Class Interface#

Defined in File slit_interface.h

Nested Relationships#

Nested Types#

Struct Interface::Status

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#