drotLcsIf.hpp

Go to the documentation of this file.

 
#ifndef FCF_DEVMGR_DEVICE_DROT_IF_HPP
#define FCF_DEVMGR_DEVICE_DROT_IF_HPP
 
#include <unordered_map>
 
#include <yaml-cpp/yaml.h>
#include "ifw/fcf/devmgr/devices/motorLcsIf.hpp"
#include "ifw/fcf/devmgr/devices/drotConfig.hpp"
#include "ifw/fcf/devmgr/common/dataContext.hpp"
 
 
namespace ifw::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);
 
    private:
      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 ifw::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:
      using ifw::fcf::devmgr::motor::MotorLcsIf::ReadStatus;
       DrotLcsIf(std::shared_ptr<ifw::fcf::devmgr::common::IDeviceConfig> config,
                 ifw::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(const ifw::fnd::defs::Notification& note);

      virtual std::string GetRpcError(const short error_code) const;
 
 
      virtual void ReadStatus(DrotControllerData& status);
 
    private:
 
 

      void PublishPosition(const ifw::fnd::defs::Value& value,
                           int  attribute);
 
    private:
      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