MagAO-X standard motion stage interface. More...

#include <stdMotionStage.hpp>

Collaboration diagram for MagAOX::app::dev::stdMotionStage< derivedT >:

Public Member Functions
	~stdMotionStage () noexcept
	Destructor. More...

int	setupConfig (mx::app::appConfigurator &config)
	Setup the configuration system. More...

int	loadConfig (mx::app::appConfigurator &config)
	load the configuration system results More...

int	appStartup ()
	Startup function. More...

int	appLogic ()
	Application logic. More...

int	onPowerOff ()
	Actions on power off. More...

int	whilePowerOff ()
	Actions while powered off. More...

int	appShutdown ()
	Application the shutdown. More...

Telemeter Interface
int	recordStage (bool force=false)

Protected Attributes
std::string	m_presetNotation {"preset"}
	Notation used to refer to a preset, should be singular, as in "preset" or "filter". More...

bool	m_fractionalPresets {true}
	Flag to set in constructor determining if fractional presets are allowed. Used for INDI/GUIs. More...

bool	m_defaultPositions {true}
	Flag controlling whether the default preset positions (the vector index) are set in loadConfig. More...

int8_t	m_moving {0}
	Whether or not the stage is moving. -2 means powered off, -1 means not homed, 0 means not moving, 1 means moving, 2 means homing. More...

int8_t	m_movingState {0}
	Used to track the type of command. If > 1 this is a command to move to a preset. If 0 then it is a move to an arbitrary position. More...

double	m_preset {0}
	The current numerical preset position [1.0 is index 0 in the preset name vector]. More...

double	m_preset_target {0}
	The target numerical preset position [1.0 is index 0 in the preset name vector]. More...

Configurable Parameters
bool	m_powerOnHome {false}
	If true, then the motor is homed at startup (by this software or actual power on) More...

int	m_homePreset {-1}
	If >=0, this preset position is moved to after homing. More...

std::vector< std::string >	m_presetNames
	The names of each position on the stage. More...

std::vector< double >	m_presetPositions
	The positions, in arbitrary units, of each preset. If 0, then the integer position number (starting from 1) is used to calculate. More...

Private Member Functions
derivedT &	derived ()

INDI
pcf::IndiProperty	m_indiP_preset
	The position of the stage in presets. More...

pcf::IndiProperty	m_indiP_presetName
	The name of the nearest preset for this position. More...

pcf::IndiProperty	m_indiP_home
	Command the stage to home. . More...

pcf::IndiProperty	m_indiP_stop
	Command the stage to halt. More...

int	newCallBack_m_indiP_preset (const pcf::IndiProperty &ipRecv)
	Callback to process a NEW preset position request. More...

int	newCallBack_m_indiP_presetName (const pcf::IndiProperty &ipRecv)
	Callback to process a NEW preset name request. More...

int	newCallBack_m_indiP_home (const pcf::IndiProperty &ipRecv)
	Callback to process a NEW home request switch toggle. More...

int	newCallBack_m_indiP_stop (const pcf::IndiProperty &ipRecv)
	Callback to process a NEW stop request switch toggle. More...

int	updateINDI ()
	Update the INDI properties for this device controller. More...

static int	st_newCallBack_stdMotionStage (void *app, const pcf::IndiProperty &ipRecv)
	The static callback function to be registered for stdMotionStage properties. More...

Detailed Description

template<class derivedT>
class MagAOX::app::dev::stdMotionStage< derivedT >

MagAO-X standard motion stage interface.

Implements the standard interface to a MagAO-X motion stage. This includes the mcbl filter wheels, the zaber stages.

The required interface to be implemented in derivedT is

int stop(); //Note that the INDI mutex will not be locked on this call 
 
int startHoming(); //INDI mutex will be locked on this call.
 
double presetNumber();
 
int moveTo(double); //INDI mutex will be locked on this call.

In addition the derived class is responsible for setting m_moving and m_preset. m_preset_target should also be set if the wheel is moved via a low-level position command.

The derived class derivedT must be a MagAOXApp<true>, and should declare this class a friend like so:

friend class dev::stdMotionStage<derivedT>;

Calls to this class's setupConfig, loadConfig, appStartup, appLogic, appShutdown onPowerOff, and whilePowerOff, must be placed in the derived class's functions of the same name.

Definition at line 53 of file stdMotionStage.hpp.

Constructor & Destructor Documentation

◆ ~stdMotionStage()

template<class derivedT >

MagAOX::app::dev::stdMotionStage< derivedT >::~stdMotionStage

noexcept

Destructor.

Definition at line 263 of file stdMotionStage.hpp.

Member Function Documentation

◆ appLogic()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::appLogic

Application logic.

Checks the stdMotionStage thread

This should be called from the derived's appLogic() as in

stdMotionStage<derivedT>::appLogic();

MagAOX::app::dev::stdMotionStage::appLogic

int appLogic()

Application logic.

Definition: stdMotionStage.hpp:368

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 368 of file stdMotionStage.hpp.

◆ appShutdown()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::appShutdown

Application the shutdown.

Shuts down the stdMotionStage thread

stdMotionStage<derivedT>::appShutdown();

MagAOX::app::dev::stdMotionStage::appShutdown

int appShutdown()

Application the shutdown.

Definition: stdMotionStage.hpp:395

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 395 of file stdMotionStage.hpp.

◆ appStartup()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::appStartup

Startup function.

This should be called in derivedT::appStartup as

stdMotionStage<derivedT>::appStartup();

MagAOX::app::dev::stdMotionStage::appStartup

int appStartup()

Startup function.

Definition: stdMotionStage.hpp:312

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 312 of file stdMotionStage.hpp.

Referenced by MagAOX::app::filterWheelCtrl::appStartup(), MagAOX::app::smc100ccCtrl::appStartup(), and MagAOX::app::zaberCtrl::appStartup().

◆ derived()

template<class derivedT >

derivedT& MagAOX::app::dev::stdMotionStage< derivedT >::derived ( )

inlineprivate

Definition at line 256 of file stdMotionStage.hpp.

◆ loadConfig()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::loadConfig ( mx::app::appConfigurator & config )

load the configuration system results

This should be called in derivedT::loadConfig as

stdMotionStage<derivedT>::loadConfig(config);

MagAOX::app::dev::stdMotionStage::loadConfig

int loadConfig(mx::app::appConfigurator &config)

load the configuration system results

Definition: stdMotionStage.hpp:286

with appropriate error checking.

Parameters

[in] config the derived classes configurator

Definition at line 286 of file stdMotionStage.hpp.

Referenced by MagAOX::app::filterWheelCtrl::loadConfig(), MagAOX::app::hsfwCtrl::loadConfig(), MagAOX::app::smc100ccCtrl::loadConfig(), and MagAOX::app::zaberCtrl::loadConfigImpl().

◆ newCallBack_m_indiP_home()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::newCallBack_m_indiP_home ( const pcf::IndiProperty & ipRecv )

Callback to process a NEW home request switch toggle.

Returns: 0 on success.; -1 on error.

Parameters

[in] ipRecv the INDI property sent with the the new property request.

Definition at line 480 of file stdMotionStage.hpp.

◆ newCallBack_m_indiP_preset()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::newCallBack_m_indiP_preset ( const pcf::IndiProperty & ipRecv )

Callback to process a NEW preset position request.

Returns: 0 on success.; -1 on error.

Parameters

[in] ipRecv the INDI property sent with the the new property request.

Definition at line 418 of file stdMotionStage.hpp.

◆ newCallBack_m_indiP_presetName()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::newCallBack_m_indiP_presetName ( const pcf::IndiProperty & ipRecv )

Callback to process a NEW preset name request.

Returns: 0 on success.; -1 on error.

Parameters

[in] ipRecv the INDI property sent with the the new property request.

Definition at line 439 of file stdMotionStage.hpp.

◆ newCallBack_m_indiP_stop()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::newCallBack_m_indiP_stop ( const pcf::IndiProperty & ipRecv )

Callback to process a NEW stop request switch toggle.

Returns: 0 on success.; -1 on error.

Parameters

[in] ipRecv the INDI property sent with the the new property request.

Definition at line 498 of file stdMotionStage.hpp.

◆ onPowerOff()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::onPowerOff

Actions on power off.

This should be called from the derived's onPowerOff() as in

stdMotionStage<derivedT>::onPowerOff();

MagAOX::app::dev::stdMotionStage::onPowerOff

int onPowerOff()

Actions on power off.

Definition: stdMotionStage.hpp:375

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 375 of file stdMotionStage.hpp.

◆ recordStage()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::recordStage ( bool force = false )

Definition at line 592 of file stdMotionStage.hpp.

Referenced by MagAOX::app::INDI_NEWCALLBACK_DEFN(), MagAOX::app::INDI_SETCALLBACK_DEFN(), MagAOX::app::zaberCtrl::moveTo(), and MagAOX::app::filterWheelCtrl::recordStage().

◆ setupConfig()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::setupConfig ( mx::app::appConfigurator & config )

Setup the configuration system.

This should be called in derivedT::setupConfig as

stdMotionStage<derivedT>::setupConfig(config);

MagAOX::app::dev::stdMotionStage::setupConfig

int setupConfig(mx::app::appConfigurator &config)

Setup the configuration system.

Definition: stdMotionStage.hpp:271

with appropriate error checking.

Parameters

[out] config the derived classes configurator

Definition at line 271 of file stdMotionStage.hpp.

Referenced by MagAOX::app::filterWheelCtrl::setupConfig(), MagAOX::app::hsfwCtrl::setupConfig(), MagAOX::app::smc100ccCtrl::setupConfig(), and MagAOX::app::zaberCtrl::setupConfig().

◆ st_newCallBack_stdMotionStage()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::st_newCallBack_stdMotionStage	(	void *	app,
		const pcf::IndiProperty &	ipRecv
	)

static

The static callback function to be registered for stdMotionStage properties.

Dispatches to the relevant handler

Returns: 0 on success.; -1 on error.

Parameters

[in]	app	a pointer to this, will be static_cast-ed to derivedT.
[in]	ipRecv	the INDI property sent with the the new property request.

Definition at line 402 of file stdMotionStage.hpp.

◆ updateINDI()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::updateINDI

Update the INDI properties for this device controller.

You should call this once per main loop. It is not called automatically.

Returns: 0 on success.; -1 on error.

Definition at line 522 of file stdMotionStage.hpp.

Referenced by MagAOX::app::hsfwCtrl::appLogic(), MagAOX::app::smc100ccCtrl::appLogic(), and MagAOX::app::zaberCtrl::appLogic().

◆ whilePowerOff()

template<class derivedT >

int MagAOX::app::dev::stdMotionStage< derivedT >::whilePowerOff

Actions while powered off.

This should be called from the derived's whilePowerOff() as in

stdMotionStage<derivedT>::whilePowerOff();

MagAOX::app::dev::stdMotionStage::whilePowerOff

int whilePowerOff()

Actions while powered off.

Definition: stdMotionStage.hpp:387

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

The positions, in arbitrary units, of each preset. If 0, then the integer position number (starting from 1) is used to calculate.

Definition at line 67 of file stdMotionStage.hpp.

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

libMagAOX/app/dev/stdMotionStage.hpp

Public Member Functions

Protected Attributes

Private Member Functions

INDI

Detailed Description

template<class derivedT> class MagAOX::app::dev::stdMotionStage< derivedT >

Constructor & Destructor Documentation

◆ ~stdMotionStage()

Member Function Documentation

◆ appLogic()

◆ appShutdown()

◆ appStartup()

◆ derived()

◆ loadConfig()

◆ newCallBack_m_indiP_home()

◆ newCallBack_m_indiP_preset()

◆ newCallBack_m_indiP_presetName()

◆ newCallBack_m_indiP_stop()

◆ onPowerOff()

◆ recordStage()

◆ setupConfig()

◆ st_newCallBack_stdMotionStage()

◆ updateINDI()

◆ whilePowerOff()

Member Data Documentation

◆ m_defaultPositions

◆ m_fractionalPresets

◆ m_homePreset

◆ m_indiP_home

◆ m_indiP_preset

◆ m_indiP_presetName

◆ m_indiP_stop

◆ m_moving

◆ m_movingState

◆ m_powerOnHome

◆ m_preset

◆ m_preset_target

◆ m_presetNames

◆ m_presetNotation

◆ m_presetPositions

template<class derivedT>
class MagAOX::app::dev::stdMotionStage< derivedT >