drotLcsIf.hpp

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#ifndef FCF_DEVMGR_DEVICE_DROT_IF_HPP
#define FCF_DEVMGR_DEVICE_DROT_IF_HPP

#include <unordered_map>

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

namespace fcf::devmgr::drot {

    struct DrotControllerData : fcf::devmgr::motor::MotorControllerData {
    public:
      DrotControllerData();
      virtual ~DrotControllerData();


      void SetData(const DrotControllerData& data);

      inline virtual std::string GetErrorText() const;
      inline virtual std::string GetSubstateStr() const;

      inline short  GetTrackingMode() const;
      inline void SetTrackingMode(short mode);

      inline double  GetAlpha() const;
      inline void SetAlpha(double alpha);

      inline double  GetDelta() const;
      inline void SetDelta(double delta);

      inline double  GetAngleOnSky() const;
      inline void SetAngleOnSky(double angle);

    protected:
      short  m_tracking_mode;
      double m_alpha;
      double m_delta;
      double m_angle_on_sky;
    };



    template<typename TOPIC_TYPE>
    class DrotLcsIf : public fcf::devmgr::motor::MotorLcsIf<TOPIC_TYPE> {

     // enumerations for Drot status
      enum {
        STAT_LOCAL       = 100,
        STAT_ERROR       = 101,
        STAT_STATE       = 102,
        STAT_SUBSTATE    = 103,
        STAT_TRACK_MODE  = 104,
        STAT_ALPHA       = 105,
        STAT_DELTA       = 106,
        STAT_ANGLE_ON_SKY = 107
      };

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


       virtual ~DrotLcsIf() {};

      void MoveAngle(double angle);

      bool IsTracking();

      void StartTrack(short mode, double angle);

      void StopTrack();

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

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


      void ReadStatus(DrotControllerData& status);

    private:

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

      void PublishPosition(const fcf::common::Variant& value,
                           int  attribute);



    protected:


    private:


    };

}

#include "drotLcsIf.ipp"

#endif //FCF_DEVMGR_DEVICE_DROT_IF_HPP