actuatorLcsIf.hpp

Go to the documentation of this file.

#ifndef DEVMGR_DEVICE_ACTUATOR_IF_HPP
#define DEVMGR_DEVICE_ACTUATOR_IF_HPP

#include <unordered_map>

#include <yaml-cpp/yaml.h>
#include "fcf/devmgr/common/deviceLcsIf.hpp"
#include "fcf/devmgr/devices/actuatorConfig.hpp"
#include "fcf/devmgr/common/dataContext.hpp"

#include <Fcfif.hpp>
#include <rad/mal/publisher.hpp>

namespace fcf::devmgr {
  namespace actuator {

    struct ActuatorControllerData : fcf::devmgr::common::DeviceControllerData {
    public:
      ActuatorControllerData();
      virtual ~ActuatorControllerData();

      inline std::string GetErrorText() const;
      void SetData(const ActuatorControllerData& data);

      inline virtual std::string GetSubstateStr() const;

    protected:
      
    };


    template<typename TOPIC_TYPE = fcfif::ActuatorTopicUnion>
    class ActuatorLcsIf : public fcf::devmgr::common::DeviceLcsIf
    {

     // enumerations for actuator status
      enum {
        STAT_LOCAL       = 1,
        STAT_ERROR       = 2,
        STAT_HW_STATUS   = 3,
        STAT_STATE       = 4,
        STAT_SUBSTATE    = 5,
      };

    public:
       ActuatorLcsIf(std::shared_ptr<devmgr::common::IDeviceConfig> config,
                         devmgr::common::DataContext& data_ctx, bool initialise = true);

       virtual ~ActuatorLcsIf() {};

      virtual bool IsReady();

      virtual bool IsOperational() ;
     
       void SwitchOn();

       void SwitchOff();

       bool IsSwitchingOn();

       bool IsSwitchingOn(int state, int substate);

       bool IsSwitchingOff();

       bool IsSwitchingOff(int state, int substate);

       bool IsOn();

       bool IsOn(int state, int substate);

       bool IsOff();

       bool IsOff(int state, int substate);

      virtual void ReadStatus(ActuatorControllerData& status);


      void Listener(fcf::common::VectorVariant& params);

      virtual std::string GetRpcError(const short error_code) const;


    private:

      void StoreAttribute(const std::string key,
                          const fcf::common::Variant& value,
                          bool publish,
                          int  attribute);


    protected:
       std::unique_ptr<rad::cii::Publisher<TOPIC_TYPE>> m_publisher;

    private:


    };
  }
}

#include "actuatorLcsIf.ipp"

#endif //DEVMGR_DEVICE_ACTUATOR_IF_HPP