Inheritance diagram for mcx::drive::Module:

Collaboration diagram for mcx::drive::Module:

Public Member Functions
	Module (utils::SystemMode system_mode, DriveType type, const std::string &name, unsigned int number_of_axis=1)

	Module (utils::SystemMode system_mode, DriveType type, unsigned int number_of_axis=1)

	~Module () override
	Default destructor.

Public Member Functions inherited from mcx::container::Module
	Module ()
	Default constructor.

	Module (const Module &orig)=delete
	Copy constructors are deleted.

Module &	operator= (const Module &)=delete
	Copy constructors are deleted.

void	create (const char name, parameter_server::Parameter parameter_server, uint64_t dt_micro_s=0)
	Executes 'Create' phase of initialization. More...

void	create (const char name, parameter_server::Parameter parameter_server, uint64_t dt_micro_s, parameter_server::UserGroup owner_group, uint32_t permissions=parameter_server::default_permissions)
	Extended interface with access permissions. More...

bool	initPhase1 ()
	Executes initialization of the parameter tree phase. More...

bool	initPhase2 ()
	Initialization, which require parameter tree to be complete and loaded. More...

bool	startOp ()
	Final initialization before entering Operation mode. More...

bool	stopOp ()
	Stops Operation mode, switches back to PHASE2. More...

bool	iterate (const TaskTime &task_time, UserTime *user_time)
	Iterates an execution cycle of the module. More...

void	setName (const char *name)
	Sets the name of the module. More...

const char *	getName () const
	Returns the name of the module. More...

void	setDtMicroSec (uint64_t micro_sec)
	Sets a cycle time of module and its submodules in microseconds. More...

uint64_t	getDtMicroSec () const
	Returns a cycle time as an integer in microseconds. More...

void	setDtSec (double sec)
	Sets a cycle time of module and its submodules in seconds. More...

double	getDtSec () const

ModuleStates	getState () const
	Returns an actual state. More...

void	setEvent (ModuleEvents event)
	Command an event. More...

ModuleErrors	getError () const
	Returns active error code. More...

Protected Member Functions
void	create_ (const char name, parameter_server::Parameter parameter_server, uint64_t dt_micro_s) override
	User-defined callback, which is executed during 'Create' phase. More...

bool	initPhase1_ () override
	User-defined callback to register parameters in the tree. More...

bool	initPhase2_ () override
	User-defined callback after the parameter tree is ready. More...

bool	startOp_ () override
	User-defined callback before entering Operation mode. More...

bool	stopOp_ () override
	User-defined callback before to stop Operation mode. More...

bool	iterateOp_ (const container::TaskTime &system_time, container::UserTime *user_time) override
	User-defined callback which is called during Operation mode. More...

Protected Member Functions inherited from mcx::container::Module
virtual bool	iteratePreOp_ (const TaskTime &system_time, UserTime *user_time)
	User-defined callback which is called during Phase 2. More...

void	createSubmodule (Module module, const char name)
	Creates and registers submodule. More...

template<typename T >
void	createSubmodules (utils::span< T > module_array, const char *basename)
	Creates and registers an array of submodules. More...

void	setType (const char *name)
	Sets a type of the module. More...

template<size_t buffer_size = parameter_server::DEFAULT_INPUT_BUFFER_LENGTH>
parameter_server::ParamHandle	addParameter (const char id, parameter_server::ParameterType param_type, char str_ptr, size_t length)
	Helper function to register C-string member variable in the parameter tree. More...

template<typename T , size_t buffer_size = parameter_server::DEFAULT_INPUT_BUFFER_LENGTH, add_visitable::EnableIfNotVisitable< T > = true>
parameter_server::ParamHandle	addParameter (const char id, parameter_server::ParameterType param_type, T value_ptr, size_t length=1, parameter_server::Unit param_unit=parameter_server::Unit::undefined)
	Helper function to register member variable of in the parameter tree. More...

template<typename T , size_t buffer_size = parameter_server::DEFAULT_INPUT_BUFFER_LENGTH, add_visitable::EnableIfVisitable< T > = true>
parameter_server::GroupHandle	addParameter (const char id, parameter_server::ParameterType param_type, T value_ptr, size_t length=1, parameter_server::Unit param_unit=parameter_server::Unit::undefined)
	Helper function to register visitable PODs in the parameter tree. More...

template<typename T , size_t buffer_size = parameter_server::DEFAULT_INPUT_BUFFER_LENGTH>
parameter_server::ParamHandle	addParameter (const char id, parameter_server::ParameterType param_type, parameter_server::DataType data_type, T value_ptr, size_t length=1, parameter_server::Unit param_unit=parameter_server::Unit::undefined)
	Helper function to register types, which cannot be deduced. More...

parameter_server::SubHandle	subscribe (const char *path)
	Helper function to subscribe for the parameter's update. More...

parameter_server::ReqHandle	request (const char *path)
	Helper function to request a parameter's value. More...

parameter_server::PubHandle	publish (const char *path)
	Helper function to update parameter's value. More...

parameter_server::Parameter *	getParameterRoot ()
	Returns the root of the parameter tree. More...

parameter_server::Parameter *	getLocalBranch ()
	Returns the root of the local branch. More...

Additional Inherited Members
Public Types inherited from mcx::container::Module
enum	ModuleStates { NOT_INITIALIZED = 0, PHASE_0 = 1, PHASE0 = 2, PHASE0_1 = 3, PHASE1 = 4, PHASE1_2 = 5, PHASE2 = 6, PHASE2_OP = 7, OP = 8, OP_PHASE2 = 9, PHASE2_NOT_INIT = 10 }

enum	ModuleErrors { NO_ERROR = 0, NO_CALLBACK_DEFINED = 1, CALLBACK_FAILED = 2, WRONG_STATE = 3 }

enum	ModuleEvents { EMPTY = -1, STOP = 0, START = 1, PAUSE = 2, ACK = 0xFF }

Member Function Documentation

◆ create_()

void mcx::drive::Module::create_	(	const char *	name,
		parameter_server::Parameter *	parameter_server,
		uint64_t	dt_micro_s
	)

overrideprotectedvirtual

User-defined callback, which is executed during 'Create' phase.

Parameters

name	- unique name.
parameter_server	- pointer to the root.
dt_micro_s	- cycle time in microseconds.

See also: Module::create

Implements mcx::container::Module.

◆ initPhase1_()

bool mcx::drive::Module::initPhase1_ ( )

overrideprotectedvirtual

User-defined callback to register parameters in the tree.

Returns: user callback should return true on success, otherwise the state machine won't progress.

See also: Module::initPhase1

Implements mcx::container::Module.

◆ initPhase2_()

bool mcx::drive::Module::initPhase2_ ( )

overrideprotectedvirtual

User-defined callback after the parameter tree is ready.

This callback could be used for additional initialization. During initPhase2_ tree structure is complete, initial values are NOT loaded.

Returns: user callback should return true on success, otherwise the state machine won't progress.

See also: Module::initPhase2

Implements mcx::container::Module.

◆ iterateOp_()

bool mcx::drive::Module::iterateOp_	(	const container::TaskTime &	system_time,
		container::UserTime *	user_time
	)

overrideprotectedvirtual

User-defined callback which is called during Operation mode.

Returns: user callback should return true on success, otherwise the state machine won't progress.

See also: Module::iterate

Implements mcx::container::Module.

◆ startOp_()

bool mcx::drive::Module::startOp_ ( )

overrideprotectedvirtual

User-defined callback before entering Operation mode.

During startOp_ callback user can safely access initialized parameter tree. startOp_ operation is part of the first iterateOp_ cycle, that is why it should be relatively short. Otherwise fist cycle time will be violated.