Inheritance diagram for gcp::antenna::control::ServoComms:

Public Member Functions
	ServoComms (SpecificShare *share, std::string name, bool sim)

	ServoComms ()

	~ServoComms ()

void	setAzEl (gcp::util::Angle &az, gcp::util::Angle &el)

void	hardStopAntenna ()

void	haltAntenna ()

void	calibrateEncoders ()

void	initializeAntenna (int antNum=1)

void	queryStatus ()

void	queryStatus (gcp::util::TimeVal &currTime)

void	queryAntPositions ()

void	queryAntPositions (gcp::util::TimeVal &currTime)

bool	readPosition (AxisPositions axes, Model model)

void	commandNewPosition (PmacTarget *pmac)

void	setMaxAzVel (int antNum, float vMax)

void	finishInitialization ()

void	fillUtc (gcp::util::TimeVal &currTime)

bool	connect ()

void	disconnect ()

bool	servoIsConnected ()

void	sendCommand (ServoCommand &command)

int	readResponse (ServoCommand &command)

bool	isBusy ()

bool	isPpsPresent ()

bool	isCalibrated ()

int	checkTrackLoop ()

unsigned	readPositionFault ()

int	writeString (std::string message)

Public Member Functions inherited from gcp::antenna::control::Board
	Board (SpecificShare *share, std::string name)

	Board (SpecificShare *share, gcp::util::AntNum ant)

	Board (SpecificShare *share)

	Board ()

virtual	~Board ()

RegMapBlock *	findReg (char *name)

bool	isReachable ()

virtual void	reset ()

int	getIndex ()

virtual void	readRegNoLock (RegMapBlock blk, unsigned int first, unsigned int nreg, unsigned int value)

virtual void	readReg (RegMapBlock blk, unsigned int first, unsigned int nreg, unsigned int value)

virtual void	readReg (RegMapBlock blk, unsigned int first, unsigned int nreg, float value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, signed char value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, unsigned char value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, signed short value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, unsigned short value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, int value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, unsigned int value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, float value)

virtual void	writeRegNoLock (RegMapBlock blk, unsigned first, unsigned nreg, double value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, signed char value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, unsigned char value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, signed short value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, unsigned short value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, int value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, unsigned int value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, float value)

virtual void	writeReg (RegMapBlock blk, unsigned first, unsigned nreg, double value)

Public Attributes
int	inactiveCount_

ServoCommand	command_

Additional Inherited Members
Protected Attributes inherited from gcp::antenna::control::Board
SpecificShare *	share_

RegMapBoard *	board_

bool	hasBoard_

Constructor & Destructor Documentation

gcp::antenna::control::ServoComms::ServoComms	(	SpecificShare *	share,
		std::string	name,
		bool	sim
	)

Constructor with pointer to shared resources.

ServoComms::ServoComms ( )

Constructor.

....................................................................... Constructor with no shared resources.

ServoComms::~ServoComms ( )

Destructor.

....................................................................... Destructor

Member Function Documentation

bool ServoComms::connect ( )

Connect to the servo.

Returns true on success.

....................................................................... Connect to the servo port.

void ServoComms::disconnect ( )

Disconnect from the servo.

....................................................................... Disconnect from the servo port.

void gcp::antenna::control::ServoComms::fillUtc ( gcp::util::TimeVal & currTime )

Fill the utc register with the time stamps appropriate for the data just read back from the servo box

void gcp::antenna::control::ServoComms::finishInitialization ( )

last few steps of the initialization

int ServoComms::readResponse ( ServoCommand & command )

Read a response from the SERVO. Does not check that a response is available, and may block waiting for one, depending on how the socket was configured.

....................................................................... Private version to read a response into our internal message container.

void ServoComms::sendCommand ( ServoCommand & command )

Send a single command to the SERVO.

....................................................................... Send a command to the servo.

bool ServoComms::servoIsConnected ( )

Return true if the servo is connected.

....................................................................... Return true if we are connected to the servo.

void gcp::antenna::control::ServoComms::setAzEl	(	gcp::util::Angle &	az,
		gcp::util::Angle &	el
	)

Command set – commands called by higher functions

void gcp::antenna::control::ServoComms::setMaxAzVel	(	int	antNum,
		float	vMax
	)

set maximum velocity

int ServoComms::writeString ( std::string message )

write message to serial port

....................................................................... write a message to the port

Member Data Documentation

ServoCommand gcp::antenna::control::ServoComms::command_

A not-so-private message container used for sending and receiving data from the SERVO. need it to be public to check the presence of 1PPS

int gcp::antenna::control::ServoComms::inactiveCount_

Count of how many consecutive messages communications have hung on

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

gcpCbass/antenna/control/cbass/ServoComms.h
gcpCbass/antenna/control/cbass/ServoComms.cc

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation