Class Motion¶
Defined in File calib_interface.h
Class Documentation¶
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class Motion¶
motion interface class for the calib hardware
This class defines the interface for all of the calib hardware and contains the functions used to communicate with it.
Public Functions
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Motion()¶
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inline ~Motion()¶
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long configure_class()¶
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long open()¶
opens the PI socket connection
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long close()¶
closes the PI socket connection
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long is_open(std::string arg, std::string &retstring)¶
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long home(std::string arg, std::string &help)¶
home all daisy-chained motors
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long is_home(std::string name_in, std::string &retstring)¶
return the home state of the motors
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long get(std::string name_in, std::string &retstring)¶
get state of named actuator(s)
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long set(std::string input, std::string &retstring)¶
set state(s) of named actuator(s)
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long send_command(const std::string &name, std::string cmd)¶
writes the raw command as received to the master controller, no reply
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long send_command(const std::string &name, std::string cmd, std::string &retstring)¶
writes command?, reads reply
Public Members
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std::string name¶
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std::string host¶
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int port¶
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Physik_Instrumente::Interface<Physik_Instrumente::ServoInfo> motorinterface¶
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std::mutex pi_mutex¶
mutex to protect multi-threaded access to PI controller
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volatile std::atomic<int> motors_running¶
number of motors that are running in threads
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volatile std::atomic<long> thr_error¶
error state of threads
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std::mutex wait_mtx¶
mutex object for waiting for threads
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std::condition_variable cv¶
condition variable for waiting for threads
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Motion()¶