itom 2.0.0
D:/git-itom/sources/itom/common/helperActuator.h
00001 /* ********************************************************************
00002     itom software
00003     URL: http://www.uni-stuttgart.de/ito
00004     Copyright (C) 2013, Institut für Technische Optik (ITO),
00005     Universität Stuttgart, Germany
00006 
00007     This file is part of itom and its software development toolkit (SDK).
00008 
00009     itom is free software; you can redistribute it and/or modify it
00010     under the terms of the GNU Library General Public Licence as published by
00011     the Free Software Foundation; either version 2 of the Licence, or (at
00012     your option) any later version.
00013    
00014     In addition, as a special exception, the Institut für Technische
00015     Optik (ITO) gives you certain additional rights.
00016     These rights are described in the ITO LGPL Exception version 1.0,
00017     which can be found in the file LGPL_EXCEPTION.txt in this package.
00018 
00019     itom is distributed in the hope that it will be useful, but
00020     WITHOUT ANY WARRANTY; without even the implied warranty of
00021     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Library
00022     General Public Licence for more details.
00023 
00024     You should have received a copy of the GNU Library General Public License
00025     along with itom. If not, see <http://www.gnu.org/licenses/>.
00026 *********************************************************************** */
00027 
00028 #ifndef HELPERACTUATOR_H
00029 #define HELPERACTUATOR_H
00030 
00031 #include "typeDefs.h"
00032 #include "addInInterface.h"
00033 #include "sharedStructures.h"
00034 
00035 #if !defined(Q_MOC_RUN) || defined(ITOMCOMMONQT_MOC) //only moc this file in itomCommonQtLib but not in other libraries or executables linking against this itomCommonQtLib
00036 
00037 namespace ito
00038 {
00039 
00040     //----------------------------------------------------------------------------------------------------------------------------------
00051     class ITOMCOMMONQT_EXPORT threadActuator
00052     {
00053         private:
00054             int axisNumbers;                
00055             ito::AddInActuator *pMyMotor;   
00056             ito::RetVal errorBuffer;        
00057             ItomSharedSemaphoreLocker pMySemaphoreLocker;  
00059             inline ito::RetVal securityChecks(); /* ! < Checks if pMyMotor and pMySemaphore are != NULL and if pMySemaphore has already waited still last commant (see setPosAbs / setPosRel) */
00060 
00061         protected:
00062 
00063         public:
00064 
00065             threadActuator(QVector<ito::ParamBase> *parameterVector, int paramNumber); 
00066             ~threadActuator();  
00068             ito::RetVal setPosRel(QVector<int> axisVec, QVector<double> stepSizeVec, int timeOutMS = PLUGINWAIT);  
00069             ito::RetVal setPosAbs(QVector<int> axisVec, QVector<double> posVec, int timeOutMS = PLUGINWAIT);       
00070             ito::RetVal setPosRel(int axis, double stepSize, int timeOutMS = PLUGINWAIT);                          
00071             ito::RetVal setPosAbs(int axis, double pos, int timeOutMS = PLUGINWAIT);                               
00072             ito::RetVal waitForSemaphore(int timeOutMS = PLUGINWAIT);                                              
00074             ito::RetVal getPos(QVector<int> axisVec, QVector<double> &posVec, int timeOutMS = PLUGINWAIT);         
00075             ito::RetVal getPos(int axis, double &pos, int timeOutMS = PLUGINWAIT);                                 
00077             ito::RetVal getParam(ito::Param &val, int timeOutMS = PLUGINWAIT);                                    
00078             ito::RetVal setParam(ito::ParamBase val, int timeOutMS = PLUGINWAIT);                                     
00079             ito::RetVal checkAxis(int axisNum);                                                                    
00081             ito::RetVal getErrorBuf(void);                                                                             
00082     };
00083 
00084 
00085 }   // end namespace ito
00086 
00087 #endif //#if !defined(Q_MOC_RUN) || defined(ITOMCOMMONQT_MOC)
00088 
00089 #endif
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