motor.hpp

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#ifndef FCF_DEVMGR_DEVICE_MOTOR_HPP
#define FCF_DEVMGR_DEVICE_MOTOR_HPP
 
#include <chrono>
#include <ifw/fcf/devmgr/common/device.hpp>
#include <ifw/fcf/devmgr/devices/motorConfig.hpp>
#include <ifw/fcf/devmgr/devices/motorLcsIf.hpp>
#include <ifw/fcf/devmgr/common/dataContext.hpp>
 
 
namespace ifw::fcf::devmgr::motor {

  class Motor : public ifw::fcf::devmgr::common::Device
  {
 
    enum {
      POS_TARGET = 0,
      POS_ACTUAL,
      SCALE_FACTOR,
      AXIS_STATUS,
      BCKLASHSTEP,
      LAST_CMD,
      ERROR_CODE,
      INIT_STEP,
      REF_SWITCH,
      AT_MAX_POS,
      AT_MAX_POS_VAL,
      AT_MIN_POS,
      AT_MIN_POS_VAL,
      INFO_DATA1,
      INFO_DATA2,
      SWITCH_LHW,
      BRAKE_ACTIVE,
      LOCAL,
      SWITCH_INDEX,
      SWITCH_REF,
      VEL_TARGET,
      VEL_ACTUAL,
      SWITCH_LSTOP,
      SWITCH_USTOP
    };
 
  public:
    Motor(const std::string filename,
          const std::string name,
          ifw::fcf::devmgr::common::DataContext& data_ctx);
 

    virtual ~Motor() = default;

    void CreateObjects(std::shared_ptr<ifw::fcf::devmgr::common::IDeviceConfig>  config = nullptr) override ;

    virtual void Setup(const std::any& payload) override ;

    virtual bool IsSetupActive(const std::any& payload) const override;
 
 

    virtual void Status(const std::any& payload, std::string& buffer) override;

    virtual void Status(bool end_acq,
                        const ifw::core::dit::did::Did& dictionary,
                        std::shared_ptr<CCfits::FITS>& fits_handle) override;
 

    void GetStatusList(ifw::core::utils::bat::DbVector& cfg_status,
                      const MotorControllerData& status_data);
    virtual void UpdateStatus() override;
 
    void SetTargetNamedPosition(const std::string named_position);
    const std::string GetTargetNamedPosition();
 
  protected:
    void GetStatusBuffer(const std::string& stat_prefix,
                         const MotorControllerData* const data,
                         std::string& buffer);

    void GetStatusHeader(const std::string& prefix,
                         const MotorControllerData* const data,
                         bool end_acq,
                         const ifw::core::dit::did::Did& dictionary,
                         std::shared_ptr<CCfits::FITS>& fits_handle);
 
  protected:
    void HandleAction(const std::shared_ptr<fcfif::MotorDevice>& motor);
 
 
  private:
    MotorControllerData           m_controller_status;
    std::string                   m_target_named_pos;
    mutable std::chrono::steady_clock::time_point m_hw_failure_start;
    static constexpr int HW_FAILURE_RETRIES = 5;
 
    log4cplus::Logger  m_logger;
  };
 
}
 
 
#endif //FCF_DEVMGR_DEVICE_MOTOR_HPP