10-m Antenna Encoder Module CAN Implementation (API No. More...

#include <carma/antenna/ovro/canbus/Encoder.h>

Inheritance diagram for carma::antenna::ovro::Encoder:

Public Types
enum	Axis { AZIMUTH = 1, ELEVATION = 2 }

Public Member Functions
	Encoder (Axis axis, carma::canbus::CanOutput &canOut, carma::monitor::OvroSubsystem &mon, carma::antenna::ovro::Drive &drive)
	Constructor. More...

carma::canbus::MsgIdInfoMap	getHalfSecMonitors () const
	Get map of half second monitor points processed by this class. More...

TimestampedPosition	getMostRecentPosition () const
	Retrieve position and MJD of message retrieval. More...

carma::canbus::MsgIdInfoMap	getSlowMonitors () const
	Get map of slow monitor points processed by this class. More...

void	processMsg (carma::canbus::msgType messageId,::std::vector< carma::canbus::byteType > &data, bool sim)
	Process CAN message. More...

carma::canbus::Message	simulateMsg (carma::canbus::msgType messageId)
	Simulate CAN message. More...

virtual	~Encoder ()
	Destructor. More...

Public Member Functions inherited from carma::canbus::devices::XacDevice
bool	isOnline ()
	Is Device ONLINE? More...

void	reset ()
	Reset the can module via CORBA using Device::softReset() method. More...

virtual void	setState (deviceStateType state)
	Set the state of the device. More...

void	startChannelOneFastSampling (unsigned short fastItem)
	Start fast sampling on channel one with the requested data item. More...

void	startChannelTwoFastSampling (unsigned short fastItem)
	Start fast sampling on channel two with the requested data item. More...

void	stopChannelOneFastSampling ()
	Stop fast sampling on channel one. More...

void	stopChannelTwoFastSampling ()
	Stop fast sampling on channel two. More...

	XacDevice (carma::canbus::apiType api, carma::canbus::nodeType node, carma::canbus::CanOutput &canOutput)
	Constructor. More...

virtual	~XacDevice ()
	Destructor. More...

Public Member Functions inherited from carma::canbus::Device
carma::canbus::Message	createDummyMsg () const
	Create a dummy CAN message. More...

carma::canbus::Message	createMsgToAllNodes (msgType messageId) const
	Create a CAN message addressed to all nodes of this type. More...

carma::canbus::Message	createMsgToHost (msgType messageId) const
	Create a CAN message addressed from this Device to the host. More...

carma::canbus::Message	createMsgToNode (msgType messageId) const
	Create a CAN message addressed to this device from the host. More...

	Device (apiType api, nodeType node, CanOutput &io)
	Device constructor. More...

apiType	getApi () const
	Return api code of device. More...

char	getApiVersion () const
	Get API Version of this Device. More...

boardType	getBoardType () const
	Return board type id of device. More...

busIdType	getBusId () const
	Return bus Id that node resides on. More...

virtual MsgIdInfoMap	getControls () const
	Return a map of devices controls. More...

keyType	getKey () const
	Create a key unique to this api and node. More...

double	getLastRxTime () const
	Get Last RX Time for device. More...

unsigned int	getNlatePackets () const
	Get number of late packets. More...

nodeType	getNode () const
	Return node location code of device. More...

serialNumberType	getSerialNumber () const
	Return serial number of device. More...

deviceStateType	getState () const
	Status access routine. More...

virtual void	processMsg (msgType messageId, std::vector< byteType > &data, bool sim)=0
	Process a CAN message. More...

void	reset ()
	Perform a software reset of module. More...

void	setBoardType (boardType bt)
	Set board type of device. More...

void	setBusId (busIdType busId)
	Set busId of device. More...

virtual void	setLastRxTime (double rxMjd)
	Set latest rx time. More...

void	setSerialNumber (serialNumberType sn)
	Set serial number of device. More...

void	startChannelOneFastSampling (unsigned short fastItem)
	Start fast sampling the specified data item on channel 1. More...

void	startChannelTwoFastSampling (unsigned short fastItem)
	Start fast sampling the specified data item on channel 2. More...

void	stopChannelOneFastSampling ()
	Stop fast sampling on channel 1 This routine will stop fast sampling on channel 1 regardless of whether this node is fast sampling the channel or not! In other words the request goes out globally. More...

void	stopChannelTwoFastSampling ()
	Stop fast sampling on channel 2 This routine will stop fast sampling on channel 2 regardless of whether this node is fast sampling the channel or not! In other words the request goes out globally. More...

virtual	~Device ()
	Device destructor. More...

Static Public Attributes
static const carma::canbus::msgType	FAKE_AZ_ENCODER_PACKET = 0x114

static const carma::canbus::msgType	FAKE_EL_ENCODER_PACKET = 0x115

Static Public Attributes inherited from carma::canbus::devices::XacDevice
static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_1 = 0x120

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_2 = 0x121

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_3 = 0x122

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_4 = 0x123

static const carma::canbus::msgType	SYSTEM_MONITOR_PACKET_5 = 0x124

Friends
carma::canbus::Message	Drive::simulateMsg (carma::canbus::msgType messageId)

Additional Inherited Members
Static Public Member Functions inherited from carma::canbus::Device
static keyType	createKey (apiType api, nodeType node)

Protected Member Functions inherited from carma::canbus::devices::XacDevice
virtual void	initialize ()
	Initialization hook. More...

void	processSystemMonitorPacket (carma::canbus::msgType mid, carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process a system monitor packet. More...

void	processSystemMonitorPacket1 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 1 This routine processes standard system monitor packet 1 and places the data into the input Xac reference. More...

void	processSystemMonitorPacket2 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 2. More...

void	processSystemMonitorPacket3 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 3. More...

void	processSystemMonitorPacket4 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 4. More...

void	processSystemMonitorPacket5 (carma::canbus::DataVector &data, carma::monitor::Xac &xac)
	Process System Monitor Packet 5. More...

carma::canbus::Message	simSystemMonitorPacket (carma::canbus::msgType mid)
	Simulate system monitor packet. More...

carma::canbus::Message	simSystemMonitorPacket1 ()
	Simulate System Monitor Packet 1. More...

carma::canbus::Message	simSystemMonitorPacket2 ()
	Simulate System Monitor Packet 2. More...

carma::canbus::Message	simSystemMonitorPacket3 ()
	Simulate System Monitor Packet 3. More...

carma::canbus::Message	simSystemMonitorPacket4 ()
	Simulate System Monitor Packet 4. More...

carma::canbus::Message	simSystemMonitorPacket5 ()
	Simulate System Monitor Packet 5. More...

Protected Member Functions inherited from carma::canbus::Device
void	incrementLatePacketCount ()
	Increment the late packet count by 1. More...

bool	isPacketLate (double window=100.0)
	Determine if the last packet sent from this device was late. More...

void	resetLatePacketCount ()
	Reset the late packet count to 0. More...

void	setApiVersion (char api)
	Set API Version. More...

Static Protected Member Functions inherited from carma::canbus::devices::XacDevice
static bool	isSystemMonitorPacket (carma::canbus::msgType)
	Check that input message type is a system monitor packet. More...

Protected Attributes inherited from carma::canbus::Device
const apiType	api_

CanOutput &	io_
	Reference to CanOutput object. More...

const keyType	key_

const nodeType	node_

Static Protected Attributes inherited from carma::canbus::Device
static const msgType	RESET = 0x0000
	Software reset message id. More...

static const msgType	START_CHANNEL_1_FAST_SAMPLING = 0x0004
	Begin channel 1 fast sampling message id. More...

static const msgType	START_CHANNEL_2_FAST_SAMPLING = 0x0005
	Begin channel 2 fast sampling message id. More...

static const msgType	STOP_CHANNEL_1_FAST_SAMPLING = 0x0002
	Stop channel 1 fast sampling message id. More...

static const msgType	STOP_CHANNEL_2_FAST_SAMPLING = 0x0003

Detailed Description

10-m Antenna Encoder Module CAN Implementation (API No.

232).

Definition at line 36 of file Encoder.h.

Constructor & Destructor Documentation

carma::antenna::ovro::Encoder::Encoder	(	Axis	axis,
		carma::canbus::CanOutput &	canOut,
		carma::monitor::OvroSubsystem &	mon,
		carma::antenna::ovro::Drive &	drive
	)

explicit

Constructor.

virtual carma::antenna::ovro::Encoder::~Encoder ( )

virtual

Destructor.

Member Function Documentation

carma::canbus::MsgIdInfoMap carma::antenna::ovro::Encoder::getHalfSecMonitors ( ) const

virtual

Get map of half second monitor points processed by this class.

Implements carma::canbus::Device.

TimestampedPosition carma::antenna::ovro::Encoder::getMostRecentPosition ( ) const

Retrieve position and MJD of message retrieval.

Position updates should be sent from the encoder modules every frame on the frame. Check the MJD to make sure the reading is current. The MJD is the time the message was read from the canbus and processed.

carma::canbus::MsgIdInfoMap carma::antenna::ovro::Encoder::getSlowMonitors ( ) const

virtual

Get map of slow monitor points processed by this class.

Reimplemented from carma::canbus::devices::XacDevice.