsDisconnected () const
 
bool IsConnected () const
 
bool IsConnecting () const
 
void SetVerbose (bool b=true)
 
void SetDebugTx (bool b=true)
 
std::string URL () const
 
const boost::asio::ip::tcp::endpoint & GetEndpoint () const
 
- Public Member Functions inherited from MessageImp
 MessageImp (std::ostream &out=std::cout)
 
virtual ~MessageImp ()
 
virtual void IndicateStateChange (const Time &, const std::string &)
 
void StateChanged (const Time &time, const std::string &server, const std::string &msg, int state)
 
int Update (const std::string &txt, int severity=kMessage)
 
int Update (const char *txt, int severity=kMessage)
 
int Update (const std::ostringstream &str, int severity=kMessage)
 
int Debug (const std::string &str)
 
int Message (const std::string &str)
 
int Info (const std::string &str)
 
int Warn (const std::string &str)
 
int Error (const std::string &str)
 
int Alarm (const std::string &str)
 
int Fatal (const std::string &str)
 
int Comment (const std::string &str)
 
int Debug (const char *txt)
 
int Message (const char *txt)
 
int Info (const char *txt)
 
int Warn (const char *txt)
 
int Error (const char *txt)
 
int Alarm (const char *txt)
 
int Fatal (const char *txt)
 
int Comment (const char *txt)
 
int Debug (const std::ostringstream &str)
 
int Message (const std::ostringstream &str)
 
int Info (const std::ostringstream &str)
 
int Warn (const std::ostringstream &str)
 
int Alarm (const std::ostringstream &str)
 
int Error (const std::ostringstream &str)
 
int Fatal (const std::ostringstream &str)
 
int Comment (const std::ostringstream &str)
 
std::ostream & operator() () const
 
std::ostream & Out () const
 
virtual bool MessageQueueEmpty () const
 

Private Member Functions

void UpdatePointing (const Time &t, const array< double, 2 > &arr)
 
void UpdateTracking (const Time &t, const array< double, 8 > &arr)
 
void UpdateStatus (const Time &t, const array< uint8_t, 3 > &arr)
 
void UpdateTPoint (const Time &t, const DimTPoint &data, const string &name)
 
bool SendPointing (const pair< Time, array< double, 2 >> &p)
 
bool SendTracking (const pair< Time, array< double, 12 >> &p)
 
bool SendSource (const tuple< Time, vector< char >, bool > &t)
 
bool SendStatus (const pair< Time, array< uint8_t, 3 >> &p)
 
bool SendTPoint (const pair< Time, vector< char >> &p)
 

Private Attributes

DimDescribedService fDimPointing
 
DimDescribedService fDimTracking
 
DimDescribedService fDimSource
 
DimDescribedService fDimTPoint
 
DimDescribedService fDimStatus
 
Queue< pair< Time, array< double, 2 > > > fQueuePointing
 
Queue< pair< Time, array< double, 12 > > > fQueueTracking
 
Queue< tuple< Time, vector< char >, bool > > fQueueSource
 
Queue< pair< Time, vector< char > > > fQueueTPoint
 
Queue< pair< Time, array< uint8_t, 3 > > > fQueueStatus
 

Additional Inherited Members

- Public Types inherited from MessageImp
enum  Severity {
  kMessage = 10, kInfo = 20, kWarn = 30, kError = 40,
  kAlarm = 45, kFatal = 50, kComment = 90, kDebug = 99
}
 Severity of a message. More...
 
- Static Public Member Functions inherited from ConnectionDrive
static Time ReadTime (istream &in)
 
static double ReadAngle (istream &in)
 
- Public Attributes inherited from ConnectionDrive
uint16_t fDeviationLimit
 
uint16_t fDeviationCounter
 
uint16_t fDeviationMax
 
vector< double > fDevBuffer
 
uint64_t fDevCount
 
uint64_t fTrackingCounter
 
Time fPdoTime2 [2]
 
- Static Public Attributes inherited from ConnectionDrive
static const uint16_t kMaxAddr
 
- Protected Member Functions inherited from ConnectionDrive
void HandleReceivedReport (const boost::system::error_code &err, size_t bytes_received)
 
void StartReadReport ()
 
void KeepAlive ()
 
void HandleKeepAlive (const bs::error_code &error)
 
- Protected Attributes inherited from ConnectionDrive
map< uint16_t, int > fCounter
 
ba::streambuf fBuffer
 
boost::asio::deadline_timer fKeepAlive
 
- Protected Attributes inherited from Connection
boost::asio::deadline_timer fInTimeout
 

Detailed Description

Definition at line 674 of file cosyctrl.cc.

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