itom 2.0.0
|
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