Motor Local Control System (LCS) Interface (IF) class. More...

#include <motorLcsIf.hpp>

Inheritance diagram for devmgr::motor::MotorLcsIf:

Public Member Functions
	MotorLcsIf (std::shared_ptr< devmgr::common::IDeviceConfig > config, devmgr::common::DataContext &data_ctx)
	MotorLcsIf constructor. More...

virtual bool	IsReady ()
	Check if controller is in Standby/Ready state. More...

virtual bool	IsNotReady ()
	Check if controller is in Standby/NotReady state. More...

virtual bool	IsOperational ()
	Check if controller is in Operational. More...

void	ReadConfig ()
	Read the configuration. More...

void	MoveAbs (double position, double velocity)
	Executes the MoveAbs RPC. More...

void	MoveRel (double position, double velocity)
	Executes the MoveRel RPC. More...

void	MoveVel (double velocity)
	Executes the MoveVel RPC. More...

virtual bool	IsDisabling ()
	Check if controller is disabling the motor. More...

bool	IsMoving ()
	Check if motor is moving. More...

bool	IsStandstill ()
	Check if motor is on. More...

bool	IsHwFailure ()
	Check if motor is in hardware error. More...

virtual void	ReadStatus (MotorControllerData &status)
	Read status from the controller. More...

void	StartMonitoring ()
	Start monitoring of controller attributes. More...

void	StopMonitoring ()
	Stop monitoring of controller attributes. More...

void	Listener (fcf::common::VectorVariant &params)
	Callback to manage changes on the monitored items. More...

virtual std::string	GetRpcError (const short error_code) const

virtual std::string	GetHwError (int &error_code, const bool update=false)
	Get error message. More...

	MotorLcsIf (std::shared_ptr< devmgr::common::IDeviceConfig > config, devmgr::common::DataContext &data_ctx)
	MotorLcsIf constructor. More...

virtual bool	IsReady ()
	Check if controller is in Standby/Ready state. More...

virtual bool	IsNotReady ()
	Check if controller is in Standby/NotReady state. More...

virtual bool	IsOperational ()
	Check if controller is in Operational. More...

void	ReadConfig ()
	Read the configuration. More...

void	MoveAbs (double position, double velocity)
	Executes the MoveAbs RPC. More...

void	MoveRel (double position, double velocity)
	Executes the MoveRel RPC. More...

void	MoveVel (double velocity)
	Executes the MoveVel RPC. More...

virtual bool	IsDisabling ()
	Check if controller is disabling the motor. More...

bool	IsMoving ()
	Check if motor is moving. More...

bool	IsStandstill ()
	Check if motor is on. More...

bool	IsHwFailure ()
	Check if motor is in hardware error. More...

virtual void	ReadStatus (MotorControllerData &status)
	Read status from the controller. More...

void	StartMonitoring ()
	Start monitoring of controller attributes. More...

void	StopMonitoring ()
	Stop monitoring of controller attributes. More...

void	Listener (fcf::common::VectorVariant &params)
	Callback to manage changes on the monitored items. More...

virtual std::string	GetRpcError (const short error_code) const

virtual std::string	GetHwError (int &error_code, const bool update=false)
	Get error message. More...

	MotorLcsIf (std::shared_ptr< devmgr::common::IDeviceConfig > config, devmgr::common::DataContext &data_ctx)
	MotorLcsIf constructor. More...

virtual bool	IsReady ()
	Check if controller is in Standby/Ready state. More...

virtual bool	IsNotReady ()
	Check if controller is in Standby/NotReady state. More...

virtual bool	IsOperational ()
	Check if controller is in Operational. More...

void	ReadConfig ()
	Read the configuration. More...

void	MoveAbs (double position, double velocity)
	Executes the MoveAbs RPC. More...

void	MoveRel (double position, double velocity)
	Executes the MoveRel RPC. More...

void	MoveVel (double velocity)
	Executes the MoveVel RPC. More...

virtual bool	IsDisabling ()
	Check if controller is disabling the motor. More...

bool	IsMoving ()
	Check if motor is moving. More...

bool	IsStandstill ()
	Check if motor is on. More...

bool	IsHwFailure ()
	Check if motor is in hardware error. More...

virtual void	ReadStatus (MotorControllerData &status)
	Read status from the controller. More...

void	StartMonitoring ()
	Start monitoring of controller attributes. More...

void	StopMonitoring ()
	Stop monitoring of controller attributes. More...

void	Listener (fcf::common::VectorVariant &params)
	Callback to manage changes on the monitored items. More...

virtual std::string	GetRpcError (const short error_code) const

virtual std::string	GetHwError (int &error_code, const bool update=false)
	Get error message. More...

Public Member Functions inherited from devmgr::common::DeviceLcsIf
	DeviceLcsIf (std::shared_ptr< IDeviceConfig > config)
	DeviceLcsIf construm_data_ctx.GetConfig().GetServerId() + ".". More...

virtual void	RegisterComm (std::shared_ptr< fcf::common::IComm > commIf, fcf::common::Dispatcher<> &failure, fcf::common::Dispatcher<> &normal)
	Register a communication interface. More...

virtual void	Connect ()
	Connect to the controller or simulator. More...

virtual void	Disconnect ()
	Disconnect from the controller of simulator. More...

virtual void	Init ()
	Check if controller is in Hardware Failure. More...

virtual void	Enable ()
	Executes the Enable RPC. More...

virtual void	Disable ()
	Executes the Disable RPC. More...

virtual void	Stop ()
	Executes the Stop RPC. More...

virtual void	Reset ()
	Executes the Reset RPC. More...

std::string	GetMapValue (std::string category, std::string key)
	Get mapping valLampConfigue. More...

fcf::common::Dispatcher < fcf::common::VectorVariant & > &	GetDispatcher ()

bool	IsConfigLoaded () const
	Check if configuration was loaded. More...

bool	IsConnected () const
	Check is the communication was established. More...

	DeviceLcsIf (std::shared_ptr< IDeviceConfig > config)
	DeviceLcsIf construm_data_ctx.GetConfig().GetServerId() + ".". More...

virtual void	RegisterComm (std::shared_ptr< fcf::common::IComm > commIf, fcf::common::Dispatcher<> &failure, fcf::common::Dispatcher<> &normal)
	Register a communication interface. More...

virtual void	Connect ()
	Connect to the controller or simulator. More...

virtual void	Disconnect ()
	Disconnect from the controller of simulator. More...

virtual void	Init ()
	Check if controller is in Hardware Failure. More...

virtual void	Enable ()
	Executes the Enable RPC. More...

virtual void	Disable ()
	Executes the Disable RPC. More...

virtual void	Stop ()
	Executes the Stop RPC. More...

virtual void	Reset ()
	Executes the Reset RPC. More...

std::string	GetMapValue (std::string category, std::string key)
	Get mapping valLampConfigue. More...

fcf::common::Dispatcher < fcf::common::VectorVariant & > &	GetDispatcher ()

bool	IsConfigLoaded () const
	Check if configuration was loaded. More...

bool	IsConnected () const
	Check is the communication was established. More...

	DeviceLcsIf (std::shared_ptr< IDeviceConfig > config)
	DeviceLcsIf construm_data_ctx.GetConfig().GetServerId() + ".". More...

virtual void	RegisterComm (std::shared_ptr< fcf::common::IComm > commIf, fcf::common::Dispatcher<> &failure, fcf::common::Dispatcher<> &normal)
	Register a communication interface. More...

virtual void	Connect ()
	Connect to the controller or simulator. More...

virtual void	Disconnect ()
	Disconnect from the controller of simulator. More...

virtual void	Init ()
	Check if controller is in Hardware Failure. More...

virtual void	Enable ()
	Executes the Enable RPC. More...

virtual void	Disable ()
	Executes the Disable RPC. More...

virtual void	Stop ()
	Executes the Stop RPC. More...

virtual void	Reset ()
	Executes the Reset RPC. More...

std::string	GetMapValue (std::string category, std::string key)
	Get mapping valLampConfigue. More...

fcf::common::Dispatcher < fcf::common::VectorVariant & > &	GetDispatcher ()

bool	IsConfigLoaded () const
	Check if configuration was loaded. More...

bool	IsConnected () const
	Check is the communication was established. More...

Protected Attributes
std::unordered_map < std::string, short >	m_status_map

std::vector< std::string >	m_monitor_vector

Protected Attributes inherited from devmgr::common::DeviceLcsIf
YAML::Node	m_config_node
	YAML node for the device mapping file. More...

std::shared_ptr < fcf::common::IComm >	m_comm
	Shared pointer to the communication object. More...

std::shared_ptr< IDeviceConfig >	m_config
	Shared pointer to the device config object. More...

fcf::common::Dispatcher < fcf::common::VectorVariant & >	m_dispatcher
	Dispatcher for managing subscription events. More...

fcf::common::Dispatcher	m_failure
	Dispatcher for managing failures in the communication. More...

fcf::common::Dispatcher	m_normal
	Dispatcher for managing recovery of communication failures. More...

short	m_state
	Actual controller state. More...

short	m_substate
	Actual controller substate. More...

bool	m_config_loaded
	Flag indicating whether the configuration was succesfully loaded. More...

bool	m_connected
	Flag indicating whether the LCS is connected. More...

Additional Inherited Members
Protected Member Functions inherited from devmgr::common::DeviceLcsIf
void	LoadConfig ()
	Load the YAML configuration. More...

void	GetStates (short &state, short &substate)
	Get states (state and substate) of the controller. More...

void	LoadConfig ()
	Load the YAML configuration. More...

void	GetStates (short &state, short &substate)
	Get states (state and substate) of the controller. More...

void	LoadConfig ()
	Load the YAML configuration. More...

void	GetStates (short &state, short &substate)
	Get states (state and substate) of the controller. More...

Detailed Description

Motor Local Control System (LCS) Interface (IF) class.

This class manages the motor connection to the LCS encapsulating all basic communication with the controller or the simulator.

Each RPC call is synchronous but it only starts the action in the controller. The controller will return succesfully if the action can be started, not that the action was completed.

The completion of the action must be monitored by reading the status of the controller but this is out of the scope of this class.

Constructor & Destructor Documentation

devmgr::motor::MotorLcsIf::MotorLcsIf	(	std::shared_ptr< devmgr::common::IDeviceConfig >	config,
		devmgr::common::DataContext &	data_ctx
	)

MotorLcsIf constructor.

Parameters

[in,out]	config	Shared pointer to the device configuration.
[in,out]	data_ctx	Reference to the data context object.

devmgr::motor::MotorLcsIf::MotorLcsIf	(	std::shared_ptr< devmgr::common::IDeviceConfig >	config,
		devmgr::common::DataContext &	data_ctx
	)

MotorLcsIf constructor.

Parameters

[in,out]	config	Shared pointer to the device configuration.
[in,out]	data_ctx	Reference to the data context object.

devmgr::motor::MotorLcsIf::MotorLcsIf	(	std::shared_ptr< devmgr::common::IDeviceConfig >	config,
		devmgr::common::DataContext &	data_ctx
	)

MotorLcsIf constructor.

Parameters

[in,out]	config	Shared pointer to the device configuration.
[in,out]	data_ctx	Reference to the data context object.

Member Function Documentation

std::string devmgr::motor::MotorLcsIf::GetHwError	(	int &	error_code,
		const bool	update = `false`
	)

virtual

Get error message.

Returns: error message associated to the error code read from the PLC.

Implements devmgr::common::DeviceLcsIf.

virtual std::string devmgr::motor::MotorLcsIf::GetHwError	(	int &	error_code,
		const bool	update = `false`
	)

virtual

Get error message.

Returns: error message associated to the error code read from the PLC.

Implements devmgr::common::DeviceLcsIf.

virtual std::string devmgr::motor::MotorLcsIf::GetHwError	(	int &	error_code,
		const bool	update = `false`
	)

virtual

Get error message.

Returns: error message associated to the error code read from the PLC.

Implements devmgr::common::DeviceLcsIf.

std::string devmgr::motor::MotorLcsIf::GetRpcError ( const short error_code ) const

virtual

Parameters

error_code Error code

Returns: Associated error text to the passed error code.

Implements devmgr::common::DeviceLcsIf.

virtual std::string devmgr::motor::MotorLcsIf::GetRpcError ( const short error_code ) const

virtual

Parameters

error_code Error code

Returns: Associated error text to the passed error code.

Implements devmgr::common::DeviceLcsIf.

virtual std::string devmgr::motor::MotorLcsIf::GetRpcError ( const short error_code ) const

virtual

Parameters

error_code Error code

Returns: Associated error text to the passed error code.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsDisabling ( )

virtual

Check if controller is disabling the motor.

Returns: true if condition is met, false otherwise.

Reimplemented from devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsDisabling ( )

virtual

Check if controller is disabling the motor.

Returns: true if condition is met, false otherwise.

Reimplemented from devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsDisabling ( )

virtual

Check if controller is disabling the motor.

Returns: true if condition is met, false otherwise.

Reimplemented from devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsHwFailure ( )

virtual

Check if motor is in hardware error.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsHwFailure ( )

virtual

Check if motor is in hardware error.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsHwFailure ( )

virtual

Check if motor is in hardware error.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsMoving ( )

Check if motor is moving.

bool devmgr::motor::MotorLcsIf::IsMoving ( )

Check if motor is moving.

bool devmgr::motor::MotorLcsIf::IsMoving ( )

Check if motor is moving.

bool devmgr::motor::MotorLcsIf::IsNotReady ( )

virtual

Check if controller is in Standby/NotReady state.

Returns: true if condition is met, false otherwise.

Reimplemented from devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsNotReady ( )

virtual

Check if controller is in Standby/NotReady state.

Returns: true if condition is met, false otherwise.

Reimplemented from devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsNotReady ( )

virtual

Check if controller is in Standby/NotReady state.

Returns: true if condition is met, false otherwise.

Reimplemented from devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsOperational ( )

virtual

Check if controller is in Operational.

Returns: true if condition is met, false otherwise.

Implements devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsOperational ( )

virtual

Check if controller is in Operational.

Returns: true if condition is met, false otherwise.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsOperational ( )

virtual

Check if controller is in Operational.

Returns: true if condition is met, false otherwise.

Implements devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsReady ( )

virtual

Check if controller is in Standby/Ready state.

Returns: true if condition is met, false otherwise.

Implements devmgr::common::DeviceLcsIf.

virtual bool devmgr::motor::MotorLcsIf::IsReady ( )

virtual

Check if controller is in Standby/Ready state.

Returns: true if condition is met, false otherwise.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsReady ( )

virtual

Check if controller is in Standby/Ready state.

Returns: true if condition is met, false otherwise.

Implements devmgr::common::DeviceLcsIf.

bool devmgr::motor::MotorLcsIf::IsStandstill ( )

Check if motor is on.

bool devmgr::motor::MotorLcsIf::IsStandstill ( )

Check if motor is on.

bool devmgr::motor::MotorLcsIf::IsStandstill ( )

Check if motor is on.

void devmgr::motor::MotorLcsIf::Listener ( fcf::common::VectorVariant & params )

virtual

Callback to manage changes on the monitored items.

Parameters

[in] params Vector containing the list of atributes that have changed

This method implement the actions associated to the events originated from the monitoring of attributes.

This method is storing in the database the values that have changed. It also publish the events for the clients via zeroMQ.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::Listener ( fcf::common::VectorVariant & params )

virtual

Callback to manage changes on the monitored items.

Parameters

[in] params Vector containing the list of atributes that have changed

This method implement the actions associated to the events originated from the monitoring of attributes.

This method is storing in the database the values that have changed. It also publish the events for the clients via zeroMQ.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::Listener ( fcf::common::VectorVariant & params )

virtual

Callback to manage changes on the monitored items.

Parameters

[in] params Vector containing the list of atributes that have changed

This method implement the actions associated to the events originated from the monitoring of attributes.

This method is storing in the database the values that have changed. It also publish the events for the clients via zeroMQ.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::MoveAbs	(	double	position,
		double	velocity
	)

Executes the MoveAbs RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in absolute user units.

void devmgr::motor::MotorLcsIf::MoveAbs	(	double	position,
		double	velocity
	)

Executes the MoveAbs RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in absolute user units.

void devmgr::motor::MotorLcsIf::MoveAbs	(	double	position,
		double	velocity
	)

Executes the MoveAbs RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in absolute user units.

void devmgr::motor::MotorLcsIf::MoveRel	(	double	position,
		double	velocity
	)

Executes the MoveRel RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in relative user units.

void devmgr::motor::MotorLcsIf::MoveRel	(	double	position,
		double	velocity
	)

Executes the MoveRel RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in relative user units.

void devmgr::motor::MotorLcsIf::MoveRel	(	double	position,
		double	velocity
	)

Executes the MoveRel RPC.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in relative user units.

void devmgr::motor::MotorLcsIf::MoveVel ( double velocity )

Executes the MoveVel RPC.

Parameters

velocity Speed in which the motor will be moved.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in velocity mode.

void devmgr::motor::MotorLcsIf::MoveVel ( double velocity )

Executes the MoveVel RPC.

Parameters

velocity Speed in which the motor will be moved.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in velocity mode.

void devmgr::motor::MotorLcsIf::MoveVel ( double velocity )

Executes the MoveVel RPC.

Parameters

velocity Speed in which the motor will be moved.

Exceptions

an	exception if an error ocurrs.

This RPC call make the motor move in velocity mode.

void devmgr::motor::MotorLcsIf::ReadConfig ( )

virtual

Read the configuration.

Exceptions

an	exception if an error ocurrs.

This class reads the mapping configuration of the device.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::ReadConfig ( )

virtual

Read the configuration.

Exceptions

an	exception if an error ocurrs.

This class reads the mapping configuration of the device.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::ReadConfig ( )

virtual

Read the configuration.

Exceptions

an	exception if an error ocurrs.

This class reads the mapping configuration of the device.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::ReadStatus ( MotorControllerData & status )

virtual

Read status from the controller.

Parameters

status structure containing the status of the controller.

Exceptions

an	exception if an error ocurrs.

Warning: : The unpacking of the data shall follow the proper order or there is the risk of having an exception related to the boost conversion to variant.

virtual void devmgr::motor::MotorLcsIf::ReadStatus ( MotorControllerData & status )

virtual

Read status from the controller.

Parameters

status structure containing the status of the controller.

Exceptions

an	exception if an error ocurrs.

Warning: : The unpacking of the data shall follow the proper order or there is the risk of having an exception related to the boost conversion to variant.

virtual void devmgr::motor::MotorLcsIf::ReadStatus ( MotorControllerData & status )

virtual

Read status from the controller.

Parameters

status structure containing the status of the controller.

Exceptions

an	exception if an error ocurrs.

Warning: : The unpacking of the data shall follow the proper order or there is the risk of having an exception related to the boost conversion to variant.

void devmgr::motor::MotorLcsIf::StartMonitoring ( )

virtual

Start monitoring of controller attributes.

Exceptions

an	exception if an error ocurrs.

This methods take cares of registering the attributes that will be monitored by the communication class. Most of the communication will be OPCUA and this monitoring means OPCUA subscription.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::StartMonitoring ( )

virtual

Start monitoring of controller attributes.

Exceptions

an	exception if an error ocurrs.

This methods take cares of registering the attributes that will be monitored by the communication class. Most of the communication will be OPCUA and this monitoring means OPCUA subscription.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::StartMonitoring ( )

virtual

Start monitoring of controller attributes.

Exceptions

an	exception if an error ocurrs.

This methods take cares of registering the attributes that will be monitored by the communication class. Most of the communication will be OPCUA and this monitoring means OPCUA subscription.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::StopMonitoring ( )

virtual

Stop monitoring of controller attributes.

This method will inform the communication interface to stop monitoring the motor attributes.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::StopMonitoring ( )

virtual

Stop monitoring of controller attributes.

This method will inform the communication interface to stop monitoring the motor attributes.

Implements devmgr::common::DeviceLcsIf.

void devmgr::motor::MotorLcsIf::StopMonitoring ( )

virtual

Stop monitoring of controller attributes.

This method will inform the communication interface to stop monitoring the motor attributes.

Implements devmgr::common::DeviceLcsIf.

Member Data Documentation

std::vector< std::string > devmgr::motor::MotorLcsIf::m_monitor_vector

protected

std::unordered_map< std::string, short > devmgr::motor::MotorLcsIf::m_status_map

protected

< this map is used to convert NodeId received by the OPCUA notifications to an index value to avoid comparing strings for each notification. This vector is used to prepare in advance the list of nodeIds that will be monitored per device.

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

fcf/devmgr/devices/src/include/devmgr/devices/motorLcsIf.hpp
INTROOT/include/devmgr/devices/motorLcsIf.hpp
INTROOT/sources/fcf/devmgr/devices/src/include/devmgr/devices/motorLcsIf.hpp
fcf/devmgr/devices/src/motorLcsIf.cpp
INTROOT/sources/fcf/devmgr/devices/src/motorLcsIf.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation