gcp::antenna::control::ServoCommand Class Reference

Public Types
enum	Request {   INVALID, GET_AZEL, GET_PRIOR_LOC, GET_PPS_TICK,   SEND_POS, BEGIN_PPS_LOOP, BEGIN_TRACK_LOOP, LOAD_LOOP_PARAMS,   STOP_ALL, CAL_ENCODERS, CLEAR_OFFSETS, POSITION_OFFSET,   VELOCITY_OFFSET, POSITION_ERRORS, SET_ENCODERS, QUERY_STATUS,   AZ_BRAKE_ON, AZ_BRAKE_OFF, EL_BRAKE_ON, EL_BRAKE_OFF,   SET_AZ_TORQUE, SET_EL_TORQUE, QUERY_VERSION, SET_AZ_TORQUES,   READ_AZ_ENCODERS, NUMBER_ERRORS, START_AMP_COMMS, ENABLE_AZ_AMP1,   ENABLE_AZ_AMP2, ENABLE_EL_AMP, DISABLE_AZ_AMP1, DISABLE_AZ_AMP2,   DISABLE_EL_AMP, STATUS_AZ_AMP1, STATUS_AZ_AMP2, STATUS_EL_AMP,   ALIVE_AZ_AMP1, ALIVE_AZ_AMP2, ALIVE_EL_AMP, ACTUAL_CURR_AZ1,   ACTUAL_CURR_AZ2, ACTUAL_CURR_EL, COMMAND_CURR_AZ1, COMMAND_CURR_AZ2,   COMMAND_CURR_EL }

Public Member Functions
void	constructMap ()
	ServoCommand ()
	~ServoCommand ()
void	packCommand (Request req)
void	packCommand (Request req, std::vector< float > &values)
void	checkOneOutput ()
void	checkTwoOutputs ()
void	checkManyOutputs ()
void	interpretStatusResponse (const char *response)
void	packStartAmpComms ()
void	packEnableElAmp ()
void	packDisableElAmp ()
void	packEnableAzAmp1 ()
void	packDisableAzAmp1 ()
void	interpretResponse ()
bool	simpleValidityCheck ()
size_t	responseLength ()
size_t	size ()

Public Attributes
std::map< Request, std::string >	commandMap_
unsigned char	request_
std::string	messageToSend_
std::string	expectedResponse_
char	responseReceived_ [SERVO_DATA_MAX_LEN]
unsigned short	cmdSize_
bool	expectsResponse_
unsigned short	responseLength_
unsigned char	readData_ [SERVO_DATA_MAX_LEN]
unsigned char	tmpBuffer_ [SERVO_DATA_MAX_LEN]
bool	responseValid_
bool	responseValueValid_
bool	ppsPresent_
float	responseValue_ [MAX_RESPONSE_SAMPLES]

Friends
class	ServoComms

Member Enumeration Documentation

enum gcp::antenna::control::ServoCommand::Request

Enumerate supported commands

Constructor & Destructor Documentation

ServoCommand::ServoCommand

(

)

Constructor.

....................................................................... Constructor initializes request type to invalid and constructs the command map.

ServoCommand::~ServoCommand

(

)

Destructor.

....................................................................... Constructor initializes request type to invalid.

Member Function Documentation

void ServoCommand::checkManyOutputs

(

)

Check if box output is valid when many return values.

....................................................................... Check if box output is valid, and what its value is.

void ServoCommand::checkOneOutput

(

)

Check if box output is valid when one return value.

....................................................................... Check if box output is valid, and what its value is.

void ServoCommand::checkTwoOutputs

(

)

Check if box output is valid when two return values.

....................................................................... Check if box output is valid, and what its value is.

void ServoCommand::constructMap

(

)

Construct the map

....................................................................... Construct our map from enums to strings to issue.

void ServoCommand::interpretResponse

(

)

Interpret what we get back

....................................................................... Interpret Command to see if something valid happened.

void ServoCommand::interpretStatusResponse

(

const char *

response

)

Interpret our awful status response

....................................................................... Interpret our awful status response

void ServoCommand::packCommand

(

Request

req

)

General Pack Command

....................................................................... pack all our commands

void ServoCommand::packDisableAzAmp1

(

)

Disable the Az Amplifier 1

....................................................................... disable the azimuth first amplifier

void ServoCommand::packDisableElAmp

(

)

Disable the El Amplifier

....................................................................... disable the elevation amplifier

void ServoCommand::packEnableAzAmp1

(

)

Enable the Az Amplifier 1

....................................................................... enable the azimuth first amplifier

void ServoCommand::packEnableElAmp

(

)

Enable the El Amplifier

....................................................................... enable the elevation amplifier

void ServoCommand::packStartAmpComms

(

)

Start Amplifier Communications

....................................................................... begin communications with the amplifier

size_t ServoCommand::responseLength

(

)

Return the number of bytes read.

....................................................................... Return the response length.

bool ServoCommand::simpleValidityCheck

(

)

Simple check that two strings match.

....................................................................... Simple Check if two strings match

size_t ServoCommand::size

(

)

The size of the command to send.

....................................................................... Return our size as a size_t suitable for passing to write(2) or read(2).

Member Data Documentation

unsigned short gcp::antenna::control::ServoCommand::cmdSize_

The size of the command to send.

std::map<Request, std::string> gcp::antenna::control::ServoCommand::commandMap_

Command map

std::string gcp::antenna::control::ServoCommand::expectedResponse_

Expected Response

bool gcp::antenna::control::ServoCommand::expectsResponse_

True if we are expecting a response to a command

std::string gcp::antenna::control::ServoCommand::messageToSend_

Command to be issued

bool gcp::antenna::control::ServoCommand::ppsPresent_

Whether 1 PPS is present

unsigned char gcp::antenna::control::ServoCommand::readData_[SERVO_DATA_MAX_LEN]

A buffer into which we can read data returned by the pmac.

unsigned char gcp::antenna::control::ServoCommand::request_

Index pertaining to all request types.

unsigned short gcp::antenna::control::ServoCommand::responseLength_

If we are expecting a response, how many bytes should be received?

char gcp::antenna::control::ServoCommand::responseReceived_[SERVO_DATA_MAX_LEN]

Response Received

bool gcp::antenna::control::ServoCommand::responseValid_

Whether the response is valid

float gcp::antenna::control::ServoCommand::responseValue_[MAX_RESPONSE_SAMPLES]

Value of the response

bool gcp::antenna::control::ServoCommand::responseValueValid_

Whether the response value is valid

unsigned char gcp::antenna::control::ServoCommand::tmpBuffer_[SERVO_DATA_MAX_LEN]

A pointer to this buffer may be handed back via calls to unsigned int* readRegResponse(), above

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The documentation for this class was generated from the following files:

• gcpCbass/antenna/control/cbass/ServoCommand.h
• gcpCbass/antenna/control/cbass/ServoCommand.cc