A class to manage the details of one binary-protocol stage in a Zaber system. More...

#include <zaberBinaryStage.hpp>

Collaboration diagram for MagAOX::app::zaberBinaryStage< parentT >:

Public Types
enum	commandCodes : uint8_t { cmdHome = 1 , cmdRenumber = 2 , cmdStoreCurrentPosition = 16 , cmdReturnStoredPosition = 17 , cmdMoveToStoredPosition = 18 , cmdMoveAbsolute = 20 , cmdMoveRelative = 21 , cmdStop = 23 , cmdSetHoldCurrent = 39 , cmdSetDeviceMode = 40 , cmdSetTargetSpeed = 42 , cmdSetMaximumPosition = 44 , cmdSetCurrentPosition = 45 , cmdReturnFirmwareVersion = 51 , cmdReturnSetting = 53 , cmdReturnStatus = 54 , cmdReturnCurrentPosition = 60 , cmdReturnSerialNumber = 63 }
	Binary protocol command numbers used by the T-LSM firmware 5.xx implementation. More...

enum	modeBits : int32_t { modeDisableAutoReply = ( 1 << 0 ) , modeDisablePotentiometer = ( 1 << 3 ) , modeHomeStatus = ( 1 << 7 ) }
	Device-mode bits used by the implementation. More...

Public Member Functions
	zaberBinaryStage ()=delete
	Default constructor deleted because stages require a parent app.

	zaberBinaryStage (parentT *parent)
	Construct the stage helper.

std::string	name ()
	Get the stage name.

int	name (const std::string &n)
	Set the stage name.

std::string	serial ()
	Get the stage serial number.

int	serial (const std::string &s)
	Set the stage serial number.

int	deviceAddress ()
	Get the device address.

int	deviceAddress (const int &da)
	Set the device address.

int	axisNumber ()
	Get the axis number.

int	axisNumber (const int &an)
	Set the axis number.

bool	commandStatus ()
	Get the status of the last command.

char	deviceStatus ()
	Get the current device status.

bool	homing ()
	Get the homing state.

time_t	lastHomed ()
	Get the last home time.

int	parked ()
	Get the parked state.

bool	knobEnabled ()
	Get the knob state.

long	rawPos ()
	Get the current raw position.

long	tgtPos ()
	Get the target raw position.

long	maxPos ()
	Get the maximum position.

int32_t	targetSpeed ()
	Get the configured target speed.

int	targetSpeed (const int32_t &speed)
	Set the configured target speed.

bool	warn ()
	Get whether any warning-equivalent flag is set.

float	temp ()
	Get the driver temperature.

bool	warningState ()
	Get whether any warning-equivalent flag is set.

bool	warnFD ()
	Get the driver-disabled warning flag.

bool	warnFQ ()
	Get the FQ warning flag.

bool	warnFS ()
	Get the FS warning flag.

bool	warnFT ()
	Get the FT warning flag.

bool	warnFB ()
	Get the FB warning flag.

bool	warnFP ()
	Get the FP warning flag.

bool	warnFE ()
	Get the FE warning flag.

bool	warnWH ()
	Get the WH warning flag.

bool	warnWL ()
	Get the WL warning flag.

bool	warnWP ()
	Get the WP warning flag.

bool	warnWV ()
	Get the WV warning flag.

bool	warnWT ()
	Get the WT warning flag.

bool	warnWM ()
	Get the WM warning flag.

bool	warnWR ()
	Get the WR warning flag.

bool	warnNC ()
	Get the NC warning flag.

bool	warnNI ()
	Get the NI warning flag.

bool	warnND ()
	Get the ND warning flag.

bool	warnNU ()
	Get the NU warning flag.

bool	warnNJ ()
	Get the NJ warning flag.

bool	warnUNK ()
	Get the unknown-warning flag.

int	queryCommand (int32_t &response, z_port port, uint8_t commandNumber, int32_t data, uint8_t expectedReply)
	Send a command and wait for the corresponding binary reply.

int	sendCommandNoReply (z_port port, uint8_t commandNumber, int32_t data)
	Send a command for which no reply is expected.

int	getSetting (int32_t &value, z_port port, uint8_t settingNumber)
	Return a setting value from the device.

int	getMaxPos (z_port port)
	Get the maximum position from the device.

int	getParked (z_port port)
	Get the parked state for MagAO-X compatibility.

int	getKnob (z_port port)
	Get the knob enabled status.

int	updatePos (z_port port)
	Update the current position and derived motion state.

int	updateTemp (z_port port)
	Update the stage temperature, if supported.

int	enableKnob (z_port port, bool enable)
	Disable the manual knob and asynchronous command replies.

int	setTargetSpeed (z_port port, int32_t speed)
	Set the target speed used for absolute and relative moves.

int	setHoldCurrent (z_port port, int32_t value)
	Set the hold current used while the stage is idle.

int	stop (z_port port)
	Stop the stage.

int	estop (z_port port)
	Emergency-stop the stage.

int	home (z_port port)
	Home the stage.

int	park (z_port port)
	Mark the stage parked using MagAO-X bookkeeping semantics.

int	unpark (z_port port)
	Clear the parked bookkeeping state.

int	recallParkPosition (z_port port)
	Recall the MagAO-X parked position from device non-volatile memory.

int	restoreParkedState (z_port port)
	Restore parked state after a power cycle if device and disk state agree.

int	moveAbs (z_port port, long rawPos)
	Move to a new absolute position.

int	unsetWarnings ()
	Clear all warning flags.

int	getWarnings (z_port port)
	Refresh warning-equivalent state from firmware 5.xx information.

int	updateLastHomed (bool wasHoming)
	Refresh the stored last-home timestamp when a home completion is detected.

int	onPowerOff ()
	Clear transient state on power-off.

int	writeStateFile (std::ofstream &fout)
	Write the state file used by the low-level app.

int	readStateFile (std::ifstream &fin)
	Read the state file used by the low-level app.

Static Public Attributes
static constexpr int32_t	parkPositionRegister = 0
	Stored-position register used to persist the MagAO-X parked position.

Protected Attributes
parentT *	m_parent { nullptr }
	Parent application used for logging and power-state checks.

std::string	m_name
	Configured stage name used in INDI properties.

std::string	m_serial
	Configured stage serial number.

int	m_deviceAddress { -1 }
	Current binary device address.

int	m_axisNumber { 0 }
	Axis number placeholder for future multi-axis support.

bool	m_commandStatus { true }
	Whether the most recent command was accepted.

char	m_deviceStatus { 'U' }
	Current device state mapped to ASCII-app semantics.

bool	m_homing { false }
	Whether the stage is currently homing.

timespec	m_lastHomed { 0, 0 }
	Time stamp of the last successful home operation.

bool	m_parked { false }
	Whether MagAO-X currently considers this stage parked.

long	m_rawPos { 0 }
	Current raw position in microsteps.

long	m_tgtPos { 0 }
	Last target position sent to the device in microsteps.

int32_t	m_targetSpeed { 1000 }
	Configured target speed command value for this stage.

long	m_maxPos { -1 }
	Maximum position in microsteps.

long	m_parkPos { 0 }
	Emulated parked position in microsteps.

bool	m_hasParkPos { false }
	Whether a parked position has been recovered from device non-volatile memory.

bool	m_hasStateFile { false }
	Whether a parked state file has been loaded from disk.

long	m_stateFileRawPos { 0 }
	Raw position loaded from the parked state file.

bool	m_stateFileParked { false }
	Parked flag loaded from the parked state file.

float	m_temp { -999.0 }
	Last reported stage temperature. Firmware 5.35 does not expose this directly.

bool	m_knobEnabled { false }
	whether potentiometer knob is enabled

bool	m_warn { false }
	Whether any warning-equivalent condition is active.

bool	m_warnFD { false }
	Driver disabled warning flag.

bool	m_warnFQ { false }
	Device-specific warning flag placeholders retained for API compatibility.

bool	m_warnFS { false }

bool	m_warnFT { false }

bool	m_warnFB { false }

bool	m_warnFP { false }

bool	m_warnFE { false }

bool	m_warnWH { false }

bool	m_warnWL { false }

bool	m_warnWP { false }

bool	m_warnWV { false }

bool	m_warnWT { false }

bool	m_warnWM { false }

bool	m_warnWR { false }

bool	m_warnNC { false }

bool	m_warnNI { false }

bool	m_warnND { false }

bool	m_warnNU { false }

bool	m_warnNJ { false }

bool	m_warnUNK { false }

Detailed Description

template<class parentT>
class MagAOX::app::zaberBinaryStage< parentT >

A class to manage the details of one binary-protocol stage in a Zaber system.

Definition at line 30 of file zaberBinaryStage.hpp.

Member Enumeration Documentation

◆ commandCodes

template<class parentT >

enum MagAOX::app::zaberBinaryStage::commandCodes : uint8_t

Binary protocol command numbers used by the T-LSM firmware 5.xx implementation.

Enumerator
cmdHome
cmdRenumber
cmdStoreCurrentPosition
cmdReturnStoredPosition
cmdMoveToStoredPosition
cmdMoveAbsolute
cmdMoveRelative
cmdStop
cmdSetHoldCurrent
cmdSetDeviceMode
cmdSetTargetSpeed
cmdSetMaximumPosition
cmdSetCurrentPosition
cmdReturnFirmwareVersion
cmdReturnSetting
cmdReturnStatus
cmdReturnCurrentPosition
cmdReturnSerialNumber

Definition at line 34 of file zaberBinaryStage.hpp.

◆ modeBits

template<class parentT >

enum MagAOX::app::zaberBinaryStage::modeBits : int32_t

Device-mode bits used by the implementation.

Enumerator
modeDisableAutoReply
modeDisablePotentiometer
modeHomeStatus

Definition at line 57 of file zaberBinaryStage.hpp.

Constructor & Destructor Documentation

◆ zaberBinaryStage() [1/2]

template<class parentT >

MagAOX::app::zaberBinaryStage< parentT >::zaberBinaryStage ( )

delete

Default constructor deleted because stages require a parent app.

◆ zaberBinaryStage() [2/2]

template<class parentT >

MagAOX::app::zaberBinaryStage< parentT >::zaberBinaryStage ( parentT * parent )

inline

Construct the stage helper.

Parameters

[in] parent the parent application

Definition at line 163 of file zaberBinaryStage.hpp.

References MagAOX::app::zaberBinaryStage< parentT >::m_parent.

Member Function Documentation

◆ axisNumber() [1/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::axisNumber ( )

Get the axis number.

Definition at line 412 of file zaberBinaryStage.hpp.

◆ axisNumber() [2/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::axisNumber ( const int & an )

Set the axis number.

Parameters

[in] an the new axis number

Definition at line 418 of file zaberBinaryStage.hpp.

◆ commandStatus()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::commandStatus ( )

Get the status of the last command.

Definition at line 425 of file zaberBinaryStage.hpp.

◆ deviceAddress() [1/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::deviceAddress ( )

Get the device address.

Definition at line 399 of file zaberBinaryStage.hpp.

◆ deviceAddress() [2/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::deviceAddress ( const int & da )

Set the device address.

Parameters

[in] da the new device address

Definition at line 405 of file zaberBinaryStage.hpp.

◆ deviceStatus()

template<class parentT >

char MagAOX::app::zaberBinaryStage< parentT >::deviceStatus ( )

Get the current device status.

Definition at line 431 of file zaberBinaryStage.hpp.

◆ enableKnob()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::enableKnob	(	z_port	port,
		bool	enable
	)

Disable the manual knob and asynchronous command replies.

Parameters

[in] enable the port with which to communicate

Definition at line 833 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

◆ estop()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::estop ( z_port port )

Emergency-stop the stage.

Parameters

[in] port the port with which to communicate

Definition at line 938 of file zaberBinaryStage.hpp.

◆ getKnob()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::getKnob ( z_port port )

Get the knob enabled status.

Parameters

[in] port the port with which to communicate

Definition at line 771 of file zaberBinaryStage.hpp.

◆ getMaxPos()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::getMaxPos ( z_port port )

Get the maximum position from the device.

Parameters

[in] port the port with which to communicate

Definition at line 742 of file zaberBinaryStage.hpp.

◆ getParked()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::getParked ( z_port port )

Get the parked state for MagAO-X compatibility.

Parameters

[in] port the port with which to communicate

Definition at line 756 of file zaberBinaryStage.hpp.

◆ getSetting()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::getSetting	(	int32_t &	value,
		z_port	port,
		uint8_t	settingNumber
	)

Return a setting value from the device.

Parameters

[out]	value	the setting value
[in]	port	the port with which to communicate
[in]	settingNumber	the setting command number to query

Definition at line 736 of file zaberBinaryStage.hpp.

◆ getWarnings()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::getWarnings ( z_port port )

Refresh warning-equivalent state from firmware 5.xx information.

Parameters

[in] port the port with which to communicate

Definition at line 1103 of file zaberBinaryStage.hpp.

◆ home()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::home ( z_port port )

Home the stage.

Parameters

[in] port the port with which to communicate

Definition at line 944 of file zaberBinaryStage.hpp.

◆ homing()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::homing ( )

Get the homing state.

Definition at line 437 of file zaberBinaryStage.hpp.

◆ knobEnabled()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::knobEnabled ( )

Get the knob state.

Definition at line 455 of file zaberBinaryStage.hpp.

◆ lastHomed()

template<class parentT >

time_t MagAOX::app::zaberBinaryStage< parentT >::lastHomed ( )

Get the last home time.

Definition at line 443 of file zaberBinaryStage.hpp.

◆ maxPos()

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::maxPos ( )

Get the maximum position.

Definition at line 473 of file zaberBinaryStage.hpp.

◆ moveAbs()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::moveAbs	(	z_port	port,
		long	rawPos
	)

Move to a new absolute position.

Parameters

[in]	port	the port with which to communicate
[in]	rawPos	the position to move to in microsteps

Definition at line 1053 of file zaberBinaryStage.hpp.

◆ name() [1/2]

template<class parentT >

std::string MagAOX::app::zaberBinaryStage< parentT >::name ( )

Get the stage name.

Definition at line 373 of file zaberBinaryStage.hpp.

◆ name() [2/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::name ( const std::string & n )

Set the stage name.

Parameters

[in] n the new stage name

Definition at line 379 of file zaberBinaryStage.hpp.

◆ onPowerOff()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::onPowerOff ( )

Clear transient state on power-off.

Definition at line 1138 of file zaberBinaryStage.hpp.

◆ park()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::park ( z_port port )

Mark the stage parked using MagAO-X bookkeeping semantics.

Parameters

[in] port the port with which to communicate

Definition at line 959 of file zaberBinaryStage.hpp.

◆ parked()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::parked ( )

Get the parked state.

Definition at line 449 of file zaberBinaryStage.hpp.

◆ queryCommand()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::queryCommand	(	int32_t &	response,
		z_port	port,
		uint8_t	commandNumber,
		int32_t	data,
		uint8_t	expectedReply
	)

Send a command and wait for the corresponding binary reply.

Parameters

[out]	response	decoded reply data
[in]	port	the port with which to communicate
[in]	commandNumber	the command number to send
[in]	data	the command data
[in]	expectedReply	the expected reply command number

Definition at line 630 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log(), Z_SUCCESS, zb_decode(), zb_encode(), zb_receive(), and zb_send().

◆ rawPos()

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::rawPos ( )

Get the current raw position.

Definition at line 461 of file zaberBinaryStage.hpp.

◆ readStateFile()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::readStateFile ( std::ifstream & fin )

Read the state file used by the low-level app.

Parameters

[in] fin an open input stream

Definition at line 1179 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

◆ recallParkPosition()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::recallParkPosition ( z_port port )

Recall the MagAO-X parked position from device non-volatile memory.

Parameters

[in] port the port with which to communicate

Definition at line 990 of file zaberBinaryStage.hpp.

◆ restoreParkedState()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::restoreParkedState ( z_port port )

Restore parked state after a power cycle if device and disk state agree.

Parameters

[in] port the port with which to communicate

Definition at line 1008 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

◆ sendCommandNoReply()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::sendCommandNoReply	(	z_port	port,
		uint8_t	commandNumber,
		int32_t	data
	)

Send a command for which no reply is expected.

Parameters

[in]	port	the port with which to communicate
[in]	commandNumber	the command number to send
[in]	data	the command data

Definition at line 702 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log(), Z_SUCCESS, zb_encode(), and zb_send().

◆ serial() [1/2]

template<class parentT >

std::string MagAOX::app::zaberBinaryStage< parentT >::serial ( )

Get the stage serial number.

Definition at line 386 of file zaberBinaryStage.hpp.

◆ serial() [2/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::serial ( const std::string & s )

Set the stage serial number.

Parameters

[in] s the new stage serial number

Definition at line 392 of file zaberBinaryStage.hpp.

◆ setHoldCurrent()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::setHoldCurrent	(	z_port	port,
		int32_t	value
	)

Set the hold current used while the stage is idle.

Parameters

[in]	port	the port with which to communicate
[in]	value	the hold current command value

Definition at line 899 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

◆ setTargetSpeed()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::setTargetSpeed	(	z_port	port,
		int32_t	speed
	)

Set the target speed used for absolute and relative moves.

Parameters

[in]	port	the port with which to communicate
[in]	speed	the target speed command value

Definition at line 874 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

◆ stop()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::stop ( z_port port )

Stop the stage.

Parameters

[in] port the port with which to communicate

Definition at line 924 of file zaberBinaryStage.hpp.

◆ targetSpeed() [1/2]

template<class parentT >

int32_t MagAOX::app::zaberBinaryStage< parentT >::targetSpeed ( )

Get the configured target speed.

Definition at line 479 of file zaberBinaryStage.hpp.

◆ targetSpeed() [2/2]

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::targetSpeed ( const int32_t & speed )

Set the configured target speed.

Parameters

[in] speed the target speed command value

Definition at line 485 of file zaberBinaryStage.hpp.

◆ temp()

template<class parentT >

float MagAOX::app::zaberBinaryStage< parentT >::temp ( )

Get the driver temperature.

Definition at line 498 of file zaberBinaryStage.hpp.

◆ tgtPos()

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::tgtPos ( )

Get the target raw position.

Definition at line 467 of file zaberBinaryStage.hpp.

◆ unpark()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::unpark ( z_port port )

Clear the parked bookkeeping state.

Parameters

[in] port the port with which to communicate

Definition at line 983 of file zaberBinaryStage.hpp.

◆ unsetWarnings()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::unsetWarnings ( )

Clear all warning flags.

Definition at line 1076 of file zaberBinaryStage.hpp.

◆ updateLastHomed()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::updateLastHomed ( bool wasHoming )

Refresh the stored last-home timestamp when a home completion is detected.

Parameters

[in] wasHoming whether the stage was homing before the latest status refresh

Definition at line 1124 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

◆ updatePos()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::updatePos ( z_port port )

Update the current position and derived motion state.

Parameters

[in] port the port with which to communicate

Definition at line 785 of file zaberBinaryStage.hpp.

◆ updateTemp()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::updateTemp ( z_port port )

Update the stage temperature, if supported.

Parameters

[in] port the port with which to communicate

Definition at line 826 of file zaberBinaryStage.hpp.

◆ warn()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warn ( )

Get whether any warning-equivalent flag is set.

Definition at line 492 of file zaberBinaryStage.hpp.

◆ warnFB()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFB ( )

Get the FB warning flag.

Definition at line 534 of file zaberBinaryStage.hpp.

◆ warnFD()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFD ( )

Get the driver-disabled warning flag.

Definition at line 510 of file zaberBinaryStage.hpp.

◆ warnFE()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFE ( )

Get the FE warning flag.

Definition at line 546 of file zaberBinaryStage.hpp.

◆ warnFP()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFP ( )

Get the FP warning flag.

Definition at line 540 of file zaberBinaryStage.hpp.

◆ warnFQ()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFQ ( )

Get the FQ warning flag.

Definition at line 516 of file zaberBinaryStage.hpp.

◆ warnFS()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFS ( )

Get the FS warning flag.

Definition at line 522 of file zaberBinaryStage.hpp.

◆ warnFT()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnFT ( )

Get the FT warning flag.

Definition at line 528 of file zaberBinaryStage.hpp.

◆ warningState()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warningState ( )

Get whether any warning-equivalent flag is set.

Definition at line 504 of file zaberBinaryStage.hpp.

◆ warnNC()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnNC ( )

Get the NC warning flag.

Definition at line 594 of file zaberBinaryStage.hpp.

◆ warnND()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnND ( )

Get the ND warning flag.

Definition at line 606 of file zaberBinaryStage.hpp.

◆ warnNI()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnNI ( )

Get the NI warning flag.

Definition at line 600 of file zaberBinaryStage.hpp.

◆ warnNJ()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnNJ ( )

Get the NJ warning flag.

Definition at line 618 of file zaberBinaryStage.hpp.

◆ warnNU()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnNU ( )

Get the NU warning flag.

Definition at line 612 of file zaberBinaryStage.hpp.

◆ warnUNK()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnUNK ( )

Get the unknown-warning flag.

Definition at line 624 of file zaberBinaryStage.hpp.

◆ warnWH()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWH ( )

Get the WH warning flag.

Definition at line 552 of file zaberBinaryStage.hpp.

◆ warnWL()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWL ( )

Get the WL warning flag.

Definition at line 558 of file zaberBinaryStage.hpp.

◆ warnWM()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWM ( )

Get the WM warning flag.

Definition at line 582 of file zaberBinaryStage.hpp.

◆ warnWP()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWP ( )

Get the WP warning flag.

Definition at line 564 of file zaberBinaryStage.hpp.

◆ warnWR()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWR ( )

Get the WR warning flag.

Definition at line 588 of file zaberBinaryStage.hpp.

◆ warnWT()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWT ( )

Get the WT warning flag.

Definition at line 576 of file zaberBinaryStage.hpp.

◆ warnWV()

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::warnWV ( )

Get the WV warning flag.

Definition at line 570 of file zaberBinaryStage.hpp.

◆ writeStateFile()

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::writeStateFile ( std::ofstream & fout )

Write the state file used by the low-level app.

Parameters

[in] fout an open output stream

Definition at line 1149 of file zaberBinaryStage.hpp.

References MagAOX::app::MagAOXApp< true >::log().

Member Data Documentation

◆ m_axisNumber

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::m_axisNumber { 0 }

protected

Axis number placeholder for future multi-axis support.

Definition at line 81 of file zaberBinaryStage.hpp.

◆ m_commandStatus

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_commandStatus { true }

protected

Whether the most recent command was accepted.

Definition at line 84 of file zaberBinaryStage.hpp.

◆ m_deviceAddress

template<class parentT >

int MagAOX::app::zaberBinaryStage< parentT >::m_deviceAddress { -1 }

protected

Current binary device address.

Definition at line 78 of file zaberBinaryStage.hpp.

◆ m_deviceStatus

template<class parentT >

char MagAOX::app::zaberBinaryStage< parentT >::m_deviceStatus { 'U' }

protected

Current device state mapped to ASCII-app semantics.

Definition at line 87 of file zaberBinaryStage.hpp.

◆ m_hasParkPos

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_hasParkPos { false }

protected

Whether a parked position has been recovered from device non-volatile memory.

Definition at line 114 of file zaberBinaryStage.hpp.

◆ m_hasStateFile

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_hasStateFile { false }

protected

Whether a parked state file has been loaded from disk.

Definition at line 117 of file zaberBinaryStage.hpp.

◆ m_homing

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_homing { false }

protected

Whether the stage is currently homing.

Definition at line 90 of file zaberBinaryStage.hpp.

◆ m_knobEnabled

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_knobEnabled { false }

protected

whether potentiometer knob is enabled

Definition at line 129 of file zaberBinaryStage.hpp.

◆ m_lastHomed

template<class parentT >

timespec MagAOX::app::zaberBinaryStage< parentT >::m_lastHomed { 0, 0 }

protected

Time stamp of the last successful home operation.

Definition at line 93 of file zaberBinaryStage.hpp.

◆ m_maxPos

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::m_maxPos { -1 }

protected

Maximum position in microsteps.

Definition at line 108 of file zaberBinaryStage.hpp.

◆ m_name

template<class parentT >

std::string MagAOX::app::zaberBinaryStage< parentT >::m_name

protected

Configured stage name used in INDI properties.

Definition at line 72 of file zaberBinaryStage.hpp.

◆ m_parent

template<class parentT >

parentT* MagAOX::app::zaberBinaryStage< parentT >::m_parent { nullptr }

protected

Parent application used for logging and power-state checks.

Definition at line 69 of file zaberBinaryStage.hpp.

Referenced by MagAOX::app::zaberBinaryStage< parentT >::zaberBinaryStage().

◆ m_parked

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_parked { false }

protected

Whether MagAO-X currently considers this stage parked.

Definition at line 96 of file zaberBinaryStage.hpp.

◆ m_parkPos

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::m_parkPos { 0 }

protected

Emulated parked position in microsteps.

Definition at line 111 of file zaberBinaryStage.hpp.

◆ m_rawPos

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::m_rawPos { 0 }

protected

Current raw position in microsteps.

Definition at line 99 of file zaberBinaryStage.hpp.

◆ m_serial

template<class parentT >

std::string MagAOX::app::zaberBinaryStage< parentT >::m_serial

protected

Configured stage serial number.

Definition at line 75 of file zaberBinaryStage.hpp.

◆ m_stateFileParked

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_stateFileParked { false }

protected

Parked flag loaded from the parked state file.

Definition at line 123 of file zaberBinaryStage.hpp.

◆ m_stateFileRawPos

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::m_stateFileRawPos { 0 }

protected

Raw position loaded from the parked state file.

Definition at line 120 of file zaberBinaryStage.hpp.

◆ m_targetSpeed

template<class parentT >

int32_t MagAOX::app::zaberBinaryStage< parentT >::m_targetSpeed { 1000 }

protected

Configured target speed command value for this stage.

Definition at line 105 of file zaberBinaryStage.hpp.

◆ m_temp

template<class parentT >

float MagAOX::app::zaberBinaryStage< parentT >::m_temp { -999.0 }

protected

Last reported stage temperature. Firmware 5.35 does not expose this directly.

Definition at line 126 of file zaberBinaryStage.hpp.

◆ m_tgtPos

template<class parentT >

long MagAOX::app::zaberBinaryStage< parentT >::m_tgtPos { 0 }

protected

Last target position sent to the device in microsteps.

Definition at line 102 of file zaberBinaryStage.hpp.

◆ m_warn

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warn { false }

protected

Whether any warning-equivalent condition is active.

Definition at line 132 of file zaberBinaryStage.hpp.

◆ m_warnFB

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFB { false }

protected

Definition at line 141 of file zaberBinaryStage.hpp.

◆ m_warnFD

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFD { false }

protected

Driver disabled warning flag.

Definition at line 135 of file zaberBinaryStage.hpp.

◆ m_warnFE

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFE { false }

protected

Definition at line 143 of file zaberBinaryStage.hpp.

◆ m_warnFP

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFP { false }

protected

Definition at line 142 of file zaberBinaryStage.hpp.

◆ m_warnFQ

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFQ { false }

protected

Device-specific warning flag placeholders retained for API compatibility.

Definition at line 138 of file zaberBinaryStage.hpp.

◆ m_warnFS

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFS { false }

protected

Definition at line 139 of file zaberBinaryStage.hpp.

◆ m_warnFT

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnFT { false }

protected

Definition at line 140 of file zaberBinaryStage.hpp.

◆ m_warnNC

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnNC { false }

protected

Definition at line 151 of file zaberBinaryStage.hpp.

◆ m_warnND

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnND { false }

protected

Definition at line 153 of file zaberBinaryStage.hpp.

◆ m_warnNI

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnNI { false }

protected

Definition at line 152 of file zaberBinaryStage.hpp.

◆ m_warnNJ

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnNJ { false }

protected

Definition at line 155 of file zaberBinaryStage.hpp.

◆ m_warnNU

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnNU { false }

protected

Definition at line 154 of file zaberBinaryStage.hpp.

◆ m_warnUNK

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnUNK { false }

protected

Definition at line 156 of file zaberBinaryStage.hpp.

◆ m_warnWH

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWH { false }

protected

Definition at line 144 of file zaberBinaryStage.hpp.

◆ m_warnWL

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWL { false }

protected

Definition at line 145 of file zaberBinaryStage.hpp.

◆ m_warnWM

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWM { false }

protected

Definition at line 149 of file zaberBinaryStage.hpp.

◆ m_warnWP

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWP { false }

protected

Definition at line 146 of file zaberBinaryStage.hpp.

◆ m_warnWR

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWR { false }

protected

Definition at line 150 of file zaberBinaryStage.hpp.

◆ m_warnWT

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWT { false }

protected

Definition at line 148 of file zaberBinaryStage.hpp.

◆ m_warnWV

template<class parentT >

bool MagAOX::app::zaberBinaryStage< parentT >::m_warnWV { false }

protected

Definition at line 147 of file zaberBinaryStage.hpp.

◆ parkPositionRegister

template<class parentT >

constexpr int32_t MagAOX::app::zaberBinaryStage< parentT >::parkPositionRegister = 0

staticconstexpr

Stored-position register used to persist the MagAO-X parked position.

Definition at line 65 of file zaberBinaryStage.hpp.

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

apps/zaberLowLevelBinary/zaberBinaryStage.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ commandCodes

◆ modeBits

Constructor & Destructor Documentation

◆ zaberBinaryStage() [1/2]

◆ zaberBinaryStage() [2/2]

Member Function Documentation

◆ axisNumber() [1/2]

◆ axisNumber() [2/2]

◆ commandStatus()

◆ deviceAddress() [1/2]

◆ deviceAddress() [2/2]

◆ deviceStatus()

◆ enableKnob()

◆ estop()

◆ getKnob()

◆ getMaxPos()

◆ getParked()

◆ getSetting()

◆ getWarnings()

◆ home()

◆ homing()

◆ knobEnabled()

◆ lastHomed()

◆ maxPos()

◆ moveAbs()

◆ name() [1/2]

◆ name() [2/2]

◆ onPowerOff()

◆ park()

◆ parked()

◆ queryCommand()

◆ rawPos()

◆ readStateFile()

◆ recallParkPosition()

◆ restoreParkedState()

◆ sendCommandNoReply()

◆ serial() [1/2]

◆ serial() [2/2]

◆ setHoldCurrent()

◆ setTargetSpeed()

◆ stop()

◆ targetSpeed() [1/2]

◆ targetSpeed() [2/2]

◆ temp()

◆ tgtPos()

◆ unpark()

◆ unsetWarnings()

◆ updateLastHomed()

◆ updatePos()

◆ updateTemp()

◆ warn()

◆ warnFB()

◆ warnFD()

◆ warnFE()

◆ warnFP()

◆ warnFQ()

◆ warnFS()

◆ warnFT()

◆ warningState()

◆ warnNC()

◆ warnND()

◆ warnNI()

◆ warnNJ()

◆ warnNU()

◆ warnUNK()

◆ warnWH()

◆ warnWL()

◆ warnWM()

◆ warnWP()

◆ warnWR()

◆ warnWT()

◆ warnWV()

◆ writeStateFile()

Member Data Documentation