Inheritance diagram for ConnectionDrive:

Collaboration diagram for ConnectionDrive:

Classes
struct	SDO

struct	Timeout_t

Public Member Functions
virtual void	UpdateSource (const string &="", bool=false)

virtual void	UpdateSource (const array< double, 6 > &, const string &="")

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

virtual void	UpdatePointing (const Time &, const array< double, 2 > &)

virtual void	UpdateTracking (const Time &, const array< double, 12 > &)

virtual void	UpdateStatus (const Time &, const array< uint8_t, 3 > &)

virtual void	UpdateTPoint (const Time &, const DimTPoint &, const string &)

virtual void	UpdateSource (const Time &, const string &, bool)

virtual void	UpdateSource (const Time &, const array< double, 5 > &, const string &="")

	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

Static Public Member Functions
static Time	ReadTime (istream &in)

static double	ReadAngle (istream &in)

Public Attributes
uint16_t	fDeviationLimit

uint16_t	fDeviationCounter

uint16_t	fDeviationMax

vector< double >	fDevBuffer

uint64_t	fDevCount

uint64_t	fTrackingCounter

Time	fPdoTime2 [2]

Static Public Attributes
static const uint16_t	kMaxAddr

Protected Member Functions
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
map< uint16_t, int >	fCounter

ba::streambuf	fBuffer

boost::asio::deadline_timer	fKeepAlive

Protected Attributes inherited from Connection
boost::asio::deadline_timer	fInTimeout

Private Types
enum	NodeId_t { kNodeAz = 1, kNodeZd = 3 }

enum	{ kRxNodeguard = 0xe, kRxPdo1 = 3, kRxPdo2 = 5, kRxPdo3 = 7, kRxPdo4 = 9, kRxSdo = 0xb, kRxSdo4 = 0x40\|0x3, kRxSdo2 = 0x40\|0xb, kRxSdo1 = 0x40\|0xf, kRxSdoOk = 0x60, kRxSdoErr = 0x80, kTxSdo = 0x40, kTxSdo4 = 0x20\|0x3, kTxSdo2 = 0x20\|0xb, kTxSdo1 = 0x20\|0xf }

enum	Index_t { kReqArmed = 0x1000, kReqPDO = 0x1001, kReqErrStat = 0x1003, kReqSoftVer = 0x100a, kReqKeepAlive = 0x100b, kReqVel = 0x2002, kReqVelRes = 0x6002, kReqVelMax = 0x6003, kReqPos = 0x6004, kReqPosRes = 0x6501, kSetArmed = 0x1000, kSetPointVel = 0x2002, kSetAcc = 0x2003, kSetRpmMode = 0x3006, kSetTrackVel = 0x3007, kSetLedVoltage = 0x4000, kSetPosition = 0x6004 }

enum	{ kUpsAlarm = 0x01, kUpsBattery = 0x02, kUpsCharging = 0x04, kEmergencyOk = 0x10, kOvervoltOk = 0x20, kManualMode = 0x40, kAxisBb = 0x01, kAxisMoving = 0x02, kAxisRpmMode = 0x04, kAxisRf = 0x20, kAxisHasPower = 0x80 }

Private Member Functions
virtual void	UpdatePointing (const Time &, const array< double, 2 > &)

virtual void	UpdateTracking (const Time &, const array< double, 8 > &)

virtual void	UpdateStatus (const Time &, const array< uint8_t, 3 > &)

virtual void	UpdateStarguider (const Time &, const DimStarguider &)

virtual void	UpdateTPoint (const Time &, const DimTPoint &, const string &)

void	ConnectionEstablished ()

void	SendCanFrame (uint16_t cobid, uint8_t m0=0, uint8_t m1=0, uint8_t m2=0, uint8_t m3=0, uint8_t m4=0, uint8_t m5=0, uint8_t m6=0, uint8_t m7=0)

void	HandleSdo (const uint8_t &node, const uint16_t &idx, const uint8_t &subidx, const uint32_t &val, const Time &tv)

void	HandleSdoOk (const uint8_t &node, const uint16_t &idx, const uint8_t &subidx, const Time &)

void	HandleSdoError (const uint8_t &node, const uint16_t &idx, const uint8_t &subidx, const Time &)

void	HandlePdo1 (const uint8_t &node, const uint8_t *data, const Time &tv)

void	HandlePdo3 (const uint8_t &node, const uint8_t *data, const Time &tv)

string	ErrCodeToString (uint32_t code) const

void	LogErrorCode (uint32_t node)

void	HandlePdo2 (const uint8_t &node, const uint8_t *data, const Time &)

void	HandleReceivedData (const boost::system::error_code &err, size_t bytes_received, int)

void	StartReadReport ()

void	ConnectionEstablished ()

void	HandleTimeoutImp (const std::list< Timeout_t >::iterator &ref, const bs::error_code &error)

void	HandleTimeout (const std::list< Timeout_t >::iterator &ref, const bs::error_code &error)

void	SendSdoRequest (uint8_t node, uint8_t req, uint16_t idx, uint8_t subidx, uint32_t val=0)

Static Private Member Functions
static uint32_t	String (uint8_t b0=0, uint8_t b1=0, uint8_t b2=0, uint8_t b3=0)

Private Attributes
int	fState

bool	fIsVerbose

uint16_t	fVerbosity

uint32_t	fVelRes [2]

uint32_t	fVelMax [2]

uint32_t	fPosRes [2]

uint32_t	fErrCode [2]

int32_t	fPdoPos1 [2]

int32_t	fPdoPos2 [2]

Time	fPdoTime1 [2]

bool	fHasChangedPos1 [2]

bool	fHasChangedPos2 [2]

uint8_t	fStatusAxis [2]

uint8_t	fStatusSys

std::list< Timeout_t >	fTimeouts

vector< uint8_t >	fData

bool	fIsInitialized [2]

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...

Detailed Description

Definition at line 30 of file cosyctrl.cc.

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

src/cosyctrl.cc
src/drivectrl.cc

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description