actuator.hpp

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#ifndef FCF_DEVMGR_DEVICE_ACTUATOR_HPP
#define FCF_DEVMGR_DEVICE_ACTUATOR_HPP

#include "fcf/common/dispatcher.hpp"

#include "fcf/devmgr/common/device.hpp"
#include "fcf/devmgr/devices/actuatorConfig.hpp"
#include "fcf/devmgr/devices/actuatorLcsIf.hpp"
#include "fcf/devmgr/common/dataContext.hpp"


namespace fcf {
namespace devmgr {
  namespace actuator {

    class Actuator : public fcf::devmgr::common::Device {

    public:
      Actuator(const std::string& filename,
           const std::string& name,
           devmgr::common::DataContext& data_ctx);

      virtual ~Actuator() {};
      void CreateObjects(std::shared_ptr<devmgr::common::IDeviceConfig>  config = nullptr);

      void RegisterComm(std::shared_ptr<fcf::common::IComm> comm_if,
                              fcf::common::Dispatcher<>& failure,
                              fcf::common::Dispatcher<>& normal);

      virtual void Setup(const std::any& payload);

      virtual bool IsSetupActive(const std::any& payload) const;


      virtual void Status(const std::any& payload, std::string& buffer);

      virtual void Status(bool end_acq,
                          const dit::did::Did& dictionary,
                          std::shared_ptr<CCfits::FITS>& fits_handle);

      virtual void UpdateStatus();

      virtual std::shared_ptr<fcf::devmgr::common::DeviceLcsIf> GetLcsIf() const;

    virtual std::shared_ptr<fcf::devmgr::common::IDeviceConfig> GetConfig() const;

    protected:
      ActuatorControllerData           m_controller_status;
      std::shared_ptr<ActuatorConfig>  m_config; 

      // Local Control System Interface
      std::shared_ptr<ActuatorLcsIf<fcfif::ActuatorTopicUnion>>   m_lcs_if; 
    };
  }
}
}


#endif //FCF_DEVMGR_DEVICE_ACTUATOR_HPP