#include <mtsLoPoMoCo.h>

Inheritance diagram for mtsLoPoMoCo:

Public Types
enum	{ NB_AXIS = 4 }

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Public Member Functions
	mtsLoPoMoCo (const std::string &deviceName, unsigned int numberOfBoards)

virtual	~mtsLoPoMoCo ()

virtual void	Configure (const std::string &filename)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

virtual void	Create (void)

bool	CreateAndWait (double timeoutInSeconds)

virtual void	Start (void)

bool	StartAndWait (double timeoutInSeconds)

virtual void	Suspend (void)

virtual void	Kill (void)

bool	KillAndWait (double timeoutInSeconds)

virtual void	Startup (void)

virtual void	Cleanup (void)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

virtual mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

virtual mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Member Functions
void	LatchEncoders (void)

void	StartMotorCurrentConv (void)

void	StartPotFeedbackConv (void)

void	StartPotFeedbackConvFast (void)

void	EnableAll (void)

void	DisableAll (void)

void	GetPositions (mtsLongVec &Positions) const

void	GetVelocities (mtsShortVec &Velocities) const

void	GetMotorCurrents (mtsShortVec &MotorCurrents) const

void	GetPotFeedbacks (mtsShortVec &PotFeedbacks) const

void	SetMotorVoltages (const mtsShortVec &MotorVoltages)

void	SetCurrentLimits (const mtsShortVec &CurrentLimits)

void	SetPositions (const mtsLongVec &Positions)

void	LoadMotorVoltages (void)

void	LoadCurrentLimits (void)

void	LoadMotorVoltagesCurrentLimits (void)

void	FrequencyToRPS (const mtsShortVec &fromData, mtsDoubleVec &toData) const

void	ADCToMotorCurrents (const mtsShortVec &fromData, mtsDoubleVec &toData) const

void	ADCToPotFeedbacks (const mtsShortVec &fromData, mtsVector< double > &toData) const

void	MotorVoltagesToDAC (const mtsDoubleVec &fromData, mtsShortVec &toData) const

void	CurrentLimitsToDAC (const mtsDoubleVec &fromData, mtsShortVec &toData) const

void	Enable (const mtsShort &axisIndex)

void	Disable (const mtsShort &axisIndex)

void	ResetEncoders (const mtsShort &axisIndex)

void	SetDigitalOutput (const mtsIntVec &DigitalOutput)

void	GetDigitalInput (mtsIntVec &DigitalInput) const

void	GetLatchedIndex (mtsShortVec &latchedIndex) const

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

virtual bool	WaitForState (mtsComponentState desiredState, double timeout)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Additional Inherited Members
Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Detailed Description

A specific device class for the LoPoMoCo motion controller card.

Member Enumeration Documentation

anonymous enum

Number of axis per board

Enumerator
NB_AXIS

Constructor & Destructor Documentation

mtsLoPoMoCo::mtsLoPoMoCo	(	const std::string &	deviceName,
		unsigned int	numberOfBoards
	)

Constructor. Prepares the maps.

virtual mtsLoPoMoCo::~mtsLoPoMoCo ( )

virtual

Default destructor. Disables motor power.

Member Function Documentation

void mtsLoPoMoCo::ADCToMotorCurrents	(	const mtsShortVec &	fromData,
		mtsDoubleVec &	toData
	)		const

protected

Convert motor currents in ADC counts to mA. It is indexed by the string ADCToMotorCurrents in the QualifiedReadMap.

void mtsLoPoMoCo::ADCToPotFeedbacks	(	const mtsShortVec &	fromData,
		mtsVector< double > &	toData
	)		const

protected

Convert pot feedback in ADC counts to V. It is indexed by the string ADCToPotFeedbacks in the QualifiedReadMap.

virtual void mtsLoPoMoCo::Configure ( const std::string & filename )

virtual

Configure takes the top level configuration file which points to the configuration file for each board.

Reimplemented from mtsComponent.

void mtsLoPoMoCo::CurrentLimitsToDAC	(	const mtsDoubleVec &	fromData,
		mtsShortVec &	toData
	)		const

protected

Convert currents limits in mA to DAC counts. It is indexed by the string CurrentLimitsToDAC in the QualifiedReadMap.

void mtsLoPoMoCo::Disable ( const mtsShort & axisIndex )

protected

Disable the specified axis

void mtsLoPoMoCo::DisableAll ( void )

protected

Disable all axes on this board

void mtsLoPoMoCo::Enable ( const mtsShort & axisIndex )

protected

Enable the specified axis

void mtsLoPoMoCo::EnableAll ( void )

protected

Enable all axis on this board

void mtsLoPoMoCo::FrequencyToRPS	(	const mtsShortVec &	fromData,
		mtsDoubleVec &	toData
	)		const

protected

Convert encoder frequencies to revolutions per second. It is indexed by the string FrequencyToRPS in the QualifiedReadMap.

void mtsLoPoMoCo::GetDigitalInput ( mtsIntVec & DigitalInput ) const

protected

void mtsLoPoMoCo::GetLatchedIndex ( mtsShortVec & latchedIndex ) const

protected

void mtsLoPoMoCo::GetMotorCurrents ( mtsShortVec & MotorCurrents ) const

protected

Get the latest motor currents. Assumes that a conversion has been started using the void operation StartMotorCurrentConv. It is indexed by the string MotorCurrents in the ReadMap.

void mtsLoPoMoCo::GetPositions ( mtsLongVec & Positions ) const

protected

Get the latest encoder positions. Assumes that encoders are latched using the void operation LatchEncoders. It is indexed by the string Positions in the ReadMap.

void mtsLoPoMoCo::GetPotFeedbacks ( mtsShortVec & PotFeedbacks ) const

protected

Get the latest pot position. Assumes that a conversion has been started using the void operation StartPotFeedbackConv. It is indexed by the string PotFeedbacks in the ReadMap.

void mtsLoPoMoCo::GetVelocities ( mtsShortVec & Velocities ) const

protected

Get the velocity. Assumes that encoders are latched using the void operation LatchEncoders and that Encoders are read using GetPosition. It is indexed by the string Velocities in the ReadMap.

void mtsLoPoMoCo::LatchEncoders ( void )

protected

Latch the encoder positions. It is indexed by the string LatchEncoders in the PreReadMap.

void mtsLoPoMoCo::LoadCurrentLimits ( void )

protected

Load the current limits DAC buffer to actual analog output. It is indexed by the string LoadCurrentLimits in the VoidMap.

void mtsLoPoMoCo::LoadMotorVoltages ( void )

protected

Load the motor voltage DAC buffer to actual analog output. It is indexed by the string LoadMotorVoltages in the VoidMap.

void mtsLoPoMoCo::LoadMotorVoltagesCurrentLimits ( void )

protected

Load the motor voltages and current limits DAC buffer to actual analog output. It is indexed by the string LoadMotorVoltagesCurrentLimits in the VoidMap.

void mtsLoPoMoCo::MotorVoltagesToDAC	(	const mtsDoubleVec &	fromData,
		mtsShortVec &	toData
	)		const

protected

Convert motor voltages in V to DAC counts. It is indexed by the string MotorVoltagesToDAC in the QualifiedReadMap.

void mtsLoPoMoCo::ResetEncoders ( const mtsShort & axisIndex )

protected

Reset Encoder

void mtsLoPoMoCo::SetCurrentLimits ( const mtsShortVec & CurrentLimits )

protected

Write current limits to the DAC buffer. Assumes that these would be loaded using the void operation LoadCurrentLimits or LoadMotorVoltagesCurrentLimits. It is indexed by the string CurrentLimits in the WriteMap.

void mtsLoPoMoCo::SetDigitalOutput ( const mtsIntVec & DigitalOutput )

protected

void mtsLoPoMoCo::SetMotorVoltages ( const mtsShortVec & MotorVoltages )

protected

Write motor votlages to the DAC buffer. Assumes that these would be loaded using the void operation LoadMotorVoltages or LoadMotorVoltagesCurrentLimits. It is indexed by the string MotorVoltages in the WriteMap.

void mtsLoPoMoCo::SetPositions ( const mtsLongVec & Positions )

protected

Write the current positions to the encoder buffer. It is indexed by the string SetPositions in the WriteMap.

void mtsLoPoMoCo::StartMotorCurrentConv ( void )

protected

Start conversion on ADC connected to current limits. It is indexed by the string StartMotorCurrentConv in the PreReadMap.

void mtsLoPoMoCo::StartPotFeedbackConv ( void )

protected

Start conversion on ADC connected to pots. It is indexed by the string StartPotFeedbackConv in the PreReadMap.

void mtsLoPoMoCo::StartPotFeedbackConvFast ( void )

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawLoPoMoCo/include/sawLoPoMoCo/mtsLoPoMoCo.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation