Class MotionInterface#

Defined in File motion_interface.h

Class Documentation#

class MotionInterface#

acam motion interface class

This class defines the interface to the PI controllers used for the filter wheel and dust cover.

Public Functions

inline MotionInterface()#

inline std::string get_current_filtername() const#

inline std::string get_current_coverpos() const#

long initialize_class()#

long open()#: opens the PI socket connection

long close()#: closes the PI socket connection

bool is_open()#: are motor controllers connected?

long is_open(std::string arg, std::string &retstring)#: are motor controllers connected?

long home(std::string name_in, std::string &help)#: home specified motors

long is_home(std::string name_in, std::string &retstring)#: return the home state of the specified motors

long move_abs(std::string name, float pos)#

long send_command(const std::string &name, std::string cmd)#: writes command as received to the master controller, no reply

long send_command(const std::string &name, std::string cmd, std::string &retstring)#: writes command?, reads reply

long motion(std::string args, std::string &retstring)#: basic motion test commands

long filter(std::string args, std::string &retstring)#: set or get the filter

long get_current_filter(std::string &currname)#: get current filter posname

long get_current_filter(std::string &currname, int &currid, float &currpos)#: get current filter posname,id,pos

long cover(std::string posname, std::string &retstring)#: set or get the dust cover

long read_cover(std::string &retstring)#

Public Members

Physik_Instrumente::Interface<Physik_Instrumente::StepperInfo> motorinterface#

Common::Queue async#: asynchronous message queue object

std::mutex pi_mutex#: mutex to protect multi-threaded access to PI controller

volatile std::atomic<int> motors_running#: number of motors that are running in threads

volatile std::atomic<long> thr_error#: error state of threads

std::mutex wait_mtx#: mutex object for waiting for threads

std::condition_variable cv#: condition variable for waiting for threads