matrkLcsIf.hpp

Go to the documentation of this file.

 
#ifndef FCF_DEVMGR_DEVICE_MATRK_IF_HPP
#define FCF_DEVMGR_DEVICE_MATRK_IF_HPP
 
#include <unordered_map>
 
#include <yaml-cpp/yaml.h>
#include "ifw/fcf/devmgr/devices/maxisLcsIf.hpp"
#include "ifw/fcf/devmgr/devices/matrkConfig.hpp"
#include "ifw/fcf/devmgr/common/dataContext.hpp"
 
 
namespace ifw::fcf::devmgr::matrk {
 
using VectorAttributes = std::vector <std::pair<std::string, unsigned int>>;
    struct MAtrkControllerData : fcf::devmgr::maxis::MAxisControllerData {
    public:
      MAtrkControllerData();
      virtual ~MAtrkControllerData();
 
      void SetData(const MAtrkControllerData& data);
 
      inline virtual std::string GetErrorText() const;
      inline virtual std::string GetSubstateStr() const;
      inline short  GetTrackingMode() const;
      inline void SetTrackingMode(short mode);
      inline double  GetTrackOffset() const;
      inline void SetTrackOffset(double offset);
 
 
  private:
      short  m_tracking_mode {};
      double m_track_offset {0.0};
    };

    class MAtrkLcsIf : public ifw::fcf::devmgr::maxis::MAxisLcsIf {
 
     // enumerations for MAtrk status
      enum {
        STAT_LOCAL       = 100,
        STAT_ERROR       = 101,
        STAT_STATE       = 102,
        STAT_SUBSTATE    = 103,
        STAT_TRACK_MODE  = 104
      };
 
    public:
      using ifw::fcf::devmgr::maxis::MAxisLcsIf::ReadStatus;
       MAtrkLcsIf(std::shared_ptr<ifw::fcf::devmgr::common::IDeviceConfig> config,
                ifw::fcf::devmgr::common::DataContext& data_ctx);

       virtual ~MAtrkLcsIf() = default;

       virtual void InitObject();

       void MoveAngle(const double& angle, ::fcfif::MotorPosUnit unit = ::fcfif::MotorPosUnit::UU);

       void MoveUser(const double& pos, ::fcfif::MotorPosUnit unit = ::fcfif::MotorPosUnit::UU);

       void StartTrack(short mode, double angle);

       void StopTrack();

       void TrackOffset(double offset, ::fcfif::MotorPosUnit unit);

       bool IsTracking() const;

      void ReadConfig();

      virtual void ReadStatus(MAtrkControllerData& status);

      void Listener(const ifw::fnd::defs::Notification& note);

      virtual void AddCustomAttributes();
 
    protected:

      void LoadConfig();
 
 
 
    private:
       std::vector<std::string> m_monitor_track_vector;
 
       short  m_track_mode {};
 
 
    private:
      log4cplus::Logger  m_logger;
    };
 
}
 
#include "matrkLcsIf.ipp"
 
#endif //FCF_DEVMGR_DEVICE_MATRK_IF_HPP