base class for all actuator plugin classes More...

#include <addInInterface.h>

Inheritance diagram for ito::AddInActuator:

Public Slots
virtual ito::RetVal	calib (const int axis, ItomSharedSemaphore *waitCond=NULL)=0
	method to calibrate a single axis

virtual ito::RetVal	calib (const QVector< int > axis, ItomSharedSemaphore *waitCond=NULL)=0
	method to calibrate a number of axis. The axis' numbers are given in the axis vector

virtual ito::RetVal	setOrigin (const int axis, ItomSharedSemaphore *waitCond=NULL)=0
	method to set the origin of one axis to the current position

virtual ito::RetVal	setOrigin (const QVector< int > axis, ItomSharedSemaphore *waitCond=NULL)=0
	method to set the origin of a number of axis to their current positions. The axis' numbers are given in the axis vector

virtual ito::RetVal	getStatus (QSharedPointer< QVector< int > > status, ItomSharedSemaphore *waitCond)=0
	retrieve the status of the actuator

virtual ito::RetVal	getStatus (const int axis, QSharedPointer< int > status, ItomSharedSemaphore *waitCond)
	retrieve the status of one axis of the actuator. By default, this method uses the general implementation of getStatus and returns the requested axis only.

virtual ito::RetVal	getPos (const int axis, QSharedPointer< double > pos, ItomSharedSemaphore *waitCond)=0
	read the position of one axis

virtual ito::RetVal	getPos (const QVector< int > axis, QSharedPointer< QVector< double > > pos, ItomSharedSemaphore *waitCond)=0
	read the position of a number of axis. The axis' numbers are given in the axis vector

virtual ito::RetVal	setPosAbs (const int axis, const double pos, ItomSharedSemaphore *waitCond=NULL)=0
	move a single axis to a new absolute position

virtual ito::RetVal	setPosAbs (const QVector< int > axis, QVector< double > pos, ItomSharedSemaphore *waitCond=NULL)=0
	move a number of axis to a new absolute position. The axis' numbers are given in the axis vector

virtual ito::RetVal	setPosRel (const int axis, const double pos, ItomSharedSemaphore *waitCond=NULL)=0
	increment/decrement a single axis by position value

virtual ito::RetVal	setPosRel (const QVector< int > axis, QVector< double > pos, ItomSharedSemaphore *waitCond=NULL)=0
	increment/decrement a number of axis by position values. The axis' numbers are given in the axis vector

virtual ito::RetVal	requestStatusAndPosition (bool sendCurrentPos, bool sendTargetPos)
	overload this function to update the current status and position values, followed by calling sendStatusUpdate and/or sendTargetUpdate

Public Slots inherited from ito::AddInBase
virtual ito::RetVal	init (QVector< ito::ParamBase > paramsMand, QVector< ito::ParamBase > paramsOpt, ItomSharedSemaphore *waitCond=NULL)=0
	method for the initialisation of a new instance of the class (must be overwritten)

virtual ito::RetVal	close (ItomSharedSemaphore *waitCond)=0
	method for closing an instance (must be overwritten)

virtual ito::RetVal	getParam (QSharedPointer< ito::Param > val, ItomSharedSemaphore *waitCond=NULL)=0
	method for the retrieval of a parameter. The actual value is always passed as ito::Param (must be overwritten). See also setParam

virtual ito::RetVal	setParam (QSharedPointer< ito::ParamBase > val, ItomSharedSemaphore *waitCond=NULL)=0
	method to set a parameter. The actual value is always passed as ito::ParamBase (must be overwritten). See also getParam

ito::RetVal	setParamVector (const QVector< QSharedPointer< ito::ParamBase > > values, ItomSharedSemaphore *waitCond=NULL)
	method for setting various parameters (can be used instead of multiple calls to setParam, this can safe multiple invocations)

ito::RetVal	getParamVector (const QVector< QSharedPointer< ito::Param > > values, ItomSharedSemaphore *waitCond=NULL)
	method for getting various parameters (can be used instead of multiple calls to getParam, this can safe multiple invocations)

virtual ito::RetVal	execFunc (const QString funcName, QSharedPointer< QVector< ito::ParamBase > > paramsMand, QSharedPointer< QVector< ito::ParamBase > > paramsOpt, QSharedPointer< QVector< ito::ParamBase > > paramsOut, ItomSharedSemaphore *waitCond=NULL)
	overwrite this function if you registered exec funcs. Once the exec function is called, this method is executed.

ito::RetVal	moveBackToApplicationThread (ItomSharedSemaphore *waitCond=NULL)
	method invoked by AddInManager if the plugin should be pulled back to the main thread of itom. (not for direct use in plugins)

void	sendParameterRequest ()
	immediately emits the signal parametersChanged

Signals
void	actuatorStatusChanged (QVector< int > status, QVector< double > actPosition)
	signal emitted if status or actual position of any axis has been changed.

void	targetChanged (QVector< double > targetPositions)
	signal emitted if target position of any axis has changed.

Signals inherited from ito::AddInBase
void	parametersChanged (QMap< QString, ito::Param > params)
	This signal usually is emitted if the vector m_params is changed.

Public Member Functions
void	setInterrupt ()
	set interrupt flag (thread-safe)

void	resetInterrupt ()
	resets the interrupt flag (thread-safe)

ito::RetVal	getLastSignalledStates (QVector< int > &status, QVector< double > &currentPos, QVector< double > &targetPos)
	put the latest signalled states (current status, position and target position) to the given arguments.

Public Member Functions inherited from ito::AddInBase
const Param	getParamRec (const QString name, bool *nameCheckOk=NULL) const
	method to retrieve a parameter from the parameter map (m_params)

AddInInterfaceBase *	getBasePlugin (void) const
	returns the interface of this instance.

ito::RetVal	MoveToThread (void)
	creates new thread for the class instance and moves this instance to the new thread

const ito::RetVal	getParamList (QMap< QString, Param > **paramNames)
	returns a map with the parameters of this plugin.

const ito::RetVal	getExecFuncList (QMap< QString, ExecFuncParams > **funcs)
	returns list of registered additional functions

int	getID () const
	retrieve the uniqueID of this instance

QString	getIdentifier () const
	retrieve the unique identifier of this instance

virtual int	hasConfDialog (void)
	determine if a configuration dialog is available

virtual const ito::RetVal	showConfDialog (void)
	open configuration dialog

int	createdByGUI () const
	returns true if this instance has firstly been created by the GUI

void	setCreatedByGUI (int value)
	method to set whether this instance has been firstly created by the GUI (true) or by any other component (Python, C++, other plugin,..) (false)

int	getRefCount (void) const
	Returns the reference counter of this instance.

bool	hasDockWidget (void) const
	Returns true if this plugin provides a dock widget, that can be shown in the main window.

QDockWidget *	getDockWidget (void) const
	Returns the reference to the dock widget of this plugin or NULL, if no dock widget is provided or if it is already deleted.

virtual void	dockWidgetDefaultStyle (bool &floating, bool &visible, Qt::DockWidgetArea &defaultArea) const
	returns default style properties for dock-widget of plugin

int	isAlive (void)
	returns the alive-flag of this plugin

void	setAlive (void)
	sets the alive-flag to 1 ("still alive")

bool	isInitialized (void) const
	returns in a thread-safe way the status of the m_initialized-member variable. This variable should be set to true at the end of the init-method.

void	setInitialized (bool initialized)
	sets in a thread-safe way the status of the m_initialized-member

QVector< ito::AddInBase::AddInRef * > *	getArgAddIns (void)
	returns vector of AddInRef instances.

QMutex &	getUserMutex ()
	returns the user mutex of this plugin, that can be used for user-defined purposes.

Protected Member Functions
bool	isMotorMoving () const
	checks whether any axis is still moving (moving flag is set)

void	sendStatusUpdate (const bool statusOnly=false)
	method emits the actuatorStatusChanged signal if any slot is connected to this signal.

void	sendTargetUpdate ()
	method emits the targetChanged signal if any slot is connected to this signal.

virtual ito::RetVal	waitForDone (const int timeoutMS=-1, const QVector< int > axis=QVector< int >(), const int flags=0)=0
	this method must be overwritten.

void	setStatus (int &status, const int newFlags, const int keepMask=0)
	sets status flags of given status variable

void	setStatus (const QVector< int > &axis, const int newFlags, const int keepMask=0)
	sets status flags of the status of the given axes

void	replaceStatus (int &status, const int existingFlag, const int replaceFlag)
	changes the status bit of the given status value from one existing to a new value.

void	replaceStatus (const QVector< int > &axis, const int existingFlag, const int replaceFlag)
	changes the status flags of the status of the given axes from one existing to a new value

void	initStatusAndPositions (int numAxes, int status, double currentPosition=0.0, double targetPosition=0.0, bool sendUpdateSignals=true)
	initializes the current status, current position and target position vectors to the same size and the given start values

bool	isInterrupted ()
	returns interrupt flag (thread-safe)

Protected Member Functions inherited from ito::AddInBase
	AddInBase ()
	Constructor.

virtual	~AddInBase ()
	Destructor.

void	setIdentifier (const QString &identifier)
	sets the identifier of the plugin. The slot AbstractAddInDockWidget::identifierChanged is invoked if a corresponding dock widget is available.

void	createDockWidget (QString title, QDockWidget::DockWidgetFeatures features, Qt::DockWidgetAreas allowedAreas=Qt::AllDockWidgetAreas, QWidget *content=NULL)
	Creates the dock-widget for this plugin.

ito::RetVal	registerExecFunc (const QString funcName, const QVector< ito::Param > &paramsMand, const QVector< ito::Param > &paramsOpt, const QVector< ito::Param > &paramsOut, const QString infoString)
	Registers an additional function with specific name and default parameters.

void	setBasePlugin (AddInInterfaceBase *base)
	sets the interface of this instance to base.

bool	hasGuiSupport ()
	check if we have gui support

Protected Attributes
QVector< int >	m_currentStatus

QVector< double >	m_currentPos

QVector< double >	m_targetPos

Protected Attributes inherited from ito::AddInBase
QMap< QString, Param >	m_params
	map of the available parameters

QString	m_identifier
	unique identifier (serial number, com-port...)

Private Member Functions
	Q_DECLARE_PRIVATE (AddInActuator)

Private Attributes
QScopedPointer< AddInActuatorPrivate >	d_ptr

Additional Inherited Members
Static Public Member Functions inherited from ito::AddInBase
static int	getMaximumThreadCount ()

static RetVal	setMaximumThreadCount (int threadCount)

Detailed Description

base class for all actuator plugin classes

This class is one step further down the line from AddInBase. Actuator plugins must be derived from this class which is derived from AddInBase. In this class only the methods specific to actuator plugins are declared.

Member Function Documentation

◆ actuatorStatusChanged

void ito::AddInActuator::actuatorStatusChanged	(	QVector< int >	status,
		QVector< double >	actPosition )

signal

signal emitted if status or actual position of any axis has been changed.

Usually this signal can be sent using the method sendStatusUpdate(...). This method firstly checks if any slot has been connected to this signal and only fires the signal of at least one slot is connected (e.g. any docking-widget).

Usually the status and positions are taken from the member variables m_currentStatus and m_currentPos.

\params status is a vector with the length of the number of axis and each value contains a OR-combination of ito::tActuatorStatus \params actPosition is a vector with the length of the number of axis containing the actual axis positions, or length 0, if no actual positions are sended.

◆ getLastSignalledStates()

ito::RetVal ito::AddInActuator::getLastSignalledStates	(	QVector< int > &	status,
		QVector< double > &	currentPos,
		QVector< double > &	targetPos )

put the latest signalled states (current status, position and target position) to the given arguments.

"last signalled" signifies that whenever the signal targetChanged or actuatorStatusChanged is emitted, the current value of these states is stored and can be obtained by this method.

The call to this method is thread-safe.

Returns: ito::retOk if all states could be read, ito::retError if no status or position value has been reported up to now.

◆ initStatusAndPositions()

void ito::AddInActuator::initStatusAndPositions	(	int	numAxes,
		int	status,
		double	currentPosition = 0.0,
		double	targetPosition = 0.0,
		bool	sendUpdateSignals = true )

protected

initializes the current status, current position and target position vectors to the same size and the given start values

If sendUpdateSignals is true, the signals targetChanged and actuatorStatusChanged are emitted with the new size and content. In any case, the last signalled states are set to these initial values, too.

◆ isInterrupted()

bool ito::AddInActuator::isInterrupted ( )

protected

returns interrupt flag (thread-safe)

This methods returns true if the interrupt flag has been set using setInterrupt. Once this method is called, the interrupt flag is reset.

Returns: true if interrupt flag has been set, else false.

See also: setInterrupt

◆ Q_DECLARE_PRIVATE()

ito::AddInActuator::Q_DECLARE_PRIVATE ( AddInActuator )

private

‍self-managed pointer to the private class container (deletes itself if d_ptr is destroyed)

◆ replaceStatus() [1/2]

void ito::AddInActuator::replaceStatus	(	const QVector< int > &	axis,
		const int	existingFlag,
		const int	replaceFlag )

protected

changes the status flags of the status of the given axes from one existing to a new value

This method calls replaceStatus for the status of every given axis-number. The status is directly changed in the member variable m_currentStatus. For further information see the description of method replaceStatus (for one single status variable)

Parameters

[in]	axis	is the vector with axis-numbers.
[in]	existingFlag	is the bitmask which must be set and is replace by replaceFlag
[in]	replaceFlag	is the bitmask which is used for the replacement.

See also: replaceStatus

◆ replaceStatus() [2/2]

void ito::AddInActuator::replaceStatus	(	int &	status,
		const int	existingFlag,
		const int	replaceFlag )

protected

changes the status bit of the given status value from one existing to a new value.

If the given existingFlag bitmask of the status-value is set, it is completely replaced by the flags set by replaceFlag.

Parameters

[in,out]	status	is the status variable which is changed.
[in]	existingFlag	is the bitmask which must be set and is replace by replaceFlag
[in]	replaceFlag	is the bitmask which is used for the replacement.

See also: tActuatorStatus

◆ requestStatusAndPosition

ito::RetVal ito::AddInActuator::requestStatusAndPosition	(	bool	sendActPosition,
		bool	sendTargetPos )

virtualslot

overload this function to update the current status and position values, followed by calling sendStatusUpdate and/or sendTargetUpdate

method invoked in order to force a re-emitation of the current status, the current positions (if desired) and the target positions (if desired)

This method is mainly invoked by a dock widget of the actuator such that the plugin re-emits the current values, that are then received by the dock widget.

Overload this method if you want to update the values before emitting them.

◆ resetInterrupt()

void ito::AddInActuator::resetInterrupt ( )

resets the interrupt flag (thread-safe)

call this method (even direct call from different thread is possible) if you want to reset the interrupt flag. This method is called if setOrigin, setPosAbs or setPosRel is called from Python since the interrupt flag can be set if a Python script is interrupted (depending on itom property).

◆ sendStatusUpdate()

void ito::AddInActuator::sendStatusUpdate ( const bool statusOnly = false )

protected

method emits the actuatorStatusChanged signal if any slot is connected to this signal.

The emitted values are the member variables m_currentStatus and m_currentPos (optional).

Parameters

[in] statusOnly indicates whether the status only should be emitted or the current position vector, too. In case of status only, the current position vector is empty, hence has a length of zero. This should be considered by the slot.

◆ sendTargetUpdate()

void ito::AddInActuator::sendTargetUpdate ( )

protected

method emits the targetChanged signal if any slot is connected to this signal.

The emitted values is the member variable m_targetPos

◆ setInterrupt()

void ito::AddInActuator::setInterrupt ( )

set interrupt flag (thread-safe)

call this method (even direct call from different thread is possible) if you want to set the interrupt flag in order to stop a moving actuator. This flag has to be continuously be checked in waitForDone using the method isInterrupted, since this method only sets the flag without initiating further actions.

See also: waitForDone, isInterrupted

◆ setStatus() [1/2]

void ito::AddInActuator::setStatus	(	const QVector< int > &	axis,
		const int	newFlags,
		const int	keepMask = 0 )

protected

sets status flags of the status of the given axes

This method calls setStatus for the status of every given axis-number. The status is directly changed in the member variable m_currentStatus. For further information see the description of method setStatus (for one single status variable)

Parameters

[in]	axis	is the vector with axis-numbers.
[in]	newFlags	is an OR-combination of ito::tActuatorStatus which is assigned to status.
[in]	keepMask	is a mask whose bits are not deleted if they are not contained in newFlags.

See also: setStatus

◆ setStatus() [2/2]

void ito::AddInActuator::setStatus	(	int &	status,
		const int	newFlags,
		const int	keepMask = 0 )

protected

sets status flags of given status variable

Use this small inline method in order to set the status of given status variable. The status is an OR-combination of the enumeration ito::tActuatorStatus. You can assign a mask (keepMask). Bits within this mask will be unchanged.

Parameters

[in,out]	status	is the status variable which is changed.
[in]	newFlags	is an OR-combination of ito::tActuatorStatus which is assigned to status.
[in]	keepMask	is a mask whose bits are not deleted if they are not contained in newFlags.

See also: tActuatorStatus

◆ targetChanged

void ito::AddInActuator::targetChanged ( QVector< double > targetPositions )

signal

signal emitted if target position of any axis has changed.

Usually this signal can be sent using the method sendTargetUpdate(). This method firstly checks if any slot has been connected to this signal and only fires the signal of at least one slot is connected (e.g. any docking-widget).

Usually the target is taken from the member variable m_targetPos.

\params targetPositions is a vector with the length of the number of axis containing the desired target positions for ALL axis.

◆ waitForDone()

virtual ito::RetVal ito::AddInActuator::waitForDone	(	const int	timeoutMS = -1,
		const QVector< int >	axis = QVector< int >(),
		const int	flags = 0 )

protectedpure virtual

this method must be overwritten.

WaitForDone should wait for a moving motor until the indicated axes (or all axes of nothing is indicated) have stopped or a timeout or user interruption occurred. The timeout can be given in milliseconds, or -1 if no timeout should be considered. The flag-parameter can be used for your own purpose.

Member Data Documentation

◆ m_currentPos

QVector<double> ito::AddInActuator::m_currentPos

protected

vector (same length than number of axes) containing the current position (mm or degree) of every axis. The current position should be updated with a reasonable frequency (depending on the actuator and situation)

◆ m_currentStatus

QVector<int> ito::AddInActuator::m_currentStatus

protected

vector (same length than number of axes) containing the status of every axis. The status is a combination of enumeration ito::tActuatorStatus.

◆ m_targetPos

QVector<double> ito::AddInActuator::m_targetPos

protected

vector (same length than number of axes) containing the target position (mm or degree) of every axis

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

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

Public Slots

Signals

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ actuatorStatusChanged

◆ getLastSignalledStates()

◆ initStatusAndPositions()

◆ isInterrupted()

◆ Q_DECLARE_PRIVATE()

◆ replaceStatus() [1/2]

◆ replaceStatus() [2/2]

◆ requestStatusAndPosition

◆ resetInterrupt()

◆ sendStatusUpdate()

◆ sendTargetUpdate()

◆ setInterrupt()

◆ setStatus() [1/2]

◆ setStatus() [2/2]

◆ targetChanged

◆ waitForDone()

Member Data Documentation

◆ m_currentPos

◆ m_currentStatus

◆ m_targetPos