maxisConfig.hpp

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#ifndef FCF_DEVMGR_DEVICE_MAXIS_CONFIG_HPP
#define FCF_DEVMGR_DEVICE_MAXIS_CONFIG_HPP
 
#include <string>
#include <yaml-cpp/yaml.h>
 
#include <utils/bat/logger.hpp>
#include "fcf/devmgr/common/dataContext.hpp"
#include "fcf/devmgr/devices/motorConfig.hpp"
#include "fcf/devmgr/devices/maxisRpcErrors.hpp"
#include "fcf/devmgr/devices/maxisHwErrors.hpp"
 
namespace fcf::devmgr::maxis {
 
  constexpr auto LOGGER_NAME = "maxis";
  // Constants for internal mapping
  constexpr auto CI_MOTOR_MAP_FILE    = "mapMotorFile";
 
  constexpr auto CI_AXES              = "motors";
  constexpr auto CI_FOCUS_SIGN        = "focus_sign";
  constexpr auto CI_DIR_SIGN          = "dir_sign";
  constexpr auto CI_STAT_REF          = "off_ref";
  constexpr auto CI_STAT_AUTO         = "auto_ref";
  constexpr auto CI_MODES             = "modes";
 
  constexpr auto CI_LATITUDE          = "latitude";
  constexpr auto CI_LONGITUDE         = "longitude";
  constexpr auto CI_TRK_PERIOD        = "trk_period";
  constexpr auto CI_TRK_THRESHOLD     = "trk_threshold";
 
  // Specific MAxis RPC
  constexpr auto RPC_MOVE_ANGLE       = "rpcMoveAngle";
  constexpr auto RPC_START_TRACK      = "rpcStartTrack";
  constexpr auto RPC_STOP_TRACK       = "rpcStopTrack";
  constexpr auto RPC_TRACK_OFFSET     = "rpcTrackOffset";
 
 
  // Specific constant values for MAxis device state/substate
 
  constexpr int SUBSTATE_RESETTING           =  109;
  constexpr int SUBSTATE_ENABLING            =  110;
 
  constexpr int SUBSTATE_OP_TRACKING         =  220;
  constexpr int SUBSTATE_OP_PRESETTING       =  221;
 
  constexpr auto SUBSTATE_RESETTING_STR        =  "Resetting";
  constexpr auto SUBSTATE_ENABLING_STR         =  "Enabling";
  constexpr auto SUBSTATE_OP_TRACKING_STR      =  "Tracking";
  constexpr auto SUBSTATE_OP_PRESETTING_STR    =  "Presetting";
 
 
 
  const std::unordered_map<short, std::string>  SubstateMap = {
    {fcf::devmgr::common::SUBSTATE_NOTREADY,       fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
    {SUBSTATE_RESETTING,      SUBSTATE_RESETTING_STR},
    {fcf::devmgr::common::SUBSTATE_INITIALISING,   fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
    {fcf::devmgr::common::SUBSTATE_READY,          fcf::devmgr::common::SUBSTATE_READY_STR},
    {SUBSTATE_ENABLING,       SUBSTATE_ENABLING_STR},
    {fcf::devmgr::motor::SUBSTATE_ABORTING,       fcf::devmgr::motor::SUBSTATE_ABORTING_STR},
    {fcf::devmgr::common::SUBSTATE_ERROR,         fcf::devmgr::common::SUBSTATE_ERROR_STR},
    {fcf::devmgr::common::SUBSTATE_OP_DISABLING,   fcf::devmgr::common::SUBSTATE_OP_DISABLING_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL,  fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_MOVING,      fcf::devmgr::motor::SUBSTATE_OP_MOVING_STR},
    {SUBSTATE_OP_TRACKING,    SUBSTATE_OP_TRACKING_STR},
    {SUBSTATE_OP_PRESETTING,    SUBSTATE_OP_PRESETTING_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_STOPPING,    fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR},
    {fcf::devmgr::common::SUBSTATE_OP_ERROR,     fcf::devmgr::common::SUBSTATE_OP_ERROR_STR},
  };
 
  constexpr short TRK_MODE_ENG       = 0;
  constexpr short TRK_MODE_OFF       = 1;
  constexpr short TRK_MODE_AUTO      = 2;
 
 
  constexpr auto TRK_MODE_ENG_STR      = "eng";
  constexpr auto TRK_MODE_OFF_STR      = "off";
  constexpr auto TRK_MODE_AUTO_STR     = "auto";
 
 
  const std::unordered_map<short, std::string>  TrkModeMap = {
    {TRK_MODE_ENG,       TRK_MODE_ENG_STR},
    {TRK_MODE_OFF,       TRK_MODE_OFF_STR},
    {TRK_MODE_AUTO,      TRK_MODE_AUTO_STR},
  };
 
  constexpr auto CI_STAT_TRACK_MODE              = "track_mode";
 
  class MAxisConfig : public fcf::devmgr::common::DeviceConfig {
 
  public:
 
    MAxisConfig(const std::string filename,
              const std::string name);
 
    MAxisConfig(const std::string name);
 
    virtual ~MAxisConfig() = default;
 
    void Init();
 
    virtual void GetConfig(protocol::base::VectorVariant& params) const override;
 
 
    virtual void GetMotorConfig(protocol::base::VectorVariant& params) const;
 
    virtual void GetMotorConfig(const std::string motor, protocol::base::VectorVariant& params) const;
 
    virtual void SetScaleFactor(const std::string motor, double scale_factor);
 
    double GetNpTolerance() const;
    std::optional<short> GetModeIndex(const std::string& name) const;
    std::optional<std::string> GetModeStr(const short& mode) const;
    bool FindMode(const std::string& name) const;
 
    virtual void GetConfigList(utils::bat::DbVector& cfg_list,
                               std::string prefix) const override;
 
 
    virtual std::string  GetMotorMapFile() const;
 
    virtual std::string  GetMotorType() const;
 
    std::string  GetMotorPrefix(const int& index) const;
    std::string GetMotorPrefix(const std::string& motor) const;
    std::optional<int> GetMotorIndex(const std::string& motor) const;
    std::string  GetMotorName(const int& index) const;
 
    void GetMotorNames(std::vector<std::string>& motor_names) const;
 
    void GetMotorPrefixes(std::vector<std::string>& motor_prefixes) const;
 
    double GetMotorVelocity(const int axis_num) const;
 
    double GetMotorScaleFactor(const int axis_num) const;
 
    double GetMotorScaleFactor(const std::string motor_name) const;
 
    std::string GetMotorName(const std::string nodeid) const;
 
  protected:
 
    int m_num_axis;
 
    std::map<std::string, std::unique_ptr<fcf::devmgr::motor::MotorConfig>> m_motor_config_map;
 
    std::map<std::string, std::string> m_motor_prefix_map;
 
  private:
    log4cplus::Logger  m_logger;
  };
 
} //namespace
 
#endif //FCF_DEVMGR_DEVICE_MAXIS_CONFIG_H