Class Interface

Nested Relationships

Nested Types

Class Documentation

class Interface

interface class for a slit device

This class defines the interface for each slit controller and contains the functions used to communicate with it.

Public Functions

inline Interface()
inline long init_pubsub(const std::initializer_list<std::string> &topics = {})
inline void start_subscriber_thread()
inline void stop_subscriber_thread()
void handletopic_snapshot(const nlohmann::json &jmessage)
void publish_status(bool force = false)
long initialize_class()
long open()

opens the PI socket connection

long close()

closes the PI socket connection

long is_open(std::string arg, std::string &retstring)

are motor controllers connected?

long home(std::string args, std::string &help)

home all daisy-chained motors

long is_home(std::string arg, std::string &retstring)

return the home state of the motors

long offset(std::string args, std::string &retstring)

set the slit offset only

long set(std::string args, std::string &retstring)

set the slit width and offset

long get(std::string args, std::string &retstring)

get the current width and offset

long get(std::string &retstring)

get the current width and offset

long get()

get the current width and offset

long read_positions(float &width, float &offset, float &posa, float &posb)
long read_positions(float &width, float &offset)
long move_abs(int addr, float pos)

send move-absolute command to specified controllers

long move_rel(std::string args)

send move-relative command to specified controllers

long stop()

send the stop-all-motion command to all controllers

long send_command(std::string args, std::string &retstring)

writes the raw command as received to the master controller

Public Members

std::unique_ptr<Common::PubSub> publisher

publisher object

std::string publisher_address

publish socket endpoint

std::string publisher_topic

my default topic for publishing

std::unique_ptr<Common::PubSub> subscriber

subscriber object

std::string subscriber_address

subscribe socket endpoint

std::vector<std::string> subscriber_topics

list of topics I subscribe to

std::atomic<bool> is_subscriber_thread_running

is my subscriber thread running?

std::atomic<bool> should_subscriber_thread_run

should my subscriber thread run?

std::unordered_map<std::string, std::function<void(const nlohmann::json&)>> topic_handlers

maps a handler function to each topic

SlitDimension maxwidth
SlitDimension minwidth

set by config file

SlitDimension center

position of center in actuator units

Status status
Status last_published_status
std::mutex publish_mutex

serializes publish-on-change

Common::Queue async
Physik_Instrumente::Interface<Physik_Instrumente::ServoInfo> motorinterface
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

Public Static Functions

static void dothread_move_abs(Slit::Interface &iface, int addr, float pos)

threaded move_abs function

struct Status

Public Functions

inline bool operator==(const Status &other) const
inline bool operator!=(const Status &other) const

Public Members

SlitDimension width
SlitDimension offset
float posA = NAN
float posB = NAN
bool ishome = false
bool isopen = false