gpCmdsImpl.hpp

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// SPDX-FileCopyrightText: 2020-2025 European Southern Observatory (ESO)
//
// SPDX-License-Identifier: LGPL-3.0-only
 
#ifndef pfssimhlcc_GP_CMDS_IMPL_HPP
#define pfssimhlcc_GP_CMDS_IMPL_HPP
 
#include <pfssimhlcc/gpCtrEvents.rad.hpp>
 
#include <pfssimhlcc/logger.hpp>
 
#include <rad/exceptions.hpp>
#include <rad/smAdapter.hpp>
 
namespace hlcc::pfssimhlcc {
 
class GpCmdsImpl : public pfsif::AsyncGpCmds {
public:
    explicit GpCmdsImpl(rad::SMAdapter& sm) : m_sm(sm) {
        RAD_TRACE(GetLogger());
 
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::MoveGPTo>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::MoveGpToNamedPos>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::MoveRaw>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::StartControlling>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::StopControlling>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::AssignFixTrajectory>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::AssignSkyTrajectory>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::StopFollowingTrajectory>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::SetTarget>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::SetHierarchy>();
    }
 
    virtual ~GpCmdsImpl() {
        RAD_TRACE(GetLogger());
    }
 
    elt::mal::future<std::string> ForwardCommand(const std::shared_ptr<::pfsif::GpForwardCommand>& command) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received ForwardCommand with: command_id " << command->getCommand_id() 
                                    << ", command " << command->getArgs());
        auto ev = std::make_shared<GpCtrEvents::ForwardCommand>(command->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> MoveGPTo(const std::shared_ptr<::pfsif::GpXY>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received MoveGPTo with: id  " << args->getId() << ", X  "
                                    << args->getX() << ", Y " << args->getY());
        auto ev = std::make_shared<GpCtrEvents::MoveGPTo>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> MoveGpToNamedPos(const std::shared_ptr<::pfsif::GpNamedPos>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received MoveGpToNamedPos with: id  " << args->getId()
                                    << ", Name  " << args->getName());
 
        auto ev = std::make_shared<GpCtrEvents::MoveGpToNamedPos>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> MoveRaw(const std::shared_ptr<::pfsif::GpRaw>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received MoveRaw with: id  " << args->getId() << ", Az  "
                                    << args->getAz() << ", Pom  " << args->getPom() << ", Sar  "
                                    << args->getSar() <<", Trom  " << args->getTrom());
 
        auto ev = std::make_shared<GpCtrEvents::MoveRaw>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> StartControlling() override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received StartControlling");
        auto ev = std::make_shared<GpCtrEvents::StartControlling>();
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> StopControlling() override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received StopControlling");
 
        auto ev = std::make_shared<GpCtrEvents::StopControlling>();
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> AssignFixTrajectory(const std::shared_ptr<::pfsif::GpXY>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received AssignFixTrajectory with: id  " << args->getId()
                                    << ", X  " << args->getX() << ", Y " << args->getY());
        auto ev = std::make_shared<GpCtrEvents::AssignFixTrajectory>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> AssignSkyTrajectory(const std::shared_ptr<::pfsif::GuideStarArgs>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received AssignSkyTrajectory with: id  " << args->getId() << ", Ra  "
                                    << args->getRa() << ", Dec " << args->getDec() << ", Epoch  "
                                    << args->getEpoch() << ", Band  " << args->getBand() << ", Rshift  "
                                    << args->getRshift() <<  ", Radvel  " << args->getRadvel()
                                    << ", Magnitude  " << args->getMagnitude() << ", Parallax  "
                                    << args->getParallax() << ", Proper_motion_ra " << args->getProper_motion_ra()
                                    << ", Proper_motion_dec  " << args->getProper_motion_dec());
 
        auto ev = std::make_shared<GpCtrEvents::AssignSkyTrajectory>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> StopFollowingTrajectory(::pfsif::GuideProbeId args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received StopFollowingTrajectory with: Guide Probe Id " << args);
 
        auto ev = std::make_shared<GpCtrEvents::StopFollowingTrajectory>(args);
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> SetTarget(const std::shared_ptr<::pfsif::TargetArgs>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received SetTarget with: Ra  " << args->getRa() << ", Dec "
                                    << args->getDec() << ", Epoch  " << args->getEpoch()
                                    << ", Rshift" << args->getRshift() <<  ", Radvel  " << args->getRadvel()
                                    << ", Parallax  " << args->getParallax()
                                    << ", Proper_motion_ra " << args->getProper_motion_ra()
                                    << ", Proper_motion_dec  " << args->getProper_motion_dec()
                                    << ", Velocity_offset_ra " << args->getVelocity_offset_ra()
                                    << ", Velocity_offset_dec " << args->getVelocity_offset_dec());
 
        auto ev = std::make_shared<GpCtrEvents::SetTarget>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> SetHierarchy(const std::shared_ptr<::pfsif::GpHierarchyArgs>& args) override {
        RAD_TRACE(GetLogger());
        LOG4CPLUS_INFO(GetLogger(), "Received SetHierarchy with: A  " << args->getA() << ", B  "
                                    << args->getB() << ", C  " << args->getC());
 
        auto ev = std::make_shared<GpCtrEvents::SetHierarchy>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
 
    elt::mal::future<std::string> SetPointingOrigin(const std::shared_ptr<::pfsif::XY>& args) override {
        RAD_TRACE(GetLogger());
 
        LOG4CPLUS_INFO(GetLogger(), "Received SetPointingOrigin with: X  " << args->getX() << ", Y  "
        << args->getY());
 
        auto ev = std::make_shared<GpCtrEvents::SetPointingOrigin>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
 
private:
    rad::SMAdapter& m_sm;
};
 
 
}  // namespace hlcc::pfssimhlcc
 
#endif  // pfssimhlcc_GP_CMDS_IMPL_HPP