drot.hpp

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#ifndef FCF_DEVMGR_DEVICE_DROT_HPP
#define FCF_DEVMGR_DEVICE_DROT_HPP

#include "fcf/common/dispatcher.hpp"

#include "fcf/devmgr/common/device.hpp"
#include "fcf/devmgr/common/iDeviceConfig.hpp"
#include "fcf/devmgr/devices/drotConfig.hpp"
#include "fcf/devmgr/devices/drotLcsIf.hpp"
#include "fcf/devmgr/common/dataContext.hpp"

namespace fcf {
  namespace devmgr {
    namespace drot {

      class Drot : public fcf::devmgr::common::Device {

      public:
        Drot(const std::string& filename,
             const std::string& name,
             fcf::devmgr::common::DataContext& data_ctx);

        virtual ~Drot() {};

        void CreateObjects(std::shared_ptr<fcf::devmgr::common::IDeviceConfig>  config = nullptr) override;

        void RegisterComm(std::shared_ptr<fcf::common::IComm> comm_if,
                          fcf::common::Dispatcher<>& failure,
                          fcf::common::Dispatcher<>& normal) override;

        virtual void Setup(const std::any& payload) override;

        virtual bool IsSetupActive(const std::any& payload) const override;


        void SetTargetNamedPosition(const std::string named_position);
        const std::string GetTargetNamedPosition();

        virtual void Status(const std::any& payload, std::string& buffer) override;

        virtual void Status(bool end_acq,
                            const dit::did::Did& dictionary,
                            std::shared_ptr<CCfits::FITS>& fits_handle) override;
        //CCfits::FITS* fits_handle = nullptr);

        virtual void UpdateStatus() override;

        virtual std::shared_ptr<fcf::devmgr::common::DeviceLcsIf> GetLcsIf() const override;

        virtual std::shared_ptr<fcf::devmgr::common::IDeviceConfig> GetConfig() const override;

      protected:
        DrotControllerData           m_controller_status;
        std::string                  m_target_named_pos;
        std::shared_ptr<DrotConfig>  m_config; 

        // Local Control System Interface
        std::shared_ptr<DrotLcsIf<fcfif::DrotTopicUnion>>   m_lcs_if; 
      };
    }
  }
}


#endif //FCF_DEVMGR_DEVICE_DROT_HPP