motorBaseConfig.hpp

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#ifndef FCF_DEVMGR_DEVICE_MOTOR_BASE_CONFIG_HPP
#define FCF_DEVMGR_DEVICE_MOTOR_BASE_CONFIG_HPP
 
#include <string>
#include <unordered_map>
 
#include <yaml-cpp/yaml.h>
 
#include <ifw/core/utils/bat/logger.hpp>
#include <ifw/fcf/devmgr/devices/motorRpcErrors.hpp>
#include <ifw/fcf/devmgr/common/deviceConfig.hpp>
#include <ifw/fcf/devmgr/common/dataContext.hpp>
 
 
namespace ifw::fcf::devmgr::motor {
 
  // Constants for internal mapping
  constexpr auto CI_DEF_VEL               = "velocity";
  constexpr auto CI_MAX_POS               = "max_pos";
  constexpr auto CI_MIN_POS               = "min_pos";
 
  constexpr auto CI_TIMEOUT_INIT          = "tout_init";
  constexpr auto CI_TIMEOUT_MOVE          = "tout_move";
  constexpr auto CI_TIMEOUT_SWITCH        = "tout_switch";
 
 
  // WS configuration keywords
  // These configuration only matters for WS level
  constexpr auto CI_POSITIONS             = "positions";
  constexpr auto CI_POS_NAME              = "name";
  constexpr auto CI_POS_VALUE             = "value";
  constexpr auto CI_POS_ID                = "id";
  constexpr auto CI_POS_TYPE              = "type";
  constexpr auto CI_POS_NO                = "no";
  constexpr auto CI_NAME_POS_TOLERANCE    = "tolerance";
  constexpr auto CI_SCALE_FACTOR          = "scale_factor";
 
  constexpr auto RPC_MOVE_ABS                  = "rpcMoveAbs";
  constexpr auto RPC_MOVE_REL                  = "rpcMoveRel";
  constexpr auto RPC_MOVE_VEL                  = "rpcMoveVel";
 
  constexpr int SUBSTATE_ABORTING              =  107;
  constexpr int SUBSTATE_OP_STANDSTILL         =  216;
  constexpr int SUBSTATE_OP_MOVING             =  217;
  constexpr int SUBSTATE_OP_SETTING_POS        =  218;
  constexpr int SUBSTATE_OP_STOPPING           =  219;
 
  constexpr auto SUBSTATE_READY_STR            =  "Ready";
  constexpr auto SUBSTATE_ABORTING_STR         =  "Aborting";
  constexpr auto SUBSTATE_OP_STANDSTILL_STR    =  "Standstill";
  constexpr auto SUBSTATE_OP_MOVING_STR        =  "Moving";
  constexpr auto SUBSTATE_OP_SETTING_POS_STR   =  "SettingPos";
  constexpr auto SUBSTATE_OP_STOPPING_STR      =  "Stopping";
 
  const std::unordered_map<short, std::string>  SUBSTATE_MAP = {
    {fcf::devmgr::common::SUBSTATE_NOTREADY,       ifw::fcf::devmgr::common::SUBSTATE_NOTREADY_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},
    {fcf::devmgr::common::SUBSTATE_ERROR,          ifw::fcf::devmgr::common::SUBSTATE_ERROR_STR},
    {SUBSTATE_ABORTING,       SUBSTATE_ABORTING_STR},
    {SUBSTATE_OP_STANDSTILL,  SUBSTATE_OP_STANDSTILL_STR},
    {SUBSTATE_OP_MOVING,      SUBSTATE_OP_MOVING_STR},
    {SUBSTATE_OP_SETTING_POS, SUBSTATE_OP_SETTING_POS_STR},
    {SUBSTATE_OP_STOPPING,    SUBSTATE_OP_STOPPING_STR},
    {fcf::devmgr::common::SUBSTATE_OP_ERROR,       ifw::fcf::devmgr::common::SUBSTATE_OP_ERROR_STR},
  };
 
  // encoders are used only at the WS level
  constexpr auto CI_STAT_ENC_POS              = "pos_enc";
  constexpr auto CI_STAT_TARGET_ENC           = "target_enc";
  constexpr auto CI_STAT_SI_POS               = "pos_si";
  constexpr auto CI_STAT_TARGET_SI            = "target_si";
  constexpr auto CI_STAT_TARGET_POSNAME       = "pos_target_name";
  constexpr auto CI_STAT_ACTUAL_POSNAME       = "pos_actual_name";
  constexpr auto CI_STAT_TARGET_POS           = "pos_target";
  constexpr auto CI_STAT_ACTUAL_POS           = "pos_actual";
  constexpr auto CI_STAT_POS_ERROR            = "pos_error";
  constexpr auto CI_STAT_ACTUAL_VEL           = "vel_actual";
  constexpr auto CI_STAT_TARGET_VEL           = "vel_target";
  constexpr auto CI_STAT_INITIALISED          = "initialised";
  constexpr auto CI_STAT_USER_UNIT            = "user_unit";
 
  constexpr auto FITS_PARAM_POSNAME           = "NAME";
  constexpr auto FITS_PARAM_POS               = "POS";
  constexpr auto FITS_PARAM_POSTYPE           = "TYPE";
  constexpr auto FITS_PARAM_POSNO             = "NO";
  constexpr auto FITS_PARAM_POSID             = "ID";
 
 
  constexpr auto UNDEFINED_NAMED_POS       = "undefined";
 
 

  struct NamedPosConfig {
      inline std::optional<std::string> GetId() {
          return m_pos_id;
      }
 
      inline std::optional<std::string> GetType() {
          return m_pos_type;
      }
 
      inline std::optional<int> GetSlot() {
          return m_slot;
      }
 
      std::optional<std::string> m_pos_id;
      std::optional<std::string> m_pos_type;
      std::optional<int> m_slot;
 
  };
 
  // @TODO: replaced by boost bimaps
  // Tried with boost bimap but I've got hundred of errors.
  // I added temporaly two maps.
 

  class MotorBaseConfig : public ifw::fcf::devmgr::common::DeviceConfig {
    friend class Sensor;
 
 
  public:
    MotorBaseConfig(const std::string filename,
                const std::string name);

    MotorBaseConfig(const std::string name);

    virtual ~MotorBaseConfig() = default;

    void Init();

    virtual void GetConfigList(ifw::core::utils::bat::DbVector& cfg_list,
                               std::string prefix) const override;

    inline int GetNumberOfNamedPositions() const noexcept {return m_num_named_pos;};
 

    double GetVelocity() const ;

    virtual double GetScaleFactor() const;

    std::string GetNamedPosition(const int index) const;

    double GetNamedPositionValue(const int index) const;

    NamedPosConfig GetNamedPositionConfig(const std::string& named_pos) const;
    bool FindNamedPositionValue(const std::string named_pos,
                                double& position) const;

    bool FindNamedPositionValue(const double position,
                                std::string& name) const;

    double GetNpTolerance() const;
 
 
  private:
 
    // Map of motor named positions
    std::unordered_map<std::string, double> m_named_positions;
    int    m_num_named_pos{0};          
 
  private:
 
    log4cplus::Logger  m_logger;
 
  };
 
}
 
 
#endif //FCF_DEVMGR_DEVICE_MOTOR_BASE_CONFIG_HPP