Pure virtual class for implementation of motion controllers. More...

#include <Controller.h>

Inheritance diagram for sf::gmi::Controller:

Classes
struct	Parameters
	Arguments for when creating a controller implementation. More...
class	Axis
	Interface class to access Axis properties and functions. More...

Public Types
enum	EStatus : int { csError = -1 , csUninitialized = 0 , csInitialized , csUnhomed , csHoming , csReady }
	States the controller can have. More...
typedef Value::flt_type	value_type
	Use the floating point type of the Value class.

Public Member Functions
	Controller (const Parameters &)
	Constructor for passing general structure for derived classes.
virtual	~Controller ()
	Virtual destructor for derived classes.
void	destroy ()
	Must be called from a derived class in the destructor before anything.
bool	initialize ()
	Initializes the hardware for operation and starts the thread when doInitialize returns true.
bool	uninitialize ()
	Un-initializes the hardware.
const ControllerListener::emitter_type &	getEventEmitter () const
	Attaches the event handler for events.
bool	storeSettings (bool rd)
	Reads or writes the non exported parameters/settings to profile.
bool	homeAxes (bool skip)
	Start homing procedure and returns true when successfully started. When skip has been passed the implementation tries to skip homing.
bool	setJoystick (EJoystickCmd jsc)
	Enables or disables the joystick mode of the controller.
EJoystickCmd	getJoystick () const
	Returns the joystick state. Off=0, Stop=1 and On=2.
EAxisLocation	getJoystickAxis () const
	Returns the current selected axis on the joystick control. This does not mean it is enabled.
bool	setJoystickAxis (EAxisLocation axis_loc)
	Sets the selected axis for the joystick enabled or not.
EAxisLocation	getPopAxis () const
	Returns the current selected axis on the pop event source.
bool	setPopAxis (EAxisLocation al)
	Sets the selected axis for the pop event source.
bool	setTriggerEnable (bool enable)
	Sets the trigger enable.
bool	getTriggerEnable () const
	Gets the trigger enable status.
value_type	setTriggerFreq (value_type freq)
	Sets the trigger internal frequency generator and returns the clipped or rounded value.
value_type	getTriggerFreq () const
	Returns the trigger internal frequency generator.
bool	setMovePos (EMovePosCmd mpc)
	Executes a passed move position command.
EMovePosCmd	getMovePos () const
	Returns the current active position command. When moving position the command returned will eventually become mcSTOP.
bool	setMoveVel (EMoveVelCmd mvc)
	Executes a passed move velocity command.
EMoveVelCmd	getMoveVel () const
	Returns the current active velocity command.
bool	setMoveCon (EMoveConCmd mcc)
	Executes a passed move continuous command.
EMoveConCmd	getMoveCon () const
	Returns the current active velocity command.
Axis &	getAxis (int axis_loc)
	Gets a reference to the axis at the specified location.
const Axis &	getAxis (int axis_loc) const
	Gets a const reference to the axis at the specified location.
Axis &	getPhysicalAxis (int axis_num)
	Returns the physical axis location of the passed axis number.
virtual void	addPropertyPages (PropertySheetDialog *sheet)
	Adds controller specific property pages to the passed sheet.
bool	getCurrent (EAxisValueType avt, AxesCoord &ac) const
	Gets the current axes values.
bool	setCurrent (EAxisValueType avt, const AxesCoord &coord)
	Sets the current axes values.
bool	getTarget (EAxisValueType avt, AxesCoord &coord) const
	Gets the target set for this axis.
bool	setTarget (EAxisValueType avt, const AxesCoord &coord)
	Set the target value type.
bool	setTarget (const AxesCoord &pos, const AxesCoord &vel, const AxesCoord &acc, bool linear)
	Set the target.
bool	setMode (EAxisMode am, const AxesCoord &ac, EAxisMode am_def=amDISABLED)
	Sets the mode according the in the coord specified axes.
bool	setTriggerAxis (EAxisLocation al)
	Sets the axis which pulses are used to derive the trigger pulses.
EAxisLocation	getTriggerAxis () const
	Gets the current selected trigger axis.
value_type	getTriggerDensity () const
	Gets the density of measurements in radians or meters depending on selected axis.
bool	setTriggerDensity (value_type td)
	Sets the density of measurements in rads or m depending on selected axis.
bool	setTriggerMode (bool intern)
	Sets Trigger mode.
bool	getTriggerMode () const
	Gets the trigger mode.
bool	setChuckJaw (EChuckJaw cj)
	Sets chuck-jaw state.
EChuckJaw	getChuckJaw () const
	Gets chuck-jaw state.
bool	isMovePosCompleted () const
	Returns true if the last position move is completed.
bool	isMoveVelCompleted () const
	Returns true if the velocity move is completed.
bool	isMoveConCompleted () const
	Returns true if the contineous move is completed.
bool	isMoving () const
	Function testing for movement of position and velocity mode. When there is an abort state of-any-of the motion groups the axis is considered as not moving.
bool	setPosition (EAxisLocation al, value_type value)
	Sets the current position of single axis.
bool	setPosition (const AxesCoord &ac)
	Sets the current position of all axis.
AxesCoord &	normalize (AxesCoord &pos) const
	normalize the passed position for all unlimited rotation axes. Uses accuracy to find the actual position to normalize. The passed value is also returned.
AxesCoord	normalized (const AxesCoord &dist) const
	normalize the passed position for all unlimited rotation axes. Uses accuracy to find the actual position to normalize. The passed value is also returned.
AxisLocations	getRadialUnlimited () const
	Gets a bitmap set of radial unlimited axis locations.
virtual void	openDebugger ()
	Opens a debugger dialog for the motion controller if any.
bool	isReady () const
	Returns true if the current status is READY.
const char *	getStatusName () const
	Gets the current status as a name.
unsigned	getAxisCount () const
	Gets the amount real implemented axes.
std::string	getLastErrorText () const
	Gets the last error if there is one.
bool	getParamInfo (IdType id, ParamInfo &info) const
	Retrieve information about the passed param id.
bool	getParam (IdType id, Value &value) const
	Returns the value of the specified parameter id. When the ID does not exist it returns false.
bool	setParam (IdType id, const Value &value, bool skip_event)
	Sets an interface parameter and notifies hooked user when skip_event is false.
bool	setGetParam (IdType id, Value &value, bool skip_event)
	Sets and immediately gets the same value again clipped or not. When skip event is true the callParamHook is not called.
virtual bool	handleParam (IdType id, ParamInfo info, const Value setval, Value *getval)=0
	This function must be overridden to handle the interface parameters. When info in non-null the parameter info must be filled in. When the set or get value is non-null the value is set and/or retrieved.
virtual IdType	getParamId (EParam param, int axis=std::numeric_limits< int >::max()) const =0
	Gets the ID of the parameter for the specified gate. Value std::numeric_limits<int>::max() tells the implementation to ignore the parameter.
virtual bool	enumParamIds (IdList &ids) const =0
	Enumerate interface parameters ids.
void	setParamHook (NotifyProc proc, void *data)
	Sets a procedure hook for the interface implementation to be called when the value changes as a result of the implementation itself.
void	setResultHook (NotifyProc proc, void *data)
	Sets a procedure hook for the interface implementation to be called when there ias data result has data.
virtual IdType	getResultId (EResult result, int axis=std::numeric_limits< int >::max()) const =0
	Gets the ID of the result for the specified gate. Value std::numeric_limits<int>::max() tells the implementation to ignore the result.
virtual bool	enumResultIds (IdList &ids) const =0
	Enumerate interface results ids.
bool	getResultInfo (IdType id, ResultInfo &info) const
	Retrieve information about the passed result id.
virtual bool	handleResult (IdType id, ResultInfo info, BufferInfo buf_info)=0
	This function must be overridden to handle the interface results.
bool	getResultBuffer (IdType id, BufferInfo &buf_info)
	Gets the result buffer associated with the result ID passed in the result hook at the time of the call.
bool	getAccuracy (AxesCoord &accuracy) const
	Gets the accuracy of positions of the implementation for a coords compare.
bool	getResolution (AxesCoord &resolution) const
	Gets the resolution on all axis for the implementation.
bool	getMinMax (EAxisMinMax amm, AxesCoord &coord) const
	Gets the current axes extremes.
bool	setOffset (const AxesCoord &coord)
	Sets the position offset for all position related parameters of all axes.
bool	getOffset (AxesCoord &coord) const
	Returns the current offset for all axes.
std::string	getProfilePath () const
	Returns the configuration profile path of this implementation.

Static Public Member Functions
static const char *	getAxisName (int axis_loc)
	Gets the name of the axis.
static const char *	getAxisDescription (int axis_loc)
	Gets the description of the axis.
static const char *	getStatusName (EStatus status)
	Gets the status name of the current status.

Protected Member Functions
virtual bool	doInitialize (bool)=0
	Initialization function which must be overridden by a derived class. Should check the hardware configuration.
virtual bool	doSetPosition (EAxisLocation al, value_type)
	Can be overridden by a derived class. Sets the current position.
virtual bool	doHomeAxes (bool skip)
	Does the real execution of the home function and must be overridden. When skip has been passed the implementation tries to skip homing.
void	setLastErrorText (const char *text)
	Derived classes can set the error text for the function.
void	setStatus (EStatus status)
	Used by derived classes to set the controllers status.
EStatus	getStatus () const
	Gets the status value.
void	callParamHook (IdType id)
	Calls the hooked function if it exists. Passing the set data pointer and the ID of the effected parameter.
void	callResultHook (IdType id)
	Calls the hooked function if it exists. Passing the set data pointer and the ID of the effected result.
void	sendPopEvent ()
	Sends a POP event to the hooked event handlers. Is to be called by the implementation to signal that a new rotation has begun.

Detailed Description

Pure virtual class for implementation of motion controllers.

Member Typedef Documentation

◆ value_type

typedef Value::flt_type sf::gmi::Controller::value_type

Use the floating point type of the Value class.

Member Enumeration Documentation

◆ EStatus

enum sf::gmi::Controller::EStatus : int

States the controller can have.

Enumerator
csError	Error occurred.
csUninitialized	Not initialized.
csInitialized	Initialized.
csUnhomed	Axes are not homed yet.
csHoming	Is currently homing.
csReady	Is ready for action.

Constructor & Destructor Documentation

◆ Controller()

sf::gmi::Controller::Controller ( const Parameters & )

Constructor for passing general structure for derived classes.

◆ ~Controller()

virtual sf::gmi::Controller::~Controller ( )

virtual

Virtual destructor for derived classes.

Member Function Documentation

◆ addPropertyPages()

virtual void sf::gmi::Controller::addPropertyPages ( PropertySheetDialog * sheet )

virtual

Adds controller specific property pages to the passed sheet.

Reimplemented in sf::GmiEmulator.

◆ callParamHook()

void sf::gmi::Controller::callParamHook ( IdType id )

protected

Calls the hooked function if it exists. Passing the set data pointer and the ID of the effected parameter.

◆ callResultHook()

void sf::gmi::Controller::callResultHook ( IdType id )

protected

Calls the hooked function if it exists. Passing the set data pointer and the ID of the effected result.

◆ destroy()

void sf::gmi::Controller::destroy ( )

Must be called from a derived class in the destructor before anything.

◆ doHomeAxes()

virtual bool sf::gmi::Controller::doHomeAxes ( bool skip )

protectedvirtual

Does the real execution of the home function and must be overridden. When skip has been passed the implementation tries to skip homing.

Reimplemented in sf::GmiEmulator.

◆ doInitialize()

virtual bool sf::gmi::Controller::doInitialize ( bool )

protectedpure virtual

Initialization function which must be overridden by a derived class. Should check the hardware configuration.

Implemented in sf::GmiEmulator.

◆ doSetPosition()

virtual bool sf::gmi::Controller::doSetPosition	(	EAxisLocation	al,
		value_type	)

protectedvirtual

Can be overridden by a derived class. Sets the current position.

◆ enumParamIds()

virtual bool sf::gmi::Controller::enumParamIds ( IdList & ids ) const

pure virtual

Enumerate interface parameters ids.

Implemented in sf::GmiEmulator.

◆ enumResultIds()

virtual bool sf::gmi::Controller::enumResultIds ( IdList & ids ) const

pure virtual

Enumerate interface results ids.

Implemented in sf::GmiEmulator.

◆ getAccuracy()

bool sf::gmi::Controller::getAccuracy ( AxesCoord & accuracy ) const

Gets the accuracy of positions of the implementation for a coords compare.

◆ getAxis() [1/2]

Axis & sf::gmi::Controller::getAxis ( int axis_loc )

Gets a reference to the axis at the specified location.

◆ getAxis() [2/2]

const Axis & sf::gmi::Controller::getAxis ( int axis_loc ) const

Gets a const reference to the axis at the specified location.

◆ getAxisCount()

unsigned sf::gmi::Controller::getAxisCount ( ) const

Gets the amount real implemented axes.

◆ getAxisDescription()

const char * sf::gmi::Controller::getAxisDescription ( int axis_loc )

static

Gets the description of the axis.

◆ getAxisName()

const char * sf::gmi::Controller::getAxisName ( int axis_loc )

static

Gets the name of the axis.

◆ getChuckJaw()

EChuckJaw sf::gmi::Controller::getChuckJaw ( ) const

Gets chuck-jaw state.

◆ getCurrent()

bool sf::gmi::Controller::getCurrent	(	EAxisValueType	avt,
		AxesCoord &	ac ) const

Gets the current axes values.

Parameters

avt	Axis value type.
ac	Axes coordinate containing the values.

Returns: True if successful and False on failure where the last error contains more information.

◆ getEventEmitter()

const ControllerListener::emitter_type & sf::gmi::Controller::getEventEmitter ( ) const

Attaches the event handler for events.

◆ getJoystick()

EJoystickCmd sf::gmi::Controller::getJoystick ( ) const

Returns the joystick state. Off=0, Stop=1 and On=2.

◆ getJoystickAxis()

EAxisLocation sf::gmi::Controller::getJoystickAxis ( ) const

Returns the current selected axis on the joystick control. This does not mean it is enabled.

◆ getLastErrorText()

std::string sf::gmi::Controller::getLastErrorText ( ) const

Gets the last error if there is one.

◆ getMinMax()

bool sf::gmi::Controller::getMinMax	(	EAxisMinMax	amm,
		AxesCoord &	coord ) const

Gets the current axes extremes.

◆ getMoveCon()

EMoveConCmd sf::gmi::Controller::getMoveCon ( ) const

Returns the current active velocity command.

Returns

◆ getMovePos()

EMovePosCmd sf::gmi::Controller::getMovePos ( ) const

Returns the current active position command. When moving position the command returned will eventually become mcSTOP.

◆ getMoveVel()

EMoveVelCmd sf::gmi::Controller::getMoveVel ( ) const

Returns the current active velocity command.

◆ getOffset()

bool sf::gmi::Controller::getOffset ( AxesCoord & coord ) const

Returns the current offset for all axes.

◆ getParam()

bool sf::gmi::Controller::getParam	(	IdType	id,
		Value &	value ) const

Returns the value of the specified parameter id. When the ID does not exist it returns false.

◆ getParamId()

virtual IdType sf::gmi::Controller::getParamId	(	EParam	param,
		int	axis = std::numeric_limits< int >::max() ) const

pure virtual

Gets the ID of the parameter for the specified gate. Value std::numeric_limits<int>::max() tells the implementation to ignore the parameter.

Implemented in sf::GmiEmulator.

◆ getParamInfo()

bool sf::gmi::Controller::getParamInfo	(	IdType	id,
		ParamInfo &	info ) const

Retrieve information about the passed param id.

◆ getPhysicalAxis()

Axis & sf::gmi::Controller::getPhysicalAxis ( int axis_num )

Returns the physical axis location of the passed axis number.

◆ getPopAxis()

EAxisLocation sf::gmi::Controller::getPopAxis ( ) const

Returns the current selected axis on the pop event source.

◆ getProfilePath()

std::string sf::gmi::Controller::getProfilePath ( ) const

Returns the configuration profile path of this implementation.

◆ getRadialUnlimited()

AxisLocations sf::gmi::Controller::getRadialUnlimited ( ) const

Gets a bitmap set of radial unlimited axis locations.

◆ getResolution()

bool sf::gmi::Controller::getResolution ( AxesCoord & resolution ) const

Gets the resolution on all axis for the implementation.

◆ getResultBuffer()

bool sf::gmi::Controller::getResultBuffer	(	IdType	id,
		BufferInfo &	buf_info )

Gets the result buffer associated with the result ID passed in the result hook at the time of the call.

Returns: True on succes.

◆ getResultId()

virtual IdType sf::gmi::Controller::getResultId	(	EResult	result,
		int	axis = std::numeric_limits< int >::max() ) const

pure virtual

Gets the ID of the result for the specified gate. Value std::numeric_limits<int>::max() tells the implementation to ignore the result.

Implemented in sf::GmiEmulator.

◆ getResultInfo()

bool sf::gmi::Controller::getResultInfo	(	IdType	id,
		ResultInfo &	info ) const

Retrieve information about the passed result id.

◆ getStatus()

EStatus sf::gmi::Controller::getStatus ( ) const

protected

Gets the status value.

◆ getStatusName() [1/2]

const char * sf::gmi::Controller::getStatusName ( ) const

Gets the current status as a name.

◆ getStatusName() [2/2]

const char * sf::gmi::Controller::getStatusName ( EStatus status )

static

Gets the status name of the current status.

◆ getTarget()

bool sf::gmi::Controller::getTarget	(	EAxisValueType	avt,
		AxesCoord &	coord ) const

Gets the target set for this axis.

Parameters

avt	Axis value type.
coord	Axes coordinate containing the values.

Returns: True if successful and False on failure where the last error contains more information.

◆ getTriggerAxis()

EAxisLocation sf::gmi::Controller::getTriggerAxis ( ) const

Gets the current selected trigger axis.

Returns: The triggering axis.

◆ getTriggerDensity()

value_type sf::gmi::Controller::getTriggerDensity ( ) const

Gets the density of measurements in radians or meters depending on selected axis.

◆ getTriggerEnable()

bool sf::gmi::Controller::getTriggerEnable ( ) const

Gets the trigger enable status.

◆ getTriggerFreq()

value_type sf::gmi::Controller::getTriggerFreq ( ) const

Returns the trigger internal frequency generator.

Returns: On error -1.

◆ getTriggerMode()

bool sf::gmi::Controller::getTriggerMode ( ) const

Gets the trigger mode.

◆ handleParam()

virtual bool sf::gmi::Controller::handleParam	(	IdType	id,
		ParamInfo *	info,
		const Value *	setval,
		Value *	getval )

pure virtual

This function must be overridden to handle the interface parameters. When info in non-null the parameter info must be filled in. When the set or get value is non-null the value is set and/or retrieved.

Implemented in sf::GmiEmulator.

◆ handleResult()

virtual bool sf::gmi::Controller::handleResult	(	IdType	id,
		ResultInfo *	info,
		BufferInfo *	buf_info )

pure virtual

This function must be overridden to handle the interface results.

Implemented in sf::GmiEmulator.

◆ homeAxes()

bool sf::gmi::Controller::homeAxes ( bool skip )

Start homing procedure and returns true when successfully started. When skip has been passed the implementation tries to skip homing.

◆ initialize()

bool sf::gmi::Controller::initialize ( )

Initializes the hardware for operation and starts the thread when doInitialize returns true.

◆ isMoveConCompleted()

bool sf::gmi::Controller::isMoveConCompleted ( ) const

Returns true if the contineous move is completed.

◆ isMovePosCompleted()

bool sf::gmi::Controller::isMovePosCompleted ( ) const

Returns true if the last position move is completed.

◆ isMoveVelCompleted()

bool sf::gmi::Controller::isMoveVelCompleted ( ) const

Returns true if the velocity move is completed.

◆ isMoving()

bool sf::gmi::Controller::isMoving ( ) const

Function testing for movement of position and velocity mode. When there is an abort state of-any-of the motion groups the axis is considered as not moving.

◆ isReady()

bool sf::gmi::Controller::isReady ( ) const

inline

Returns true if the current status is READY.

◆ normalize()

AxesCoord & sf::gmi::Controller::normalize ( AxesCoord & pos ) const

normalize the passed position for all unlimited rotation axes. Uses accuracy to find the actual position to normalize. The passed value is also returned.

Parameters

pos	Axes coordinate to modify.

Returns: The reference to the passed axes coordinate.

◆ normalized()

AxesCoord sf::gmi::Controller::normalized ( const AxesCoord & dist ) const

normalize the passed position for all unlimited rotation axes. Uses accuracy to find the actual position to normalize. The passed value is also returned.

Parameters

dist	Axes distance coordinate to normalize.

Returns: The normalized axes coordinate.

◆ openDebugger()

virtual void sf::gmi::Controller::openDebugger ( )

inlinevirtual

Opens a debugger dialog for the motion controller if any.

◆ sendPopEvent()

void sf::gmi::Controller::sendPopEvent ( )

protected

Sends a POP event to the hooked event handlers. Is to be called by the implementation to signal that a new rotation has begun.

◆ setChuckJaw()

bool sf::gmi::Controller::setChuckJaw ( EChuckJaw cj )

Sets chuck-jaw state.

◆ setCurrent()

bool sf::gmi::Controller::setCurrent	(	EAxisValueType	avt,
		const AxesCoord &	coord )

Sets the current axes values.

Parameters

avt	Axis value type.
coord	Axes coordinate containing the values.

Returns: True if successful and False on failure where the last error contains more information.

◆ setGetParam()

bool sf::gmi::Controller::setGetParam	(	IdType	id,
		Value &	value,
		bool	skip_event )

Sets and immediately gets the same value again clipped or not. When skip event is true the callParamHook is not called.

◆ setJoystick()

bool sf::gmi::Controller::setJoystick ( EJoystickCmd jsc )

Enables or disables the joystick mode of the controller.

Returns: True when the transition was successful.

◆ setJoystickAxis()

bool sf::gmi::Controller::setJoystickAxis ( EAxisLocation axis_loc )

Sets the selected axis for the joystick enabled or not.

◆ setLastErrorText()

void sf::gmi::Controller::setLastErrorText ( const char * text )

protected

Derived classes can set the error text for the function.

◆ setMode()

bool sf::gmi::Controller::setMode	(	EAxisMode	am,
		const AxesCoord &	ac,
		EAxisMode	am_def = amDISABLED )

Sets the mode according the in the coord specified axes.

Parameters

am	Axis mode.
ac
am_def	Default value for the axes when not specified.

Returns: False on failure.

◆ setMoveCon()

bool sf::gmi::Controller::setMoveCon ( EMoveConCmd mcc )

Executes a passed move continuous command.

◆ setMovePos()

bool sf::gmi::Controller::setMovePos ( EMovePosCmd mpc )

Executes a passed move position command.

Returns: True on succes and false on failure and see getLastErrorText() function for more information.

◆ setMoveVel()

bool sf::gmi::Controller::setMoveVel ( EMoveVelCmd mvc )

Executes a passed move velocity command.

◆ setOffset()

bool sf::gmi::Controller::setOffset ( const AxesCoord & coord )

Sets the position offset for all position related parameters of all axes.

◆ setParam()

bool sf::gmi::Controller::setParam	(	IdType	id,
		const Value &	value,
		bool	skip_event )

Sets an interface parameter and notifies hooked user when skip_event is false.

◆ setParamHook()

void sf::gmi::Controller::setParamHook	(	NotifyProc	proc,
		void *	data )

Sets a procedure hook for the interface implementation to be called when the value changes as a result of the implementation itself.

◆ setPopAxis()

bool sf::gmi::Controller::setPopAxis ( EAxisLocation al )

Sets the selected axis for the pop event source.

◆ setPosition() [1/2]

bool sf::gmi::Controller::setPosition ( const AxesCoord & ac )

Sets the current position of all axis.

◆ setPosition() [2/2]

bool sf::gmi::Controller::setPosition	(	EAxisLocation	al,
		value_type	value )

Sets the current position of single axis.

◆ setResultHook()

void sf::gmi::Controller::setResultHook	(	NotifyProc	proc,
		void *	data )

Sets a procedure hook for the interface implementation to be called when there ias data result has data.

◆ setStatus()

void sf::gmi::Controller::setStatus ( EStatus status )

protected

Used by derived classes to set the controllers status.

◆ setTarget() [1/2]

bool sf::gmi::Controller::setTarget	(	const AxesCoord &	pos,
		const AxesCoord &	vel,
		const AxesCoord &	acc,
		bool	linear )

Set the target.

Parameters

pos	Axes positions.
vel	Axes velocities.
acc	Axes accelerations.
linear

Returns: True if successful and False on failure where the last error contains more information.

◆ setTarget() [2/2]

bool sf::gmi::Controller::setTarget	(	EAxisValueType	avt,
		const AxesCoord &	coord )

Set the target value type.

Parameters

avt	Axis value type.
coord	Axes coordinate containing the values.

Returns: True if successful and False on failure where the last error contains more information.

◆ setTriggerAxis()

bool sf::gmi::Controller::setTriggerAxis ( EAxisLocation al )

Sets the axis which pulses are used to derive the trigger pulses.

Returns: True on success.

◆ setTriggerDensity()

bool sf::gmi::Controller::setTriggerDensity ( value_type td )

Sets the density of measurements in rads or m depending on selected axis.

◆ setTriggerEnable()

bool sf::gmi::Controller::setTriggerEnable ( bool enable )

Sets the trigger enable.

◆ setTriggerFreq()

value_type sf::gmi::Controller::setTriggerFreq ( value_type freq )

Sets the trigger internal frequency generator and returns the clipped or rounded value.

Returns: On error -1

◆ setTriggerMode()

bool sf::gmi::Controller::setTriggerMode ( bool intern )

Sets Trigger mode.

◆ storeSettings()

bool sf::gmi::Controller::storeSettings ( bool rd )

Reads or writes the non exported parameters/settings to profile.

Parameters

rd	When true settings are read.

Returns: True on success.

◆ uninitialize()

bool sf::gmi::Controller::uninitialize ( )

Un-initializes the hardware.

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

Controller.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ value_type

Member Enumeration Documentation

◆ EStatus

Constructor & Destructor Documentation

◆ Controller()

◆ ~Controller()

Member Function Documentation

◆ addPropertyPages()

◆ callParamHook()

◆ callResultHook()

◆ destroy()

◆ doHomeAxes()

◆ doInitialize()

◆ doSetPosition()

◆ enumParamIds()

◆ enumResultIds()

◆ getAccuracy()

◆ getAxis() [1/2]

◆ getAxis() [2/2]

◆ getAxisCount()

◆ getAxisDescription()

◆ getAxisName()

◆ getChuckJaw()

◆ getCurrent()

◆ getEventEmitter()

◆ getJoystick()

◆ getJoystickAxis()

◆ getLastErrorText()

◆ getMinMax()

◆ getMoveCon()

◆ getMovePos()

◆ getMoveVel()

◆ getOffset()

◆ getParam()

◆ getParamId()

◆ getParamInfo()

◆ getPhysicalAxis()

◆ getPopAxis()

◆ getProfilePath()

◆ getRadialUnlimited()

◆ getResolution()

◆ getResultBuffer()

◆ getResultId()

◆ getResultInfo()

◆ getStatus()

◆ getStatusName() [1/2]

◆ getStatusName() [2/2]

◆ getTarget()

◆ getTriggerAxis()

◆ getTriggerDensity()

◆ getTriggerEnable()

◆ getTriggerFreq()

◆ getTriggerMode()

◆ handleParam()

◆ handleResult()

◆ homeAxes()

◆ initialize()

◆ isMoveConCompleted()

◆ isMovePosCompleted()

◆ isMoveVelCompleted()

◆ isMoving()

◆ isReady()

◆ normalize()

◆ normalized()

◆ openDebugger()

◆ sendPopEvent()

◆ setChuckJaw()

◆ setCurrent()

◆ setGetParam()

◆ setJoystick()

◆ setJoystickAxis()

◆ setLastErrorText()

◆ setMode()