#include <src/PlusDataCollection/BrachyTracking/PlusCmsBrachyStepper.h>

Inheritance diagram for PlusCmsBrachyStepper:

Collaboration diagram for PlusCmsBrachyStepper:

Public Types
typedef const char *	STEPPERCOMMAND

typedef const char *	STEPPERRESPCODE

Public Types inherited from PlusBrachyStepper
enum	BRACHY_STEPPER_TYPE { UNDEFINED_STEPPER, BURDETTE_MEDICAL_SYSTEMS_DIGITAL_STEPPER, BURDETTE_MEDICAL_SYSTEMS_DIGITAL_MOTORIZED_STEPPER, CMS_ACCUSEED_DS300, CIVCO_STEPPER }

Public Member Functions
virtual PlusStatus	Connect ()

virtual PlusStatus	Disconnect ()

PlusStatus	GetCalibrationState (int &PState, int &GState, int &RState)

virtual PlusStatus	GetDeviceModelInfo (std::string &version, std::string &model, std::string &serial)

virtual PlusStatus	GetEncoderValues (double &PPosition, double &GPosition, double &RPosition, unsigned long &PositionRequestNumber)

PlusStatus	GetGridReferenceData (double &count, double &dist, double &scale)

PlusStatus	GetMotorizationScaleFactor (int &scaleFactor)

PlusStatus	GetProbeReferenceData (double &count, double &dist, double &scale)

PlusStatus	GetRotateState (int &State)

PlusStatus	GetRotationReferenceData (double &count, double &dist, double &scale)

PlusStatus	GetStatusInfo (unsigned int &Status)

virtual PlusStatus	InitializeStepper (std::string &CalibMsg)

virtual PlusStatus	IsStepperAlive ()

bool	IsStepperCalibrated ()

bool	IsStepperMotorized ()

PlusStatus	MoveProbeToPosition (double PositionInMm, int &ReturnCode)

	PlusCmsBrachyStepper (unsigned long COMPort=1, unsigned long BaudRate=19200)

virtual PlusStatus	ResetStepper ()

virtual PlusStatus	SetBaudRate (unsigned long BaudRate)

virtual PlusStatus	SetCOMPort (unsigned long COMPort)

virtual	~PlusCmsBrachyStepper ()

Public Member Functions inherited from PlusBrachyStepper
BRACHY_STEPPER_TYPE	GetBrachyStepperType () const

	PlusBrachyStepper ()

void	SetBrachyStepperType (BRACHY_STEPPER_TYPE type)

virtual	~PlusBrachyStepper ()

Protected Member Functions
void	ClearBuffer ()

void	CreateAckMessage (BYTE opcode, std::string *sMessage)

void	DecodeStepperMessage (std::vector< BYTE > StepperMessage, std::vector< BYTE > &DecodedMessage)

void	GetPositionMessage (std::vector< BYTE > &StepperMessage, std::vector< BYTE > &DecodedMessage)

PlusStatus	GetReferenceData (STEPPERCOMMAND command, STEPPERRESPCODE respcode, double &count, double &dist, double &scale)

void	GetStepperMessage (STEPPERCOMMAND command, const char *Response, std::vector< BYTE > &DecodedMessage)

PlusStatus	GetVersionInfo (int &iVerHi, int &iVerLo, int &iModelNum, int &iSerialNum)

bool	IsStepperACKRecieved (std::vector< BYTE > &ackMessage, STEPPERCOMMAND command)

void	ReadStepperAnswer (std::vector< BYTE > &stepperAnswer)

void	SendAckMessage (std::vector< BYTE > StepperMessage)

void	SendPositionRequestCommand (STEPPERCOMMAND command, std::vector< BYTE > &vRawMessage)

void	SendStepperCommand (STEPPERCOMMAND command, STEPPERRESPCODE Response, std::vector< BYTE > &vRawMessage)

void	SetScalingParameters ()

PlusStatus	StepperButtonDisable ()

PlusStatus	StepperButtonEnable ()

void	StepperInstruction (STEPPERCOMMAND command)

PlusStatus	StepperRotateCalibrationDisable ()

PlusStatus	StepperRotateCalibrationEnable ()

PlusStatus	TurnMotorOff ()

PlusStatus	TurnMotorOn ()

Static Protected Member Functions
static unsigned int	AsciiToBin (unsigned int i, unsigned int j)

static void	BinToAscii (unsigned int n, unsigned char c1, unsigned char c2)

Additional Inherited Members
Static Public Member Functions inherited from PlusBrachyStepper
static std::string	GetBrachyStepperTypeInString (BRACHY_STEPPER_TYPE stepperType)

Protected Attributes inherited from PlusBrachyStepper
BRACHY_STEPPER_TYPE	m_BrachyStepperType

unsigned long	m_PositionRequestNumber

Detailed Description

Definition at line 32 of file PlusCmsBrachyStepper.h.

Member Typedef Documentation

◆ STEPPERCOMMAND

typedef const char* PlusCmsBrachyStepper::STEPPERCOMMAND

Definition at line 35 of file PlusCmsBrachyStepper.h.

◆ STEPPERRESPCODE

typedef const char* PlusCmsBrachyStepper::STEPPERRESPCODE

Definition at line 36 of file PlusCmsBrachyStepper.h.

Constructor & Destructor Documentation

◆ PlusCmsBrachyStepper()

PlusCmsBrachyStepper::PlusCmsBrachyStepper	(	unsigned long	COMPort = `1`,
		unsigned long	BaudRate = `19200`
	)

Constructor

Definition at line 96 of file PlusCmsBrachyStepper.cxx.

◆ ~PlusCmsBrachyStepper()

PlusCmsBrachyStepper::~PlusCmsBrachyStepper ( )

virtual

Destructor

Definition at line 116 of file PlusCmsBrachyStepper.cxx.

Member Function Documentation

◆ AsciiToBin()

unsigned int PlusCmsBrachyStepper::AsciiToBin	(	unsigned int	i,
		unsigned int	j
	)

staticprotected

Convert from ASCII to binary

Definition at line 1083 of file PlusCmsBrachyStepper.cxx.

◆ BinToAscii()

void PlusCmsBrachyStepper::BinToAscii	(	unsigned int	n,
		unsigned char *	c1,
		unsigned char *	c2
	)

staticprotected

Convert from binary to ASCII

Definition at line 1101 of file PlusCmsBrachyStepper.cxx.

◆ ClearBuffer()

void PlusCmsBrachyStepper::ClearBuffer ( )

protected

Clear buffer

Definition at line 1054 of file PlusCmsBrachyStepper.cxx.

◆ Connect()

PlusStatus PlusCmsBrachyStepper::Connect ( )

virtual

Connect to CMS stepper

Implements PlusBrachyStepper.

Definition at line 160 of file PlusCmsBrachyStepper.cxx.

◆ CreateAckMessage()

void PlusCmsBrachyStepper::CreateAckMessage	(	BYTE	opcode,
		std::string *	sMessage
	)

protected

Create ACK message

Definition at line 1061 of file PlusCmsBrachyStepper.cxx.

◆ DecodeStepperMessage()

void PlusCmsBrachyStepper::DecodeStepperMessage	(	std::vector< BYTE >	StepperMessage,
		std::vector< BYTE > &	DecodedMessage
	)

protected

Decode stepper message

Definition at line 1017 of file PlusCmsBrachyStepper.cxx.

◆ Disconnect()

PlusStatus PlusCmsBrachyStepper::Disconnect ( )

virtual

Disconnect from CMS stepper

Implements PlusBrachyStepper.

Definition at line 188 of file PlusCmsBrachyStepper.cxx.

◆ GetCalibrationState()

PlusStatus PlusCmsBrachyStepper::GetCalibrationState	(	int &	PState,
		int &	GState,
		int &	RState
	)

Get calibration state

Definition at line 376 of file PlusCmsBrachyStepper.cxx.

◆ GetDeviceModelInfo()

PlusStatus PlusCmsBrachyStepper::GetDeviceModelInfo	(	std::string &	version,
		std::string &	model,
		std::string &	serial
	)

virtual

Get device mode information

Implements PlusBrachyStepper.

Definition at line 196 of file PlusCmsBrachyStepper.cxx.

◆ GetEncoderValues()

PlusStatus PlusCmsBrachyStepper::GetEncoderValues	(	double &	PPosition,
		double &	GPosition,
		double &	RPosition,
		unsigned long &	PositionRequestNumber
	)

virtual

Get raw encoder values from stepper

Implements PlusBrachyStepper.

Definition at line 328 of file PlusCmsBrachyStepper.cxx.

◆ GetGridReferenceData()

PlusStatus PlusCmsBrachyStepper::GetGridReferenceData	(	double &	count,
		double &	dist,
		double &	scale
	)

Get grid reference data

Definition at line 302 of file PlusCmsBrachyStepper.cxx.

◆ GetMotorizationScaleFactor()

PlusStatus PlusCmsBrachyStepper::GetMotorizationScaleFactor ( int & scaleFactor )

Return motorization scale factor

Definition at line 586 of file PlusCmsBrachyStepper.cxx.

◆ GetPositionMessage()

void PlusCmsBrachyStepper::GetPositionMessage	(	std::vector< BYTE > &	StepperMessage,
		std::vector< BYTE > &	DecodedMessage
	)

protected

Get position message from stepper

Definition at line 980 of file PlusCmsBrachyStepper.cxx.

◆ GetProbeReferenceData()

PlusStatus PlusCmsBrachyStepper::GetProbeReferenceData	(	double &	count,
		double &	dist,
		double &	scale
	)

Get probe reference data

Definition at line 289 of file PlusCmsBrachyStepper.cxx.

◆ GetReferenceData()

PlusStatus PlusCmsBrachyStepper::GetReferenceData	(	STEPPERCOMMAND	command,
		STEPPERRESPCODE	respcode,
		double &	count,
		double &	dist,
		double &	scale
	)

protected

Get reference data

Definition at line 266 of file PlusCmsBrachyStepper.cxx.

◆ GetRotateState()

PlusStatus PlusCmsBrachyStepper::GetRotateState ( int & State )

Get rotation state

Definition at line 399 of file PlusCmsBrachyStepper.cxx.

◆ GetRotationReferenceData()

PlusStatus PlusCmsBrachyStepper::GetRotationReferenceData	(	double &	count,
		double &	dist,
		double &	scale
	)

Get rotation reference data

Definition at line 315 of file PlusCmsBrachyStepper.cxx.

◆ GetStatusInfo()

PlusStatus PlusCmsBrachyStepper::GetStatusInfo ( unsigned int & Status )

Get status information

Definition at line 221 of file PlusCmsBrachyStepper.cxx.

◆ GetStepperMessage()

void PlusCmsBrachyStepper::GetStepperMessage	(	STEPPERCOMMAND	command,
		const char *	Response,
		std::vector< BYTE > &	DecodedMessage
	)

protected

Get message from stepper

Definition at line 923 of file PlusCmsBrachyStepper.cxx.

◆ GetVersionInfo()

PlusStatus PlusCmsBrachyStepper::GetVersionInfo	(	int &	iVerHi,
		int &	iVerLo,
		int &	iModelNum,
		int &	iSerialNum
	)

protected

Get version information

Definition at line 242 of file PlusCmsBrachyStepper.cxx.

◆ InitializeStepper()

PlusStatus PlusCmsBrachyStepper::InitializeStepper ( std::string & CalibMsg )

virtual

Initialize stepper

Implements PlusBrachyStepper.

Definition at line 463 of file PlusCmsBrachyStepper.cxx.

◆ IsStepperACKRecieved()

bool PlusCmsBrachyStepper::IsStepperACKRecieved	(	std::vector< BYTE > &	ackMessage,
		STEPPERCOMMAND	command
	)

protected

Returns whether ACK received from stepper

Definition at line 895 of file PlusCmsBrachyStepper.cxx.

◆ IsStepperAlive()

PlusStatus PlusCmsBrachyStepper::IsStepperAlive ( )

virtual

Return whether stepper is alive

Implements PlusBrachyStepper.

Definition at line 452 of file PlusCmsBrachyStepper.cxx.

◆ IsStepperCalibrated()

bool PlusCmsBrachyStepper::IsStepperCalibrated ( )

Return whether stepper is calibrated

Definition at line 421 of file PlusCmsBrachyStepper.cxx.

◆ IsStepperMotorized()

bool PlusCmsBrachyStepper::IsStepperMotorized ( )

Return whether stepper is motorized

Definition at line 610 of file PlusCmsBrachyStepper.cxx.

◆ MoveProbeToPosition()

PlusStatus PlusCmsBrachyStepper::MoveProbeToPosition	(	double	PositionInMm,
		int &	ReturnCode
	)

Commands the stepper to move the probe to a certain position

Definition at line 621 of file PlusCmsBrachyStepper.cxx.

◆ ReadStepperAnswer()

void PlusCmsBrachyStepper::ReadStepperAnswer ( std::vector< BYTE > & stepperAnswer )

protected

Read stepper answer

Definition at line 862 of file PlusCmsBrachyStepper.cxx.

◆ ResetStepper()

PlusStatus PlusCmsBrachyStepper::ResetStepper ( )

virtual

Reset stepper

Implements PlusBrachyStepper.

Definition at line 526 of file PlusCmsBrachyStepper.cxx.

◆ SendAckMessage()

void PlusCmsBrachyStepper::SendAckMessage ( std::vector< BYTE > StepperMessage )

protected

Send ACK message

Definition at line 962 of file PlusCmsBrachyStepper.cxx.

◆ SendPositionRequestCommand()

void PlusCmsBrachyStepper::SendPositionRequestCommand	(	STEPPERCOMMAND	command,
		std::vector< BYTE > &	vRawMessage
	)

protected

Send a position request command to the stepper

Definition at line 801 of file PlusCmsBrachyStepper.cxx.

◆ SendStepperCommand()

void PlusCmsBrachyStepper::SendStepperCommand	(	STEPPERCOMMAND	command,
		STEPPERRESPCODE	Response,
		std::vector< BYTE > &	vRawMessage
	)

protected

Send a command to the stepper

Definition at line 791 of file PlusCmsBrachyStepper.cxx.

◆ SetBaudRate()

PlusStatus PlusCmsBrachyStepper::SetBaudRate ( unsigned long BaudRate )

virtual

Set baud rate of communication

Implements PlusBrachyStepper.

Definition at line 146 of file PlusCmsBrachyStepper.cxx.

◆ SetCOMPort()

PlusStatus PlusCmsBrachyStepper::SetCOMPort ( unsigned long COMPort )

virtual

Set used COM port for communication

Implements PlusBrachyStepper.

Definition at line 129 of file PlusCmsBrachyStepper.cxx.

◆ SetScalingParameters()

void PlusCmsBrachyStepper::SetScalingParameters ( )

protected

Set scaling parameters

Definition at line 1043 of file PlusCmsBrachyStepper.cxx.

◆ StepperButtonDisable()

PlusStatus PlusCmsBrachyStepper::StepperButtonDisable ( )

protected

Disable stepper button

Definition at line 731 of file PlusCmsBrachyStepper.cxx.

◆ StepperButtonEnable()

PlusStatus PlusCmsBrachyStepper::StepperButtonEnable ( )

protected

Enable stepper button

Definition at line 711 of file PlusCmsBrachyStepper.cxx.

◆ StepperInstruction()

void PlusCmsBrachyStepper::StepperInstruction ( STEPPERCOMMAND command )

protected

Send instruction to the stepper

Definition at line 832 of file PlusCmsBrachyStepper.cxx.

◆ StepperRotateCalibrationDisable()

PlusStatus PlusCmsBrachyStepper::StepperRotateCalibrationDisable ( )

protected

Disable stepper rotation calibration

Definition at line 771 of file PlusCmsBrachyStepper.cxx.

◆ StepperRotateCalibrationEnable()

PlusStatus PlusCmsBrachyStepper::StepperRotateCalibrationEnable ( )

protected

Enable stepper rotation calibration

Definition at line 751 of file PlusCmsBrachyStepper.cxx.

◆ TurnMotorOff()

PlusStatus PlusCmsBrachyStepper::TurnMotorOff ( )

protected

Turn motor off

Definition at line 566 of file PlusCmsBrachyStepper.cxx.

◆ TurnMotorOn()

PlusStatus PlusCmsBrachyStepper::TurnMotorOn ( )

protected

Turn motor on

Definition at line 546 of file PlusCmsBrachyStepper.cxx.

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

src/PlusDataCollection/BrachyTracking/PlusCmsBrachyStepper.h
src/PlusDataCollection/BrachyTracking/PlusCmsBrachyStepper.cxx

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ STEPPERCOMMAND

◆ STEPPERRESPCODE

Constructor & Destructor Documentation

◆ PlusCmsBrachyStepper()

◆ ~PlusCmsBrachyStepper()

Member Function Documentation

◆ AsciiToBin()

◆ BinToAscii()

◆ ClearBuffer()

◆ Connect()

◆ CreateAckMessage()

◆ DecodeStepperMessage()

◆ Disconnect()

◆ GetCalibrationState()

◆ GetDeviceModelInfo()

◆ GetEncoderValues()

◆ GetGridReferenceData()

◆ GetMotorizationScaleFactor()

◆ GetPositionMessage()

◆ GetProbeReferenceData()

◆ GetReferenceData()

◆ GetRotateState()

◆ GetRotationReferenceData()

◆ GetStatusInfo()

◆ GetStepperMessage()

◆ GetVersionInfo()

◆ InitializeStepper()

◆ IsStepperACKRecieved()

◆ IsStepperAlive()

◆ IsStepperCalibrated()

◆ IsStepperMotorized()

◆ MoveProbeToPosition()

◆ ReadStepperAnswer()

◆ ResetStepper()

◆ SendAckMessage()

◆ SendPositionRequestCommand()

◆ SendStepperCommand()

◆ SetBaudRate()

◆ SetCOMPort()

◆ SetScalingParameters()

◆ StepperButtonDisable()

◆ StepperButtonEnable()

◆ StepperInstruction()

◆ StepperRotateCalibrationDisable()

◆ StepperRotateCalibrationEnable()

◆ TurnMotorOff()

◆ TurnMotorOn()