drotConfig.hpp

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#ifndef FCF_DEVMGR_DEVICE_DROT_CONFIG_HPP
#define FCF_DEVMGR_DEVICE_DROT_CONFIG_HPP

#include <string>
#include <yaml-cpp/yaml.h>
#include "fcf/common/iComm.hpp"

#include "fcf/devmgr/common/configSet.hpp"
#include "fcf/devmgr/common/dataContext.hpp"
#include "fcf/devmgr/devices/motorConfig.hpp"
#include "fcf/devmgr/devices/drotRpcErrors.hpp"
#include "fcf/devmgr/devices/drotHwErrors.hpp"

namespace fcf {
  namespace devmgr {
    namespace drot {

      // Constants for internal mapping
      // Specifics Drot status values
      constexpr auto CI_FOCUS_SIGN        = "focus_sign";
      constexpr auto CI_DIR_SIGN          = "dir_sign";
      constexpr auto CI_STAT_REF          = "stat_ref";
      constexpr auto CI_STAT_SKY          = "sky_ref";
      constexpr auto CI_STAT_ELEV         = "elev_ref";
      constexpr auto CI_STAT_USER         = "user_ref";
      constexpr auto CI_USER_PAR1         = "user_par1";
      constexpr auto CI_USER_PAR2         = "user_par2";
      constexpr auto CI_USER_PAR3         = "user_par3";
      constexpr auto CI_USER_PAR4         = "user_par4";
      constexpr auto CI_LATITUDE          = "latitude";
      constexpr auto CI_LONGITUDE         = "longitude";
      constexpr auto CI_TRK_PERIOD        = "trk_period";
      constexpr auto CI_TRK_THRESHOLD     = "trk_threshold";


      // Specific Drot RPC
      constexpr auto RPC_MOVE_ANGLE       = "rpcMoveAngle";
      constexpr auto RPC_START_TRACK      = "rpcStartTrack";
      constexpr auto RPC_STOP_TRACK       = "rpcStopTrack";


      // Specific constant values for Drot device state/substate
      // The other state/substate values are the same as the motor device.
      constexpr int SUBSTATE_RESETTING           =  109;
      constexpr int SUBSTATE_ENABLING            =  110;

      constexpr int SUBSTATE_OP_TRACKING         =  220;
      constexpr int SUBSTATE_OP_PRESETTING       =  221;

      constexpr auto SUBSTATE_RESETTING_STR        =  "Resetting";
      constexpr auto SUBSTATE_ENABLING_STR         =  "Enabling";
      constexpr auto SUBSTATE_OP_TRACKING_STR      =  "Tracking";
      constexpr auto SUBSTATE_OP_PRESETTING_STR    =  "Presetting";



      const std::unordered_map<short, std::string>  SubstateMap = {
        {fcf::devmgr::common::SUBSTATE_NOTREADY,       fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
        {SUBSTATE_RESETTING,      SUBSTATE_RESETTING_STR},
        {fcf::devmgr::common::SUBSTATE_INITIALISING,   fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
        {fcf::devmgr::common::SUBSTATE_READY,          fcf::devmgr::common::SUBSTATE_READY_STR},
        {SUBSTATE_ENABLING,       SUBSTATE_ENABLING_STR},
        {fcf::devmgr::motor::SUBSTATE_ABORTING,       fcf::devmgr::motor::SUBSTATE_ABORTING_STR},
        {fcf::devmgr::common::SUBSTATE_ERROR,          fcf::devmgr::common::SUBSTATE_ERROR_STR},
        {fcf::devmgr::common::SUBSTATE_OP_DISABLING,   fcf::devmgr::common::SUBSTATE_OP_DISABLING_STR},
        {fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL,  fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR},
        {fcf::devmgr::motor::SUBSTATE_OP_MOVING,      fcf::devmgr::motor::SUBSTATE_OP_MOVING_STR},
        {SUBSTATE_OP_TRACKING,    SUBSTATE_OP_TRACKING_STR},
        {SUBSTATE_OP_PRESETTING,    SUBSTATE_OP_PRESETTING_STR},
        {fcf::devmgr::motor::SUBSTATE_OP_STOPPING,    fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR},
        {fcf::devmgr::common::SUBSTATE_OP_ERROR,     fcf::devmgr::common::SUBSTATE_OP_ERROR_STR},
      };

      constexpr short TRK_MODE_ENG       = 0;
      constexpr short TRK_MODE_STAT      = 1;
      constexpr short TRK_MODE_SKY       = 2;
      constexpr short TRK_MODE_ELEV      = 3;
      constexpr short TRK_MODE_USER      = 4;

      constexpr auto TRK_MODE_ENG_STR       = "eng";
      constexpr auto TRK_MODE_STAT_STR      = "stat";
      constexpr auto TRK_MODE_SKY_STR       = "sky";
      constexpr auto TRK_MODE_ELEV_STR      = "elev";
      constexpr auto TRK_MODE_USER_STR      = "user";

      const std::unordered_map<short, std::string>  TrkModeMap = {
        {TRK_MODE_ENG,       TRK_MODE_ENG_STR},
        {TRK_MODE_STAT,      TRK_MODE_STAT_STR},
        {TRK_MODE_SKY,       TRK_MODE_SKY_STR},
        {TRK_MODE_ELEV,      TRK_MODE_ELEV_STR},
        {TRK_MODE_USER,      TRK_MODE_USER_STR},
      };

      constexpr auto CI_STAT_TRACK_MODE              = "track_mode";
      constexpr auto CI_STAT_ALPHA                   = "alpha";
      constexpr auto CI_STAT_DELTA                   = "delta";
      constexpr auto CI_STAT_ANGLE_ON_SKY            = "angle_on_sky";

      const std::vector<std::string> cfgMapping = {
      };

      const std::vector<std::string> statMapping = {
        fcf::devmgr::common::CI_STAT_SUBSTATE,
        fcf::devmgr::common::CI_STAT_STATE,
        fcf::devmgr::common::CI_STAT_LOCAL,
        CI_STAT_TRACK_MODE,
        CI_STAT_ALPHA,
        CI_STAT_DELTA,
        CI_STAT_ANGLE_ON_SKY,
        fcf::devmgr::motor::CI_STAT_TARGET_POS,
        fcf::devmgr::motor::CI_STAT_ACTUAL_POS,
        fcf::devmgr::motor::CI_STAT_ACTUAL_VEL,
        fcf::devmgr::common::CI_STAT_ERROR_CODE,
        fcf::devmgr::motor::CI_STAT_SCALE_FACTOR
      };

      const std::vector<std::string> rpcMapping = {
        fcf::devmgr::common::RPC_INIT,
        fcf::devmgr::common::RPC_ENABLE,
        fcf::devmgr::common::RPC_DISABLE,
        fcf::devmgr::common::RPC_RESET,
        fcf::devmgr::common::RPC_STOP,
        RPC_MOVE_ANGLE,
        RPC_START_TRACK,
        RPC_STOP_TRACK
      };

      class DrotConfig : public fcf::devmgr::motor::MotorConfig
      {

        // Enumerations of configuration paramters:
        // C++ doesn not allow inheritance of enums so we are using the last
        // enum of the parent class to continue with the enumerations and thus
        // avoid the collission.
        enum {
          CFG_FOCSIGN = fcf::devmgr::motor::MotorConfig::END_ENUM_MOTOR + 10,
          CFG_DIRSIGN,
          CFG_STATREF,
          CFG_SKYREF,
          CFG_ELEVREF,
          CFG_USERREF,
          CFG_USERPAR1,
          CFG_USERPAR2,
          CFG_USERPAR3,
          CFG_USERPAR4,
          CFG_LATITUDE,
          CFG_LONGITUDE,
          CFG_TRK_PERIOD,
          CFG_TRK_THRESHOLD,
          END_ENUM_DROT // WARNING: This should be always last enumerator.
        };


      public:

        DrotConfig(const std::string filename,
                   const std::string name);

        virtual ~DrotConfig();


      protected:

      };
    }
  }
}

#endif //FCF_DEVMGR_DEVICE_DROT_CONFIG_H