D:/git-itom/sources/itom/Common/helperActuator.h

/* ********************************************************************
    itom software
    URL: http://www.uni-stuttgart.de/ito
    Copyright (C) 2013, Institut für Technische Optik (ITO),
    Universität Stuttgart, Germany

    This file is part of itom and its software development toolkit (SDK).

    itom is free software; you can redistribute it and/or modify it
    under the terms of the GNU Library General Public Licence as published by
    the Free Software Foundation; either version 2 of the Licence, or (at
    your option) any later version.
   
    In addition, as a special exception, the Institut für Technische
    Optik (ITO) gives you certain additional rights.
    These rights are described in the ITO LGPL Exception version 1.0,
    which can be found in the file LGPL_EXCEPTION.txt in this package.

    itom is distributed in the hope that it will be useful, but
    WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Library
    General Public Licence for more details.

    You should have received a copy of the GNU Library General Public License
    along with itom. If not, see <http://www.gnu.org/licenses/>.
*********************************************************************** */

#ifndef HELPERACTUATOR_H
#define HELPERACTUATOR_H

#include "typeDefs.h"
#include "../common/addInInterface.h"
#include "sharedStructures.h"

namespace ito
{

    //----------------------------------------------------------------------------------------------------------------------------------
    class threadActuator
    {
        private:
            int axisNumbers;                
            ito::AddInActuator *pMyMotor;   
            ito::RetVal errorBuffer;        
            ItomSharedSemaphoreLocker pMySemaphoreLocker;  
            inline ito::RetVal securityChecks(); /* ! < Checks if pMyMotor and pMySemaphore are != NULL and if pMySemaphore has already waited still last commant (see setPosAbs / setPosRel) */

        protected:

        public:

            threadActuator(QVector<ito::ParamBase> *parameterVector, int paramNumber); 
            ~threadActuator();  
            ito::RetVal setPosRel(QVector<int> axisVec, QVector<double> stepSizeVec, int timeOutMS = PLUGINWAIT);  
            ito::RetVal setPosAbs(QVector<int> axisVec, QVector<double> posVec, int timeOutMS = PLUGINWAIT);       
            ito::RetVal setPosRel(int axis, double stepSize, int timeOutMS = PLUGINWAIT);                          
            ito::RetVal setPosAbs(int axis, double pos, int timeOutMS = PLUGINWAIT);                               
            ito::RetVal waitForSemaphore(int timeOutMS = PLUGINWAIT);                                              
            ito::RetVal getPos(QVector<int> axisVec, QVector<double> &posVec, int timeOutMS = PLUGINWAIT);         
            ito::RetVal getPos(int axis, double &pos, int timeOutMS = PLUGINWAIT);                                 
            ito::RetVal getParam(ito::Param &val, int timeOutMS = PLUGINWAIT);                                    
            ito::RetVal setParam(ito::ParamBase val, int timeOutMS = PLUGINWAIT);                                     
            ito::RetVal checkAxis(int axisNum);                                                                    
            ito::RetVal getErrorBuf(void);                                                                             
    };

//    class threadAxis
//    {
//        private:
//            int thisAxis;
//            ito::AddInActuator *pMyMotor;   /*! < Handle to the actuator */
//            ItomSharedSemaphore *pMySemaphore;  /*! < Handle to the semaphore needed for thread save communication. Allocated in constructor, deleted in destructor*/
//            inline ito::RetVal securityChecks();
//
    //    protected:
    //        threadActuator(QVector<ito::tParam> *parameterVector, int paramNumber, int axisNumber); /*! < Constructor */
    //        ~threadActuator();  /*! < Desctructor */

    //    public:
    //        ito::RetVal setPosRel(int axis, double stepSize, int timeOutMS, bool callWait = true);                          /*! < Move a single axis relativ to current position */
    //        ito::RetVal setPosAbs(int axis, double pos, int timeOutMS, bool callWait = true);                               /*! < Move a single axi absolute*/
    //        ito::RetVal waitForSemaphore(int timeOutMS);                                                                    /*! < Wait until actuator-thread has finished the last command */

    //        ito::RetVal getPos(int axis, double &pos, int timeOutMS);                                                       /*! < Get the position of a single axis */
    //
    //        ito::RetVal checkAxis(int axisNum);                                                                             /*! < Check if an axis is within the axis-range */
    //};

}   // end namespace ito

#endif