#include <yocto_multiaxiscontroller.h>

Inheritance diagram for YMultiAxisController:

Public Member Functions
virtual int	_invokeValueCallback (string value)

virtual int	abortAndBrake (void)

virtual int	abortAndHiZ (void)

string	command (void)

virtual int	emergencyStop (void)

virtual int	findHomePosition (vector< double > speed)

string	get_command (void)

Y_GLOBALSTATE_enum	get_globalState (void)

int	get_nAxis (void)

Y_GLOBALSTATE_enum	globalState (void)

virtual int	moveRel (vector< double > relPos)

virtual int	moveTo (vector< double > absPos)

int	nAxis (void)

YMultiAxisController *	next (void)

YMultiAxisController *	nextMultiAxisController (void)

virtual int	pause (int waitMs)

virtual int	registerValueCallback (YMultiAxisControllerValueCallback callback)

virtual int	reset (void)

virtual int	sendCommand (string command)

int	set_command (const string &newval)

int	set_nAxis (int newval)

int	setCommand (const string &newval)

int	setNAxis (int newval)

	~YMultiAxisController ()

Public Member Functions inherited from YFunction
void	_clearDataStreamCache ()

string	_decode_json_string (const string &json)

string	_download (const string &url)

YDataStream *	_findDataStream (YDataSet &dataset, const string &def)

string	_get_json_path (const string &json, const string &path)

vector< string >	_json_get_array (const string &json)

string	_json_get_key (const string &json, const string &data)

string	_json_get_string (const string &json)

int	_parseEx (yJsonStateMachine &j)

virtual int	_parserHelper (void)

string	_parseString (yJsonStateMachine &j)

string	_request (const string &request)

string	_requestEx (int tcpchan, const string &request, yapiRequestProgressCallback callback, void *context)

void	_throw (YRETCODE errType, string errMsg)

YRETCODE	_upload (const string &path, const string &content)

YRETCODE	_uploadWithProgress (const string &path, const string &content, yapiRequestProgressCallback callback, void *context)

string	advertisedValue (void)

void	clearCache ()

string	describe (void)

string	errMessage (void)

string	errorMessage (void)

YRETCODE	errorType (void)

YRETCODE	errType (void)

YFUN_DESCR	functionDescriptor (void)

string	get_advertisedValue (void)

string	get_errorMessage (void)

YRETCODE	get_errorType (void)

virtual string	get_friendlyName (void)

YFUN_DESCR	get_functionDescriptor (void)

string	get_functionId (void)

string	get_hardwareId (void)

string	get_hubSerial ()

string	get_logicalName (void)

YModule *	get_module (void)

void *	get_userData (void)

bool	isOnline (void)

YRETCODE	load (int msValidity)

virtual string	loadAttribute (string attrName)

string	logicalName (void)

YModule *	module (void)

virtual int	muteValueCallbacks (void)

YFunction *	next (void)

YFunction *	nextFunction (void)

virtual int	registerValueCallback (YFunctionValueCallback callback)

int	set_advertisedValue (const string &newval)

int	set_logicalName (const string &newval)

void	set_userData (void *data)

int	setAdvertisedValue (const string &newval)

int	setLogicalName (const string &newval)

void	setUserData (void *data)

virtual int	unmuteValueCallbacks (void)

void *	userData (void)

virtual	~YFunction ()

Static Public Member Functions
static YMultiAxisController *	Find (string func)

static YMultiAxisController *	FindMultiAxisController (string func)

static YMultiAxisController *	First (void)

static YMultiAxisController *	FirstMultiAxisController (void)

Static Public Member Functions inherited from YFunction
static void	_ClearCache (void)

static YFunction *	Find (string func)

static YFunction *	FindFunction (string func)

static YFunction *	First (void)

static YFunction *	FirstFunction (void)

Static Public Attributes
static const string	COMMAND_INVALID = YAPI_INVALID_STRING

static const Y_GLOBALSTATE_enum	GLOBALSTATE_ABSENT = Y_GLOBALSTATE_ABSENT

static const Y_GLOBALSTATE_enum	GLOBALSTATE_ALERT = Y_GLOBALSTATE_ALERT

static const Y_GLOBALSTATE_enum	GLOBALSTATE_BATCH = Y_GLOBALSTATE_BATCH

static const Y_GLOBALSTATE_enum	GLOBALSTATE_HI_Z = Y_GLOBALSTATE_HI_Z

static const Y_GLOBALSTATE_enum	GLOBALSTATE_INVALID = Y_GLOBALSTATE_INVALID

static const Y_GLOBALSTATE_enum	GLOBALSTATE_RUN = Y_GLOBALSTATE_RUN

static const Y_GLOBALSTATE_enum	GLOBALSTATE_STOP = Y_GLOBALSTATE_STOP

static const int	NAXIS_INVALID = YAPI_INVALID_UINT

Static Public Attributes inherited from YFunction
static const string	ADVERTISEDVALUE_INVALID = YAPI_INVALID_STRING

static const string	FRIENDLYNAME_INVALID = YAPI_INVALID_STRING

static const YFUN_DESCR	FUNCTIONDESCRIPTOR_INVALID = Y_FUNCTIONDESCRIPTOR_INVALID

static const string	FUNCTIONID_INVALID = YAPI_INVALID_STRING

static const string	HARDWAREID_INVALID = YAPI_INVALID_STRING

static const string	LOGICALNAME_INVALID = YAPI_INVALID_STRING

Protected Member Functions
virtual int	_parseAttr (YJSONObject *json_val)

	YMultiAxisController (const string &func)

Protected Member Functions inherited from YFunction
YRETCODE	_buildSetRequest (const string &changeattr, const string *changeval, string &request, string &errmsg)

string	_escapeAttr (const string &changeval)

YRETCODE	_getDescriptor (YFUN_DESCR &fundescr, string &errMsg)

YRETCODE	_getDevice (YDevice *&dev, string &errMsg)

YRETCODE	_load_unsafe (int msValidity)

YRETCODE	_nextFunction (string &hwId)

int	_parse (YJSONObject *j)

YRETCODE	_setAttr (string attrname, string newvalue)

	YFunction (const string &func)

Protected Attributes
string	_command

Y_GLOBALSTATE_enum	_globalState

int	_nAxis

YMultiAxisControllerValueCallback	_valueCallbackMultiAxisController

Protected Attributes inherited from YFunction
string	_advertisedValue

u64	_cacheExpiration

string	_className

std::map< string, YDataStream * >	_dataStreams

string	_func

YFUN_DESCR	_fundescr

string	_funId

string	_hwId

string	_lastErrorMsg

YRETCODE	_lastErrorType

string	_logicalName

string	_serial

yCRITICAL_SECTION	_this_cs

void *	_userData

YFunctionValueCallback	_valueCallbackFunction

Friends
YMultiAxisController *	yFindMultiAxisController (const string &func)

YMultiAxisController *	yFirstMultiAxisController (void)

Additional Inherited Members
Static Protected Member Functions inherited from YFunction
static void	_AddToCache (const string &classname, const string &func, YFunction *obj)

static YFunction *	_FindFromCache (const string &classname, const string &func)

static void	_UpdateTimedReportCallbackList (YFunction *func, bool add)

static void	_UpdateValueCallbackList (YFunction *func, bool add)

Static Protected Attributes inherited from YFunction
static std::map< string, YFunction * >	_cache

Detailed Description

YMultiAxisController Class: MultiAxisController function interface

The Yoctopuce application programming interface allows you to drive a stepper motor.

Definition at line 77 of file yocto_multiaxiscontroller.h.

Constructor & Destructor Documentation

YMultiAxisController::YMultiAxisController ( const string & func )

protected

Definition at line 51 of file yocto_multiaxiscontroller.cpp.

YMultiAxisController::~YMultiAxisController ( )

Definition at line 62 of file yocto_multiaxiscontroller.cpp.

Member Function Documentation

int YMultiAxisController::_invokeValueCallback ( string value )

virtual

Reimplemented from YFunction.

Definition at line 287 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::_parseAttr ( YJSONObject * json_val )

protectedvirtual

Reimplemented from YFunction.

Definition at line 71 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::abortAndBrake ( void )

virtual

Stops the motor smoothly as soon as possible, without waiting for ongoing move completion.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 436 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::abortAndHiZ ( void )

virtual

Turn the controller into Hi-Z mode immediately, without waiting for ongoing move completion.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 447 of file yocto_multiaxiscontroller.cpp.

string YMultiAxisController::command ( void )

inline

Definition at line 155 of file yocto_multiaxiscontroller.h.

int YMultiAxisController::emergencyStop ( void )

virtual

Stops the motor with an emergency alert, without taking any additional precaution.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 425 of file yocto_multiaxiscontroller.cpp.

static YMultiAxisController* YMultiAxisController::Find ( string func )

inlinestatic

Definition at line 288 of file yocto_multiaxiscontroller.h.

int YMultiAxisController::findHomePosition ( vector< double > speed )

virtual

Starts all motors backward at the specified speeds, to search for the motor home position.

Parameters

speed : desired speed for all axis, in steps per second.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 339 of file yocto_multiaxiscontroller.cpp.

YMultiAxisController * YMultiAxisController::FindMultiAxisController ( string func )

static

Retrieves a multi-axis controller for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the multi-axis controller is online at the time it is invoked. The returned object is nevertheless valid. Use the method YMultiAxisController.isOnline() to test if the multi-axis controller is indeed online at a given time. In case of ambiguity when looking for a multi-axis controller by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the multi-axis controller

Returns: a YMultiAxisController object allowing you to drive the multi-axis controller.

Definition at line 236 of file yocto_multiaxiscontroller.cpp.

static YMultiAxisController* YMultiAxisController::First ( void )

inlinestatic

Definition at line 312 of file yocto_multiaxiscontroller.h.

YMultiAxisController * YMultiAxisController::FirstMultiAxisController ( void )

static

Starts the enumeration of multi-axis controllers currently accessible. Use the method YMultiAxisController.nextMultiAxisController() to iterate on next multi-axis controllers.

Returns: a pointer to a YMultiAxisController object, corresponding to the first multi-axis controller currently online, or a NULL pointer if there are none.

Definition at line 462 of file yocto_multiaxiscontroller.cpp.

string YMultiAxisController::get_command ( void )

Definition at line 171 of file yocto_multiaxiscontroller.cpp.

Y_GLOBALSTATE_enum YMultiAxisController::get_globalState ( void )

Returns the stepper motor set overall state.

Returns: a value among Y_GLOBALSTATE_ABSENT, Y_GLOBALSTATE_ALERT, Y_GLOBALSTATE_HI_Z, Y_GLOBALSTATE_STOP, Y_GLOBALSTATE_RUN and Y_GLOBALSTATE_BATCH corresponding to the stepper motor set overall state

On failure, throws an exception or returns Y_GLOBALSTATE_INVALID.

Definition at line 149 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::get_nAxis ( void )

Returns the number of synchronized controllers.

Returns: an integer corresponding to the number of synchronized controllers

On failure, throws an exception or returns Y_NAXIS_INVALID.

Definition at line 93 of file yocto_multiaxiscontroller.cpp.

Y_GLOBALSTATE_enum YMultiAxisController::globalState ( void )

inline

Definition at line 150 of file yocto_multiaxiscontroller.h.

int YMultiAxisController::moveRel ( vector< double > relPos )

virtual

Starts all motors synchronously to reach a given relative position. The time needed to reach the requested position will depend on the lowest acceleration and max speed parameters configured for all motors. The final position will be reached on all axis at the same time.

Parameters

relPos : relative position, measured in steps from the current position.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 391 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::moveTo ( vector< double > absPos )

virtual

Starts all motors synchronously to reach a given absolute position. The time needed to reach the requested position will depend on the lowest acceleration and max speed parameters configured for all motors. The final position will be reached on all axis at the same time.

Parameters

absPos : absolute position, measured in steps from each origin.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 365 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::nAxis ( void )

inline

Definition at line 123 of file yocto_multiaxiscontroller.h.

YMultiAxisController* YMultiAxisController::next ( void )

inline

Definition at line 299 of file yocto_multiaxiscontroller.h.

YMultiAxisController * YMultiAxisController::nextMultiAxisController ( void )

Continues the enumeration of multi-axis controllers started using yFirstMultiAxisController().

Returns: a pointer to a YMultiAxisController object, corresponding to a multi-axis controller currently online, or a NULL pointer if there are no more multi-axis controllers to enumerate.

Definition at line 452 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::pause ( int waitMs )

virtual

Keep the motor in the same state for the specified amount of time, before processing next command.

Parameters

waitMs : wait time, specified in milliseconds.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 414 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::registerValueCallback ( YMultiAxisControllerValueCallback callback )

virtual

Registers the callback function that is invoked on every change of advertised value. The callback is invoked only during the execution of ySleep or yHandleEvents. This provides control over the time when the callback is triggered. For good responsiveness, remember to call one of these two functions periodically. To unregister a callback, pass a NULL pointer as argument.

Parameters

callback : the callback function to call, or a NULL pointer. The callback function should take two arguments: the function object of which the value has changed, and the character string describing the new advertised value.

Definition at line 268 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::reset ( void )

virtual

Reinitialize all controllers and clear all alert flags.

Returns: YAPI_SUCCESS if the call succeeds. On failure, throws an exception or returns a negative error code.

Definition at line 326 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::sendCommand ( string command )

virtual

Definition at line 297 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::set_command ( const string & newval )

Definition at line 193 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::set_nAxis ( int newval )

Changes the number of synchronized controllers.

Parameters

newval : an integer corresponding to the number of synchronized controllers

Returns: YAPI_SUCCESS if the call succeeds.

On failure, throws an exception or returns a negative error code.

Definition at line 124 of file yocto_multiaxiscontroller.cpp.

int YMultiAxisController::setCommand ( const string & newval )

inline

Definition at line 159 of file yocto_multiaxiscontroller.h.

int YMultiAxisController::setNAxis ( int newval )

inline

Definition at line 136 of file yocto_multiaxiscontroller.h.

Friends And Related Function Documentation

YMultiAxisController* yFindMultiAxisController ( const string & func )

friend

Retrieves a multi-axis controller for a given identifier. The identifier can be specified using several formats:

FunctionLogicalName
ModuleSerialNumber.FunctionIdentifier
ModuleSerialNumber.FunctionLogicalName
ModuleLogicalName.FunctionIdentifier
ModuleLogicalName.FunctionLogicalName

This function does not require that the multi-axis controller is online at the time it is invoked. The returned object is nevertheless valid. Use the method YMultiAxisController.isOnline() to test if the multi-axis controller is indeed online at a given time. In case of ambiguity when looking for a multi-axis controller by logical name, no error is notified: the first instance found is returned. The search is performed first by hardware name, then by logical name.

If a call to this object's is_online() method returns FALSE although you are certain that the matching device is plugged, make sure that you did call registerHub() at application initialization time.

Parameters

func	: a string that uniquely characterizes the multi-axis controller

Returns: a YMultiAxisController object allowing you to drive the multi-axis controller.

Definition at line 349 of file yocto_multiaxiscontroller.h.

YMultiAxisController* yFirstMultiAxisController ( void )

friend

Starts the enumeration of multi-axis controllers currently accessible. Use the method YMultiAxisController.nextMultiAxisController() to iterate on next multi-axis controllers.

Returns: a pointer to a YMultiAxisController object, corresponding to the first multi-axis controller currently online, or a NULL pointer if there are none.

Definition at line 360 of file yocto_multiaxiscontroller.h.