motorLcsIf.hpp

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#ifndef FCF_DEVMGR_DEVICE_MOTOR_IF_HPP
#define FCF_DEVMGR_DEVICE_MOTOR_IF_HPP

// System headers
#include <unordered_map>

// Third party headers
#include <yaml-cpp/yaml.h>

#include <fcf/devmgr/common/deviceLcsIf.hpp>
#include <fcf/devmgr/devices/motorConfig.hpp>
#include <fcf/devmgr/common/dataContext.hpp>

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

namespace fcf::devmgr::motor {

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

    inline double GetActualPos() const;
    inline void SetActualPos(double position);
    inline double GetPosError() const;
    inline void SetPosError(double pos_error);
    inline double GetActualVel() const;
    inline void SetActualVel(double velocity);
    inline double GetTargetPos() const;
    inline void SetTargetPos(double position);
    inline double GetTargetVel() const;
    inline void SetTargetVel(double velocity);
    inline double GetScaleFactor() const;
    inline void SetScaleFactor(double scale);

    inline bool GetBrakeFlag() const;
    inline void SetBrakeFlag(bool flag);

    inline bool GetEnableFlag() const;
    inline void SetEnableFlag(bool flag);

    inline bool GetLockFlag() const;
    inline void SetLockFlag(bool flag);

    inline int  GetMode() const;
    inline void SetMode(int mode);

    inline bool GetReadyFlag() const;
    inline void SetReadyFlag(bool flag);

    inline bool GetInPositionFlag() const;
    inline void SetInPositionFlag(bool flag);

    inline short  GetInfoData1() const;
    inline void SetInfoData1(short info);

    inline short  GetInfoData2() const;
    inline void SetInfoData2(short info);

    inline bool  GetSignalFlag(Signal signal) const;
    inline void SetSignalFlag(Signal signal, bool flag);

    inline virtual std::string GetErrorText() const;
    inline virtual std::string GetSubstateStr() const;

    void SetData(const MotorControllerData& data);

  protected:
    double   m_target_pos;
    double   m_actual_pos;
    double   m_pos_error;
    double   m_actual_vel;
    double   m_target_vel;
    double   m_scale_factor;
    bool     m_brake;
    bool     m_enabled;
    bool     m_locked;
    int      m_mode;
    bool     m_ready;
    bool     m_in_position;
    int      m_info_data1;
    int      m_info_data2;
    std::vector<bool> m_signals;
  };

  template<typename TOPIC_TYPE>
  class MotorLcsIf : public fcf::devmgr::common::DeviceLcsIf
  {
   public:
    enum {
      STAT_LOCAL       = 1,
      STAT_ERROR       = 2,
      STAT_HW_STATUS   = 3,
      STAT_STATE       = 4,
      STAT_SUBSTATE    = 5,
      STAT_ACTUAL_POS  = 6,
      STAT_TARGET_POS  = 7,
      STAT_POS_ERROR   = 8,
      STAT_ACTUAL_VEL  = 9,
      STAT_TARGET_VEL  = 10,
      STAT_AXIS_BRAKE  = 11,
      STAT_AXIS_ENABLE = 12,
      STAT_AXIS_LOCK   = 13,
      STAT_MODE        = 14,
      STAT_AXIS_READY  = 15,
      STAT_AXIS_INPOS  = 16,
      STAT_AXIS_INFO1  = 17,
      STAT_AXIS_INFO2  = 18,
      STAT_INITIALISED = 19,
      STAT_INIT_STEP   = 20,
      STAT_INIT_ACTION = 21,
      STAT_SIGNAL_LSTOP  = 22,
      STAT_SIGNAL_LHW    = 23,
      STAT_SIGNAL_REF    = 24,
      STAT_SIGNAL_INDEX  = 25,
      STAT_SIGNAL_UHW    = 26,
      STAT_SIGNAL_USTOP  = 27,
      STAT_MOTOR_END
    };

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

    virtual ~MotorLcsIf() {};

    void MoveAbs(double position, double velocity);

    void MoveRel(double position, double velocity);

    void MoveVel(double velocity);

    virtual bool IsDisabling();

    bool IsMoving();

    bool IsStandstill();

    virtual void ReadStatus(MotorControllerData& status);

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

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


  protected:

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

    void PublishPosition(const fcf::common::Variant& value,
                         int  attribute);

  private:
    void MovePos(double position, double velocity, std::string move_type=RPC_MOVE_ABS);

  protected:

    std::unique_ptr<rad::cii::Publisher<fcfif::MotorPositionTopic>> m_motor_publisher;
    std::unique_ptr<rad::cii::Publisher<TOPIC_TYPE>> m_publisher;

  private:
    static std::timed_mutex           m_mutex;
    //std::unique_ptr<rad::cii::Publisher<fcfif::MotorTopicUnion>> m_publisher;



  };

}

#include "motorLcsIf.ipp"

#endif //FCF_DEVMGR_DEVICE_MOTOR_IF_HPP