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 std::string GetTrackingModeStr() const;
      inline void SetTrackingMode(short mode);
 
      inline double  GetRotationAngle() const;
      inline void SetRotationAngle(double alpha);
 
      inline double  GetPupilAngle() const;
      inline void SetPupilAngle(double delta);
 
      inline double  GetAngleOnSky() const;
      inline void SetAngleOnSky(double offset);
 
      inline double  GetTrackOffset() const;
      inline void SetTrackOffset(double offset);
 
    protected:
      short  m_tracking_mode {0};
      double m_rotation {0.0};
      double m_pupil {0.0};
      double m_angle_on_sky {0.0};
      double m_track_offset {0.0};
    };
 
 
 
    class DrotLcsIf : public fcf::devmgr::motor::MotorLcsIf {
 
     // enumerations for Drot status
      enum {
        STAT_LOCAL       = 100,
        STAT_ERROR       = 101,
        STAT_STATE       = 102,
        STAT_SUBSTATE    = 103,
        STAT_TRACK_MODE  = 104,
        STAT_ROTATION    = 105,
        STAT_PUPIL       = 106,
        STAT_ANGLE_ON_SKY = 107,
        STAT_TRACK_OFFSET = 110
      };
 
    public:
       DrotLcsIf(std::shared_ptr<fcf::devmgr::common::IDeviceConfig> config,
                 fcf::devmgr::common::DataContext& data_ctx);
 
 
       virtual ~DrotLcsIf() = default;
 
       virtual void InitObject();
 
      void MoveAngle(double angle, ::fcfif::MotorPosUnit unit = ::fcfif::MotorPosUnit::UU);
 
       void TrackOffset(double offset, ::fcfif::MotorPosUnit unit);
 
      bool IsTracking();
 
      void StartTrack(short mode, double angle);
 
      void StopTrack();
 
      void Listener(protocol::base::VectorVariant& params);
 
      virtual std::string GetRpcError(const short error_code) const;
 
 
      void ReadStatus(DrotControllerData& status);
 
    private:
 
 
 
      void PublishPosition(const protocol::base::Variant& value,
                           int  attribute);
 
    protected:
      double m_rotation {0.0};
      double m_pupil {0.0};
      short  m_track_mode {0};
      double m_angle_on_sky {0.0};
      double m_track_offset {0.0};
 
 
    private:
      log4cplus::Logger  m_logger;
 
 
    };
 
}
 
#include "drotLcsIf.ipp"
 
#endif //FCF_DEVMGR_DEVICE_DROT_IF_HPP