Inheritance diagram for smc::Axis:

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Collaboration diagram for smc::Axis:

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Public Types
enum	State { UNKNOWN , IDLE , RUNNING , ERROR }
	Axis State. More...

typedef std::shared_ptr< Axis >	Shared

Public Types inherited from smc::DeviceBase
typedef smc::DeviceType	DeviceType

typedef std::shared_ptr< DeviceBase >	Shared

Public Member Functions
	Axis (const std::string &address)
	Construct a new Axis Device at given location on given platform. More...

DeviceType	type () const override
	Get device type. More...

virtual std::future< void >	moveTo (const units::Value &position) const =0
	Move this axis to given position. More...

virtual std::future< void >	moveBy (const units::Value &distance) const =0
	Move this axis by given distance. More...

virtual std::future< void >	stop () const =0
	Stop any ongoing motion, flush the motion-queue. More...

virtual std::future< void >	pause () const
	Pause ongoing motion, prevent queued motions from running. More...

virtual std::future< void >	resume () const
	Resume paused motion. More...

virtual std::future< units::value_t >	getPosition (units::unit_t unit) const =0
	Get current position of this axis. More...

virtual units::value_t	lastPosition (units::unit_t unit) const =0
	Get last known position of the axis. More...

virtual std::future< void >	setActualPosition (const units::Value &position) const
	Set current axis position. More...

virtual std::future< void >	takeReference (const std::chrono::milliseconds &timeout=std::chrono::seconds{ 120}) const
	Start a homing sequence. More...

virtual std::future< State >	getState () const =0
	Get the current axis state. More...

Public Member Functions inherited from smc::DeviceBase
DeviceId	uid () const
	Get the address of device. More...

virtual std::future< std::set< std::string > >	listConfig () const
	list device configuration options

virtual std::future< std::string >	getConfig (const std::string &name) const
	get device configuration value More...

virtual std::future< void >	setConfig (const std::string &name, const std::string &value) const
	set device configuration value More...

virtual bool	canConvert (const units::Value &value, units::unit_t unit) const
	Check if unit conversion is possible in a manner specific to this device. More...

virtual bool	convert (units::Value &value, units::unit_t unit) const
	Convert value in a manner specific to this device. More...

std::string	toString () const
	debug and logging operation

Additional Inherited Members
Public Attributes inherited from smc::DeviceBase
ccut::Signal< const DeviceBase::Shared & >	updateSignal
	device update signal More...

Protected Member Functions inherited from smc::DeviceBase
	DeviceBase (const std::string &uid)
	Construct a new ABaseDevice, linking pointer to platform object. More...

Protected Attributes inherited from smc::DeviceBase
const std::string	m_uid

Detailed Description

Definition at line 42 of file Axis.hpp.

Member Enumeration Documentation

◆ State

enum smc::Axis::State

Axis State.

Axis State Enum, state can be: Idle, Run, Error or Unknown

See also: getState

Definition at line 53 of file Axis.hpp.

Constructor & Destructor Documentation

◆ Axis()

smc::Axis::Axis ( const std::string & address )

Construct a new Axis Device at given location on given platform.

Parameters

address	Unique address of the axis
platform	Platform on which axis is located
config	optional config platform

Member Function Documentation

◆ getPosition()

virtual std::future<units::value_t> smc::Axis::getPosition ( units::unit_t unit ) const

pure virtual

Get current position of this axis.

Returns: future<mm> Future completed with value when command executed.

Implemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ getState()

virtual std::future<State> smc::Axis::getState ( ) const

pure virtual

Get the current axis state.

Get the state of the axis: Idle, Run, Error, Unknown

Returns: future<State> Future completed with status when command executed

Implemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ lastPosition()

virtual units::value_t smc::Axis::lastPosition ( units::unit_t unit ) const

pure virtual

Get last known position of the axis.

Returns: units::value_t

updateSignal is emitted whenever this value updated

Implemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ moveBy()

virtual std::future<void> smc::Axis::moveBy ( const units::Value & distance ) const

pure virtual

Move this axis by given distance.

Parameters

distance Distance to move by

Returns: future<void> Future completed when command executed

Implemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ moveTo()

virtual std::future<void> smc::Axis::moveTo ( const units::Value & position ) const

pure virtual

Move this axis to given position.

Parameters

position Position to move to

Returns: future<void> Future completed when command executed

Implemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ pause()

virtual std::future<void> smc::Axis::pause ( ) const

virtual

Pause ongoing motion, prevent queued motions from running.

Pauses ongoing motion using proper deceleration, motion may be resumed using Axis::resume.

Returns: future<void> Future completed when motion is stopped

Reimplemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ resume()

virtual std::future<void> smc::Axis::resume ( ) const

virtual

Resume paused motion.

resumes paused motion using proper acceleration.

Returns: std::future<void>

Reimplemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ setActualPosition()

virtual std::future<void> smc::Axis::setActualPosition ( const units::Value & position ) const

virtual

Set current axis position.

Parameters

position new position for axis

Returns: future<void> Future completed when command executed

Reimplemented in smc::internal::MockAxis, smc::internal::MGrblAxis, smc::internal::MFEAxis, and smc::internal::GrblAxis.

◆ stop()

virtual std::future<void> smc::Axis::stop ( ) const

pure virtual

Stop any ongoing motion, flush the motion-queue.

Stop ongoing motion using proper deceleration, reject pending promises. This may stop other axis depending on motion-queue implementation (ex: axis bound to the same Grbl instance).

Returns: future<void> Future completed when everything has been cleared

Implemented in smc::internal::MockAxis, smc::internal::MGrblAxis, and smc::internal::GrblAxis.

◆ takeReference()

virtual std::future<void> smc::Axis::takeReference ( const std::chrono::milliseconds & timeout = std::chrono::seconds{ 120} ) const

virtual

Start a homing sequence.

Parameters

timeout Timeout for homing sequence request

Returns: future<void> Future completed when command executed

Reimplemented in smc::internal::MGrblAxis, smc::internal::GrblAxis, and smc::internal::MockAxis.

◆ type()

DeviceType smc::Axis::type ( ) const

overridevirtual

Get device type.

Returns: DeviceType AXIS device type

Implements smc::DeviceBase.

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

/builds/mro/controls/sambuca/sambuca-motion-lib/src/device/Axis.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ Axis()

Member Function Documentation

◆ getPosition()

◆ getState()

◆ lastPosition()

◆ moveBy()

◆ moveTo()

◆ pause()

◆ resume()

◆ setActualPosition()

◆ stop()

◆ takeReference()

◆ type()