ito::ActuatorThreadCtrl Class Reference

Helper class to give plugin developers an easy access to actuators in other threads. More...

#include <pluginThreadCtrl.h>

Inheritance diagram for ito::ActuatorThreadCtrl:

Public Member Functions
	ActuatorThreadCtrl ()
	default constructor. No actuator instance is currently under control.
	ActuatorThreadCtrl (const ito::ParamBase &pluginParameter, ito::RetVal *retval=NULL)
	Creates the control object for an actuator plugin instance.
	ActuatorThreadCtrl (ito::AddInActuator *plugin, ito::RetVal *retval=NULL)
	Creates the control object for a actuator plugin instance.
	ActuatorThreadCtrl (const ActuatorThreadCtrl &other)
	copy constructor. The reference counter of the covered plugin by other will be incremented another time.
virtual	~ActuatorThreadCtrl ()
	destructor. Decrements the reference counter of the covered plugin and deletes it, if it drops to zero.
ito::RetVal	setPosRel (const QVector< int > &axes, const QVector< double > &relPositions, int timeOutMS=PLUGINWAIT)
ito::RetVal	setPosAbs (const QVector< int > &axes, const QVector< double > &absPositions, int timeOutMS=PLUGINWAIT)
ito::RetVal	setPosRel (int axis, double relPosition, int timeOutMS=PLUGINWAIT)
ito::RetVal	setPosAbs (int axis, double absPosition, int timeOutMS=PLUGINWAIT)
ito::RetVal	getPos (QVector< int > axes, QVector< double > &positions, int timeOutMS=PLUGINWAIT)
ito::RetVal	getPos (int axis, double &position, int timeOutMS=PLUGINWAIT)
ito::RetVal	checkAxis (int axisNum)
Public Member Functions inherited from ito::PluginThreadCtrl
	PluginThreadCtrl ()
	default constructor. No plugin instance is currently under control.
	PluginThreadCtrl (const ito::ParamBase &pluginParameter, ito::RetVal *retval=NULL)
	Creates the control object for a plugin instance.
	PluginThreadCtrl (ito::AddInBase *plugin, ito::RetVal *retval=NULL)
	Creates the control object for a plugin instance.
	PluginThreadCtrl (const PluginThreadCtrl &other)
	copy constructor. The reference counter of the covered plugin by other will be incremented another time.
virtual	~PluginThreadCtrl ()
	destructor. Decrements the reference counter of the covered plugin and deletes it, if it drops to zero.
PluginThreadCtrl &	operator= (const PluginThreadCtrl &other)
	assignment operator. Gets control over the plugin currently covered by other. Decrements the reference counter of the former plugin and increments it of the plugin controlled by other.
ito::RetVal	getParam (ito::Param &val, int timeOutMS=PLUGINWAIT)
ito::RetVal	setParam (ito::ParamBase val, int timeOutMS=PLUGINWAIT)
ito::RetVal	waitForSemaphore (int timeOutMS=PLUGINWAIT)

Protected Attributes
int	m_numAxes
Protected Attributes inherited from ito::PluginThreadCtrl
ito::AddInBase *	m_pPlugin
ItomSharedSemaphoreLocker	m_semaphoreLocker

Detailed Description

Helper class to give plugin developers an easy access to actuators in other threads.

The ActuatorThreadCtrl-Class can be used in filters and algorithms when an actuator plugin should be controlled by another thread. To create this controlling instance, at first, create an instance of the actuator plugin itself, then, pass it to the constructor of ActuatorThreadCtrl. In the following example, an instance of DummyMotor is passed as first mandatory argument to the init method of your plugin. You would like to create an easy thread control wrapper around this actuator plugin:

ito::RetVal retval;
ActuatorThreadCtrl motSave(paramsMand->at(0), &retval);

Using this class, all main methods of the actuator plugin can be directly called with an optional timeout value (in ms). The thread control, timeout checks... is then done by this helper class.

Use getPos to obtain the current position (in mm or degree) for one multiple axes. Inversely, setPosRel or setPosAbs will set the absolute or relative position(s) of one or multiple axes. Usually, setPosXXX will only return after the position has been reached. If you want to continue within your code while the actuator is still moving, check if your specific actuator has the 'async' parameter defined. If so, set it to 1 (see example below):

double position;
motSave.setParam(ito::ParamBase("async", ito::ParamBase::Int, 1))
motSave.getPos(0, position);
motSave.setPosAbs(0, 10.5); //long movement
 
//since the movement is asynchrone, setPosAbs
//will immediately return. However, every subsequent
//call to the motSave instance will block until the previous
//movement is finished. E.g. another call of getPos will wait
//for this and you can therefore check if the movement has been
//done:
motSave.getPos(0, position);

Constructor & Destructor Documentation

ActuatorThreadCtrl() [1/2]

ito::ActuatorThreadCtrl::ActuatorThreadCtrl	(	const ito::ParamBase &	pluginParameter,
		ito::RetVal *	retval = NULL )

Creates the control object for an actuator plugin instance.

This implementation gets the controlled instance from a ito::ParamBase object of param type ito::ParamBase::HWRef. Use this version, if the controlled plugin is passed to an algorithm or other plugin via a vector of mandatory or optional parameters in terms of ito::ParamBase objects.

This constructor increments the reference of the controlled plugin such that the plugin is not deleted until the reference has been decremented in the destructor of this class.

Parameters

pluginParameter	is a plugin parameter of type ito::ParamBase::HWRef.
retval	is an optional pointer to ito::RetVal. An error is set to this retval if the given plugin is no valid actuator plugin instance.

ActuatorThreadCtrl() [2/2]

ito::ActuatorThreadCtrl::ActuatorThreadCtrl	(	ito::AddInActuator *	plugin,
		ito::RetVal *	retval = NULL )

Creates the control object for a actuator plugin instance.

This implementation gets the controlled instance from the real pointer to a ito::Actuator instance.

This constructor increments the reference of the controlled plugin such that the plugin is not deleted until the reference has been decremented in the destructor of this class.

Parameters

plugin	is the pointer to the controlled plugin.
retval	is an optional pointer to ito::RetVal. An error is set to this retval if the given plugin is no valid actuator plugin instance.

Member Function Documentation

checkAxis()

ito::RetVal ito::ActuatorThreadCtrl::checkAxis

(

int

axisNum

)

Check if an axis is within the axis-range

\detail Check if a specific axis is within the axisSpace of this actuator

Parameters

[in]

axisNum

axis index to be checked

Returns

retOk or retError

getPos() [1/2]

ito::RetVal ito::ActuatorThreadCtrl::getPos	(	int	axis,
		double &	position,
		int	timeOutMS = PLUGINWAIT )

Get the position of a single axis

\detail Get the position of a single axis specified by axis.

Parameters

[in]	axis	Number of the axis
[out]	pos	position of the axis
[in]	timeOutMS	TimeOut for the semaphore-wait

Returns

retOk or retError

getPos() [2/2]

ito::RetVal ito::ActuatorThreadCtrl::getPos	(	QVector< int >	axes,
		QVector< double > &	positions,
		int	timeOutMS = PLUGINWAIT )

Get the position of more than one axis

\detail Get the position of a number of axis specified by axisVec.

Parameters

[in]	axisVec	Number of the axis
[out]	posVec	Vector with position of the axis
[in]	timeOutMS	TimeOut for the semaphore-wait

Returns

retOk or retError

setPosAbs() [1/2]

ito::RetVal ito::ActuatorThreadCtrl::setPosAbs	(	const QVector< int > &	axes,
		const QVector< double > &	absPositions,
		int	timeOutMS = PLUGINWAIT )

Move more than on axis absolute

\detail Move the axis in axisVec to the positions given in posVec. The axisVec and posVec must be same size. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters

[in]	axisVec	Vector with the axis to move
[in]	posVec	Vector with the new absolute positions
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called separate by the algorithm

Returns

retOk or retError

See also

ActuatorThreadCtrl::setPosRel

setPosAbs() [2/2]

ito::RetVal ito::ActuatorThreadCtrl::setPosAbs	(	int	axis,
		double	absPosition,
		int	timeOutMS = PLUGINWAIT )

Move a single axi absolute

\detail Move a single axis specified by axis to the position pos. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters

[in]	axis	Number of the axis
[in]	pos	New position of the axis
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called separate by the algorithm

Returns

retOk or retError

See also

ActuatorThreadCtrl::setPosRel

setPosRel() [1/2]

ito::RetVal ito::ActuatorThreadCtrl::setPosRel	(	const QVector< int > &	axes,
		const QVector< double > &	relPositions,
		int	timeOutMS = PLUGINWAIT )

Move more than on axis relative to current position

\detail Move the axis in axisVec with a distance defined in stepSizeVec relative to current position. The axisVec and stepSizeVec must be same size. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters

[in]	axisVec	Vector with the axis to move
[in]	stepSizeVec	Vector with the distances for every axis
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called separate by the algorithm

Returns

retOk or retError

See also

ActuatorThreadCtrl::setPosAbs

setPosRel() [2/2]

ito::RetVal ito::ActuatorThreadCtrl::setPosRel	(	int	axis,
		double	relPosition,
		int	timeOutMS = PLUGINWAIT )

Move a single axis relative to current position

\detail Move a single axis specified by axis with a distance defined in stepSize relative to current position. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters

[in]	axis	Number of the axis
[in]	stepSize	Distances from current position
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called separate by the algorithm

Returns

retOk or retError

See also

ActuatorThreadCtrl::setPosAbs

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

• C:/Workspace/itom_development_VS2019_Qt5.15.2_x64/itomProject/itom/common/pluginThreadCtrl.h
• C:/Workspace/itom_development_VS2019_Qt5.15.2_x64/itomProject/itom/common/sources/pluginThreadCtrl.cpp