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 <ifw/core/utils/bat/logger.hpp>
#include "ifw/fcf/devmgr/common/dataContext.hpp"
#include "ifw/fcf/devmgr/devices/motorConfig.hpp"
#include "ifw/fcf/devmgr/devices/maxisRpcErrors.hpp"
#include "ifw/fcf/devmgr/devices/maxisHwErrors.hpp"
 
 
namespace ifw::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_POSITIONS         = "positions";
  constexpr auto CI_POS_NAME          = "name";
  constexpr auto CI_POS_VALUES        = "values";
 
 
  // Specific MAxis RPC
  constexpr auto RPC_MOVE_AXES       = "rpcMoveAxes";
 
 
  // Specific constant values for MAxis device state/substate
 
  constexpr int SUBSTATE_RESETTING           =  109;
  constexpr int SUBSTATE_ENABLING            =  110;
 
 
 
  constexpr auto SUBSTATE_RESETTING_STR        =  "Resetting";
  constexpr auto SUBSTATE_ENABLING_STR         =  "Enabling";
 
 
 
 
  const std::unordered_map<short, std::string>  SUBSTATE_MAP = {
    {fcf::devmgr::common::SUBSTATE_NOTREADY,       ifw::fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
    {SUBSTATE_RESETTING,      SUBSTATE_RESETTING_STR},
    {fcf::devmgr::common::SUBSTATE_INITIALISING,   ifw::fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
    {fcf::devmgr::common::SUBSTATE_READY,          ifw::fcf::devmgr::common::SUBSTATE_READY_STR},
    {SUBSTATE_ENABLING,       SUBSTATE_ENABLING_STR},
    {fcf::devmgr::motor::SUBSTATE_ABORTING,       ifw::fcf::devmgr::motor::SUBSTATE_ABORTING_STR},
    {fcf::devmgr::common::SUBSTATE_ERROR,         ifw::fcf::devmgr::common::SUBSTATE_ERROR_STR},
    {fcf::devmgr::common::SUBSTATE_OP_DISABLING,   ifw::fcf::devmgr::common::SUBSTATE_OP_DISABLING_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL,  ifw::fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_MOVING,      ifw::fcf::devmgr::motor::SUBSTATE_OP_MOVING_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_STOPPING,    ifw::fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR},
    {fcf::devmgr::common::SUBSTATE_OP_ERROR,     ifw::fcf::devmgr::common::SUBSTATE_OP_ERROR_STR},
  };

  class MAxisConfig : public ifw::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(
        std::vector<std::pair<std::string, ifw::fnd::defs::Value>>& params) const override;
 

    virtual void GetMotorConfig(
        std::vector<std::pair<std::string, ifw::fnd::defs::Value>>& params) const;
 
    virtual void GetMotorConfig(
        const std::string motor,
        std::vector<std::pair<std::string, ifw::fnd::defs::Value>>& params) const;
 
    virtual void SetScaleFactor(const std::string motor, double scale_factor);

    double GetNpTolerance() const;

    virtual void GetConfigList(ifw::core::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 GetMotorNamedPositionValue(const int axis_num, const std::string& posname) const;
 
    double GetMotorScaleFactor(const int axis_num) const;
 
    double GetMotorScaleFactor(const std::string motor_name) const;
   
 
    std::string GetMotorName(const std::string nodeid) const;
 
    inline long unsigned int GetNumAxes() const {return m_num_axis;};

    std::optional<std::string> GetNamedPosition(const int index) const;

    std::optional<std::vector<double>> GetNamedPositionValues(const int index) const;
    std::optional<std::vector<double>> GetNamedPositionValues(const std::string& name) const;
 
 
 
  private:

    int m_num_axis;

    std::map<std::string, std::unique_ptr<ifw::fcf::devmgr::motor::MotorConfig>> m_motor_config_map;
 
    // Map of motor named positions
    std::unordered_map<std::string, std::vector<double>> m_named_positions;

    std::map<std::string, std::string> m_motor_prefix_map;
 
  private:
    log4cplus::Logger  m_logger;
  };
 
} //namespace
 
#endif //FCF_DEVMGR_DEVICE_MAXIS_CONFIG_H