piezoConfig.hpp

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#ifndef FCF_DEVMGR_DEVICE_PIEZO_CONFIG_HPP
#define FCF_DEVMGR_DEVICE_PIEZO_CONFIG_HPP

// System headers
#include <string>

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

#include "fcf/common/iComm.hpp"
#include "fcf/devmgr/common/deviceConfig.hpp"
#include "fcf/devmgr/common/configSet.hpp"
#include "fcf/devmgr/common/dataContext.hpp"
#include "fcf/devmgr/devices/piezoRpcErrors.hpp"
#include "fcf/devmgr/devices/piezoHwErrors.hpp"

namespace fcf {
namespace devmgr {
  namespace piezo {

    // Constants for internal mapping
    constexpr auto CI_MAX_ON             = "max_on";
    constexpr auto CI_NUM_AXIS           = "num_axis";
    constexpr auto CI_FULL_RANGE1         = "full_range1";
    constexpr auto CI_FULL_RANGE2         = "full_range2";
    constexpr auto CI_FULL_RANGE3         = "full_range3";
    constexpr auto CI_HOME1               = "home1";
    constexpr auto CI_HOME2               = "home2";
    constexpr auto CI_HOME3               = "home3";
    constexpr auto CI_LOWER_LIMIT1        = "lower_limit1";
    constexpr auto CI_LOWER_LIMIT2        = "lower_limit2";
    constexpr auto CI_LOWER_LIMIT3        = "lower_limit3";
    constexpr auto CI_UPPER_LIMIT1        = "upper_limit1";
    constexpr auto CI_UPPER_LIMIT2        = "upper_limit2";
    constexpr auto CI_UPPER_LIMIT3        = "upper_limit3";
    constexpr auto CI_USER_TO_BIT_INPUT1  = "user_to_bit_input1";
    constexpr auto CI_USER_TO_BIT_INPUT2  = "user_to_bit_input2";
    constexpr auto CI_USER_TO_BIT_INPUT3  = "user_to_bit_input3";
    constexpr auto CI_USER_OFFSET_INPUT1  = "user_offset_input1";
    constexpr auto CI_USER_OFFSET_INPUT2  = "user_offset_input2";
    constexpr auto CI_USER_OFFSET_INPUT3  = "user_offset_input3";
    constexpr auto CI_USER_TO_BIT_OUTPUT1 = "user_to_bit_output1";
    constexpr auto CI_USER_TO_BIT_OUTPUT2 = "user_to_bit_output2";
    constexpr auto CI_USER_TO_BIT_OUTPUT3 = "user_to_bit_output3";
    constexpr auto CI_USER_OFFSET_OUTPUT1  = "user_offset_output1";
    constexpr auto CI_USER_OFFSET_OUTPUT2  = "user_offset_output2";
    constexpr auto CI_USER_OFFSET_OUTPUT3  = "user_offset_output3";

    constexpr bool DEFAULT_MAX_ON        = 0;
    constexpr bool DEFAULT_NUM_AXIS      = 2;
    constexpr short DEFAULT_FULL_RANGE   = 32767;
    constexpr short DEFAULT_LOWER_LIMIT  = 0;
    constexpr short DEFAULT_UPPER_LIMIT  = 32767;
    constexpr short DEFAULT_USER_OFFSET  = 0;
    constexpr short DEFAULT_HOME         = 0;
    constexpr double DEFAULT_USER_TO_BIT = 32767/10.0;


    // Specifics Piezo status values

    // Specific Piezo RPC
    constexpr auto RPC_AUTO                   = "rpcAuto";
    constexpr auto RPC_HOME                   = "rpcHome";
    constexpr auto RPC_POS                    = "rpcPos";
    constexpr auto RPC_MOVEBITS               = "rpcMoveBits";
    constexpr auto RPC_MOVEUSER               = "rpcMoveUser";


    // Specific constant values for Piezo device state/substate
    constexpr short SUBSTATE_OP_POS           =  203;
    constexpr short SUBSTATE_OP_AUTO          =  204;

    constexpr auto SUBSTATE_OP_POS_STR        =  "Pos";
    constexpr auto SUBSTATE_OP_AUTO_STR       =  "Auto";

    const std::unordered_map<short, std::string>  SubstateMap = {
      {devmgr::common::SUBSTATE_NOTREADY,       devmgr::common::SUBSTATE_NOTREADY_STR},
      {devmgr::common::SUBSTATE_INITIALISING,   devmgr::common::SUBSTATE_INITIALISING_STR},
      {fcf::devmgr::common::SUBSTATE_ERROR,          fcf::devmgr::common::SUBSTATE_ERROR_STR},
      {SUBSTATE_OP_POS,       SUBSTATE_OP_POS_STR},
      {SUBSTATE_OP_AUTO,     SUBSTATE_OP_AUTO_STR},
      {fcf::devmgr::common::SUBSTATE_OP_ERROR,       fcf::devmgr::common::SUBSTATE_OP_ERROR_STR}
    };

    // Status configuration attributes
    constexpr auto CI_STAT_ACTUAL_POS_BIT              = "actual_pos_bit";
    constexpr auto CI_STAT_ACTUAL_POS_BIT1             = "actual_pos_bit1";
    constexpr auto CI_STAT_ACTUAL_POS_BIT2             = "actual_pos_bit2";
    constexpr auto CI_STAT_ACTUAL_POS_BIT3             = "actual_pos_bit3";

    constexpr auto CI_STAT_ACTUAL_POS_USER             = "actual_pos_user";
    constexpr auto CI_STAT_ACTUAL_POS_USER1            = "actual_pos_user1";
    constexpr auto CI_STAT_ACTUAL_POS_USER2            = "actual_pos_user2";
    constexpr auto CI_STAT_ACTUAL_POS_USER3            = "actual_pos_user3";

    constexpr auto CI_STAT_MON_ACT_POS_BIT             = "mon_act_pos_bit";
    constexpr auto CI_STAT_MON_ACT_POS_BIT1            = "mon_act_pos_bit1";
    constexpr auto CI_STAT_MON_ACT_POS_BIT2            = "mon_act_pos_bit2";
    constexpr auto CI_STAT_MON_ACT_POS_BIT3            = "mon_act_pos_bit3";

    constexpr auto CI_STAT_MON_ACT_POS_USR             = "mon_act_pos_usr";
    constexpr auto CI_STAT_MON_ACT_POS_USR1            = "mon_act_pos_usr1";
    constexpr auto CI_STAT_MON_ACT_POS_USR2            = "mon_act_pos_usr2";
    constexpr auto CI_STAT_MON_ACT_POS_USR3            = "mon_act_pos_usr3";

    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,
      fcf::devmgr::common::CI_STAT_ERROR_CODE,
      CI_STAT_ACTUAL_POS_BIT1,
      CI_STAT_ACTUAL_POS_BIT2,
      CI_STAT_ACTUAL_POS_BIT3,
      CI_STAT_ACTUAL_POS_USER1,
      CI_STAT_ACTUAL_POS_USER2,
      CI_STAT_ACTUAL_POS_USER3
    };

    const std::vector<std::string> rpcMapping = {
      devmgr::common::RPC_INIT,
      devmgr::common::RPC_ENABLE,
      devmgr::common::RPC_DISABLE,
      devmgr::common::RPC_RESET,
      devmgr::common::RPC_STOP,
      RPC_POS,
      RPC_AUTO,
      RPC_HOME,
      RPC_MOVEBITS,
      RPC_MOVEUSER
    };

    class PiezoConfig : public fcf::devmgr::common::DeviceConfig
    {

      // Enumerations of configuration paramters
      enum {
        CFG_MAX_ON    = 0,
        CFG_NUM_AXIS  = 1,
        CFG_FULL_RANGE1,
        CFG_FULL_RANGE2,
        CFG_FULL_RANGE3,
        CFG_HOME1,
        CFG_HOME2,
        CFG_HOME3,
        CFG_LOWER_LIMIT1,
        CFG_LOWER_LIMIT2,
        CFG_LOWER_LIMIT3,
        CFG_UPPER_LIMIT1,
        CFG_UPPER_LIMIT2,
        CFG_UPPER_LIMIT3,
        CFG_USER_TO_BIT_INPUT1,
        CFG_USER_TO_BIT_INPUT2,
        CFG_USER_TO_BIT_INPUT3,
        CFG_USER_OFFSET_INPUT1,
        CFG_USER_OFFSET_INPUT2,
        CFG_USER_OFFSET_INPUT3,
        CFG_USER_TO_BIT_OUTPUT1,
        CFG_USER_TO_BIT_OUTPUT2,
        CFG_USER_TO_BIT_OUTPUT3,
        CFG_USER_OFFSET_OUTPUT1,
        CFG_USER_OFFSET_OUTPUT2,
        CFG_USER_OFFSET_OUTPUT3,
        END_ENUM_PIEZO // WARNING: This should be always last enumerator.
      };


    public:

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

      virtual ~PiezoConfig();


      short GetNumAxes() const;
    private:

    };
  }
}
}


#endif //FCF_DEVMGR_DEVICE_PIEZO_CONFIG_H