drot.hpp

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#ifndef FCF_DEVMGR_DEVICE_DROT_HPP
#define FCF_DEVMGR_DEVICE_DROT_HPP
 
#include <chrono>
#include "ifw/fcf/devmgr/devices/motor.hpp"
#include "ifw/fcf/devmgr/common/iDeviceConfig.hpp"
#include "ifw/fcf/devmgr/devices/drotConfig.hpp"
#include "ifw/fcf/devmgr/devices/drotLcsIf.hpp"
#include "ifw/fcf/devmgr/common/dataContext.hpp"
 
 
namespace ifw::fcf::devmgr::drot {

  class Drot : public ifw::fcf::devmgr::motor::Motor {
 
  public:
    Drot(const std::string& filename,
         const std::string& name,
         ifw::fcf::devmgr::common::DataContext& data_ctx);

    virtual ~Drot() = 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;

    virtual void UpdateStatus() override;
 
 
  protected:
    void GetStatusBuffer(const std::string& stat_prefix,
                                 const DrotControllerData* const data,
                                 std::string& buffer);

    void GetStatusHeader(const std::string& prefix,
                                 const DrotControllerData* const data,
                                 bool end_acq,
                                 const ifw::core::dit::did::Did& dictionary,
                                 std::shared_ptr<CCfits::FITS>& fits_handle);
 
    void HandleAction(const std::shared_ptr<fcfif::DrotDevice>& drot);
 
  private:
    DrotControllerData           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;
 
  private:
    log4cplus::Logger  m_logger;
  };
 
} //devmgr
 
 
#endif //FCF_DEVMGR_DEVICE_DROT_HPP