piezoLcsIf.hpp

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#ifndef DEVMGR_DEVICE_PIEZO_IF_HPP
#define DEVMGR_DEVICE_PIEZO_IF_HPP

#include <unordered_map>

#include <yaml-cpp/yaml.h>
#include "fcf/devmgr/common/deviceLcsIf.hpp"
#include "fcf/devmgr/devices/piezoConfig.hpp"
#include "fcf/devmgr/common/dataContext.hpp"

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

namespace fcf::devmgr {
  namespace piezo {

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

      inline std::string GetErrorText() const;
      void SetData(const PiezoControllerData& data);
      void SetPosBit(short axis, int value);
      void SetPosUser(short axis, double value);
      int GetPosBit(short axis) const;
      double GetPosUser(short axis) const;
      inline virtual std::string GetSubstateStr() const;

    protected:
       std::vector<int> m_pos_bit;
       std::vector<double> m_pos_user;


    };



    template<typename TOPIC_TYPE = fcfif::PiezoTopicUnion>
    class PiezoLcsIf : public fcf::devmgr::common::DeviceLcsIf
    {

     // enumerations for Piezo status
      enum {
        STAT_LOCAL       = 1,
        STAT_ERROR       = 2,
        STAT_HW_STATUS   = 3,
        STAT_STATE       = 4,
        STAT_SUBSTATE    = 5,
        STAT_BIT1,
        STAT_BIT2,
        STAT_BIT3,
        STAT_POS1,
        STAT_POS2,
        STAT_POS3,
        STAT_MON_BIT1,
        STAT_MON_BIT2,
        STAT_MON_BIT3,
        STAT_MON_POS1,
        STAT_MON_POS2,
        STAT_MON_POS3
      };

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


       virtual ~PiezoLcsIf() {};

      virtual bool IsReady();

      virtual bool IsOperational() ;
     
       bool IsInAuto();

       bool IsInPos();

       void Auto();

       void Home();

       void Pos();

       void MoveBits(short bit1, short bit2, short bit3);

       void MoveUser(double pos1, double pos2, double pos3);

      virtual void ReadStatus(PiezoControllerData& status);


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

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


    private:

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


    protected:
       std::unique_ptr<rad::cii::Publisher<TOPIC_TYPE>> m_publisher;

    private:


    };
  }
}

#include "piezoLcsIf.ipp"

#endif //DEVMGR_DEVICE_PIEZO_IF_HPP