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/devices/motorBaseLcsIf.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::motor::MotorBaseControllerData {
  public:
    MotorControllerData();
    virtual ~MotorControllerData();
 
    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;
 
    void SetData(const MotorControllerData& data);
 
  protected:
    double   m_scale_factor {1};
    bool     m_brake {false};
    bool     m_enabled {false};
    bool     m_locked {false};
    int      m_mode {};
    bool     m_ready {false};
    bool     m_in_position {false};
    int      m_info_data1 {};
    int      m_info_data2 {};
    std::vector<bool> m_signals;
  };
 
  class MotorLcsIf : public fcf::devmgr::motor::MotorBaseLcsIf
  {
   public:
    enum {
      STAT_AXIS_BRAKE  = MotorBaseLcsIf::STAT_MOTOR_BASE_END + 10,
      STAT_AXIS_ENABLE,
      STAT_AXIS_LOCK,
      STAT_MODE,
      STAT_AXIS_READY,
      STAT_AXIS_INPOS,
      STAT_AXIS_INFO1,
      STAT_AXIS_INFO2,
      STAT_INIT_STEP,
      STAT_INIT_ACTION,
      STAT_SIGNAL_LSTOP,
      STAT_SIGNAL_LHW,
      STAT_SIGNAL_REF,
      STAT_SIGNAL_INDEX ,
      STAT_SIGNAL_UHW ,
      STAT_SIGNAL_USTOP,
      STAT_SCALE_FACTOR,
      STAT_MOTOR_END
    };
 
  public:
 
    MotorLcsIf(std::shared_ptr<fcf::devmgr::common::IDeviceConfig> config,
               fcf::devmgr::common::DataContext& data_ctx);
 
    virtual ~MotorLcsIf() {};
 
 
    virtual void InitObject();
 
    virtual void ReadStatus(MotorControllerData& status);
 
    void Listener(protocol::base::VectorVariant& params);
 
    virtual std::string GetRpcError(const short error_code) const;
 
 
  protected:
 
    void StorePosition(const protocol::base::Variant& value,
                         int  attribute);
 
 
  protected:
 
    int    m_mot_init_step {};
    int    m_mot_init_action {};
    int    m_mot_mode {};
    short  m_mot_axis_info1 {};
    short  m_mot_axis_info2 {};
    bool   m_mot_axis_ready {false};
    bool   m_mot_axis_enable {false};
    bool   m_mot_axis_brake {false};
    bool   m_mot_axis_lock {false};
    bool   m_mot_axis_inpos {false};
    bool   m_mot_signal_lstop {false};
    bool   m_mot_signal_lhw {false};
    bool   m_mot_signal_ref {false};
    bool   m_mot_signal_index {false};
    bool   m_mot_signal_uhw {false};
    bool   m_mot_signal_ustop {false};
 
  private:
    log4cplus::Logger  m_logger;
 
 
  };
 
}
 
#include "motorLcsIf.ipp"
 
#endif //FCF_DEVMGR_DEVICE_MOTOR_IF_HPP