motor.hpp

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#ifndef FCF_DEVMGR_DEVICE_MOTOR_HPP
#define FCF_DEVMGR_DEVICE_MOTOR_HPP

#include <fcf/common/dispatcher.hpp>

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

namespace fcf::devmgr::motor {


  class Motor : public devmgr::common::Device
  {

    enum {
      POS_TARGET = 0,
      POS_ACTUAL,
      SCALE_FACTOR,
      AXIS_STATUS,
      BCKLASHSTEP,
      LAST_CMD,
      ERROR_CODE,
      INIT_STEP,
      REF_SWITCH,
      AT_MAX_POS,
      AT_MAX_POS_VAL,
      AT_MIN_POS,
      AT_MIN_POS_VAL,
      INFO_DATA1,
      INFO_DATA2,
      SWITCH_LHW,
      BRAKE_ACTIVE,
      LOCAL,
      SWITCH_INDEX,
      SWITCH_REF,
      VEL_TARGET,
      VEL_ACTUAL,
      SWITCH_LSTOP,
      SWITCH_USTOP
    };

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


    virtual ~Motor() {};

    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);
    //CCfits::FITS* fits_handle = nullptr);

    virtual void UpdateStatus();

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

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

    void SetTargetNamedPosition(const std::string named_position);
    const std::string GetTargetNamedPosition();

  protected:
    MotorControllerData           m_controller_status;
    std::string                   m_target_named_pos;

    std::shared_ptr<MotorConfig>  m_config;
    std::shared_ptr<MotorLcsIf<fcfif::MotorTopicUnion>>   m_lcs_if;
  };

}


#endif //FCF_DEVMGR_DEVICE_MOTOR_HPP