smaractLcsIf.hpp

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#ifndef FCF_DEVMGR_DEVICE_SMARACT_IF_HPP
#define FCF_DEVMGR_DEVICE_SMARACT_IF_HPP
 
// System headers
#include <unordered_map>
 
// Third party headers
#include <yaml-cpp/yaml.h>
 
#include <fcf/devmgr/devices/motorBaseLcsIf.hpp>
#include <fcf/devmgr/devices/smaractConfig.hpp>
#include <fcf/devmgr/common/dataContext.hpp>
 
#include <Fcfif.hpp>
#include <rad/mal/publisher.hpp>
 
namespace fcf::devmgr::smaract {
 
  struct SmaractControllerData : fcf::devmgr::motor::MotorBaseControllerData {
  public:
    SmaractControllerData();
    virtual ~SmaractControllerData();
 
 
    inline virtual std::string GetErrorText() const;
 
 
    void SetData(const SmaractControllerData& data);
 
 
 
  };
 
  class SmaractLcsIf : public fcf::devmgr::motor::MotorBaseLcsIf {
 
  public:
 
          SmaractLcsIf(std::shared_ptr<fcf::devmgr::common::IDeviceConfig> config,
                     fcf::devmgr::common::DataContext& data_ctx);
 
          virtual ~SmaractLcsIf() {};
 
    virtual void InitObject();
 
    virtual void ReadStatus(SmaractControllerData& status);
 
    void Listener(fcf::common::VectorVariant& params);
 
    virtual std::string GetRpcError(const short error_code) const;
 
  protected:
    void StorePosition(const fcf::common::Variant& value,
                         int  attribute);
 
  private:
    log4cplus::Logger  m_logger;
 
 
  };
 
}
 
#include "smaractLcsIf.ipp"
 
#endif //FCF_DEVMGR_DEVICE_SMARACT_IF_HPP