Helper class to give plugin-Developer an easy access to actuators in other threads. More...

#include <helperActuator.h>

Public Member Functions
	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)
Private Member Functions
ito::RetVal	securityChecks ()
Private Attributes
int	axisNumbers
ito::AddInActuator *	pMyMotor
ito::RetVal	errorBuffer
ItomSharedSemaphoreLocker	pMySemaphoreLocker

Detailed Description

Helper class to give plugin-Developer an easy access to actuators in other threads.

The threadActuator-Class can be used in filters and algorithms when a actuator in another thread is neccessary. To enable a slight asynchron usage of different hardware and algorithms the wait-Function can be executed seperatly

Author:: Wolfram Lyda (ITO)

Date:: 04.2012

Constructor & Destructor Documentation

ito::threadActuator::threadActuator	(	QVector< ito::ParamBase > *	parameterVector,
		int	paramNumber
	)

The constructor checks if parameterVector[paramNumber] is a valid actuator. If yes and if the actuator is accessable by getParam the actuatorhandle is stored in pMyMotor. The Semaphore for the invoke-method is also allocated here. If the actuator is invalid or not accessable the pMyMotor keeps beeing NULL.

Parameters:

[in]	parameterVector	is the ParameterVector (optional or mandatory) of the filter / algorithm
[in]	paramNumber	is the zerobased number of the actuator in the parameterlist

Returns:: (void)

See also:: threadActuator

ito::threadActuator::~threadActuator ( )

< Constructor

The destructor. Deletes the semaphore after waiting a last time.

Returns:: (void)

See also:: threadActuator

Member Function Documentation

ito::RetVal ito::threadActuator::checkAxis ( int axisNum )

< Set the parameter of the stage

Check if a specific axis is within the axisSpace of this actuator

Parameters:

[in] axisNum Axisnumber

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::getErrorBuf ( void )

< Check if an axis is within the axis-range

Returns the last unrecieved errors and warnings and resets the internel errorBuffer.

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::getParam	(	ito::Param &	val,
		int	timeOutMS = `PLUGINWAIT`
	)

< Get the position of a single axis

Get any parameter of the actuator defined by val.name. val must be initialised and name must be correct. After correct execution, val has the correct value.

Parameters:

	[in\|out]	val Initialised tParam (correct name \| in)
[in]	timeOutMS	TimeOut for the semaphore-wait

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::getPos	(	int	axis,
		double &	pos,
		int	timeOutMS = `PLUGINWAIT`
	)

< Get the position of more than one axis

Get the position of a single axis specified by axis.

Parameters:

[in]	axis	Number of the axis
[out]	pos	position of the axis
[in]	timeOutMS	TimeOut for the semaphore-wait

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::getPos	(	QVector< int >	axisVec,
		QVector< double > &	posVec,
		int	timeOutMS = `PLUGINWAIT`
	)

< Wait until actuator-thread has finished the last command

Get the position of a number of axis specified by axisVec.

Parameters:

[in]	axisVec	Number of the axis
[out]	posVec	Vecotr with position of the axis
[in]	timeOutMS	TimeOut for the semaphore-wait

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::securityChecks ( ) [inline, private]

< Handle to the semaphore needed for thread save communication. Allocated in constructor, deleted in destructor

This function is called by every subroutine of the threadActuator. It checks if the motor-handle and the semaphore handle is zero and if the semaphore has waited after last command. If the semaphore droppes or dropped to time-out it returns retError.

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::setParam	(	ito::ParamBase	val,
		int	timeOutMS = `PLUGINWAIT`
	)

< Get the parameter of the stage

Get the parameter of the actuator defined by val.name to the value of val.

Parameters:

[in]	val	Initialised tParam (correct name \| value)
[in]	timeOutMS	TimeOut for the semaphore-wait

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::setPosAbs	(	int	axis,
		double	pos,
		int	timeOutMS = `PLUGINWAIT`
	)

< Move a single axis relativ to current position

Move a single axis specified by axis to the position pos. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters:

[in]	axis	Number of the axis
[in]	pos	New position of the axis
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called seperate by the algorithm

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::setPosAbs	(	QVector< int >	axisVec,
		QVector< double >	posVec,
		int	timeOutMS = `PLUGINWAIT`
	)

< Move more than on axis relativ to current position

Move the axis in axisVec to the positions given in posVec. The axisVec and posVec must be same size. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters:

[in]	axisVec	Vector with the axis to move
[in]	posVec	Vector with the new absolute positions
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called seperate by the algorithm

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::setPosRel	(	int	axis,
		double	stepSize,
		int	timeOutMS = `PLUGINWAIT`
	)

< Move more than on axis absolute

Move a single axis specified by axis with a distance defined in stepSize relative to current position. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters:

[in]	axis	Number of the axis
[in]	stepSize	Distances from current position
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called seperate by the algorithm

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::setPosRel	(	QVector< int >	axisVec,
		QVector< double >	stepSizeVec,
		int	timeOutMS = `PLUGINWAIT`
	)

< Desctructor

Move the axis in axisVec with a distance defined in stepSizeVec relative to current position. The axisVec and stepSizeVec must be same size. After the invoke-command this thread must wait / synchronize with the actuator-thread. Therefore the semaphore->wait is called via the function threadActuator::waitForSemaphore(timeOutMS) To enable the algorithm to process data during movement, the waitForSemaphore(timeOutMS) can be skipped by callWait = false. The threadActuator::waitForSemaphore(timeOutMS)-function must than be called by the algorithms afterwards / before the next command is send to the actuator.

Parameters:

[in]	axisVec	Vector with the axis to move
[in]	stepSizeVec	Vector with the distances for every axis
[in]	timeOutMS	TimeOut for the semaphore-wait, if (0) the waitForSemaphore is not called and must be called seperate by the algorithm

Returns:: retOk or retError

See also:: threadActuator

ito::RetVal ito::threadActuator::waitForSemaphore ( int timeOutMS = PLUGINWAIT )

< Move a single axi absolute

After the invoke-command this thread must wait / be synchronize with the actuator-thread. Therefore the wait-Function of pMySemaphore is called. If the actuator do not answer within timeOutMS and the pMyMotor is not alive anymore, the function returns a timeout.

Parameters:

[in] timeOutMS TimeOut for the semaphore-wait