motorBaseLcsIf.hpp

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#ifndef FCF_DEVMGR_DEVICE_MOTOR_BASE_IF_HPP
#define FCF_DEVMGR_DEVICE_MOTOR_BASE_IF_HPP
 
// System headers
#include <unordered_map>
 
// Third party headers
#include <yaml-cpp/yaml.h>
 
#include <fcf/devmgr/common/deviceLcsIf.hpp>
#include <fcf/devmgr/devices/motorBaseConfig.hpp>
#include <fcf/devmgr/common/dataContext.hpp>
 
#include <Fcfif.hpp>
#include <rad/mal/publisher.hpp>
 
namespace fcf::devmgr::motor {
 
  struct MotorBaseControllerData : fcf::devmgr::common::DeviceControllerData {
  public:
    MotorBaseControllerData();
    virtual ~MotorBaseControllerData();
 
    inline double GetActualPos() const;
    inline void SetActualPos(double position);
    inline double GetPosError() const;
    inline void SetPosError(double pos_error);
    inline double GetActualVel() const;
    inline void SetActualVel(double velocity);
    inline double GetTargetPos() const;
    inline void SetTargetPos(double position);
    inline double GetTargetVel() const;
    inline void SetTargetVel(double velocity);
    inline std::string GetUserUnit() const;
    inline void SetUserUnit(const std::string& unit);
    inline virtual std::string GetSubstateStr() const;
 
  protected:
    double   m_target_pos {};
    double   m_actual_pos {};
    double   m_pos_error {};
    double   m_actual_vel {};
    double   m_target_vel {};
    double   m_scale_factor {1};
    std::string m_user_unit {""};
 
  };
 
  class MotorBaseLcsIf : public fcf::devmgr::common::DeviceLcsIf
  {
   public:
      enum {
          STAT_LOCAL       = 1,
          STAT_ERROR       = 2,
          STAT_HW_STATUS   = 3,
          STAT_STATE       = 4,
          STAT_SUBSTATE    = 5,
          STAT_ACTUAL_POS  = 6,
          STAT_TARGET_POS  = 7,
          STAT_POS_ERROR   = 8,
          STAT_ACTUAL_VEL  = 9,
          STAT_TARGET_VEL  = 10,
          STAT_INITIALISED = 11,
          STAT_MOTOR_BASE_END
      };
 
  public:
 
    MotorBaseLcsIf(std::shared_ptr<fcf::devmgr::common::IDeviceConfig> config,
               fcf::devmgr::common::DataContext& data_ctx);
 
    virtual ~MotorBaseLcsIf() {};
 
    void MoveAbs(double position, ::fcfif::MotorPosUnit unit = ::fcfif::MotorPosUnit::UU);
 
    void MoveEncAbs(int encoders);
 
    void MoveRel(double position, ::fcfif::MotorPosUnit unit = ::fcfif::MotorPosUnit::UU);
 
    void MoveEncRel(int encoders);
 
    void MoveByName(std::string namedpos);
 
    void MoveVel(double velocity);
 
    virtual bool IsDisabling() const;
 
    bool IsMoving() const;
 
    bool IsStandstill() const;
 
    bool IsInPosition() const;
 
    bool IsMovingInRightDirection() const;
 
    void SetTargetNamedPosition(const std::string named_position);
    const std::string GetTargetNamedPosition();
 
    std::optional<double> GetTargetInUserUnits(double value);
 
  protected:
    void MovePos(double position, double velocity, std::string move_type=RPC_MOVE_ABS);
 
 
 
  protected:
 
    //std::unique_ptr<rad::cii::Publisher<fcfif::MotorPositionTopic>> m_motor_publisher;
    //std::unique_ptr<rad::cii::Publisher<TOPIC_TYPE>> m_publisher;
 
    double m_mot_actual_pos {0.0};
    double m_mot_actual_enc {0.0};
    std::string m_mot_target_name {""};
    std::string m_mot_actual_name {""};
    double m_mot_target_pos {0.0};
    double m_mot_pos_error {0.0};
    double m_mot_target_vel {0.0};
    double m_mot_actual_vel {0.0};
    double m_mot_scale {1.0};
    bool   m_mot_initialised {false};
    std::string m_mot_user_unit {""};
 
 
  private:
    log4cplus::Logger  m_logger;
 
 
  };
 
}
 
#include "motorBaseLcsIf.ipp"
 
#endif //FCF_DEVMGR_DEVICE_MOTOR_BASE_IF_HPP