matrkConfig.hpp

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#ifndef FCF_DEVMGR_DEVICE_MATRK_CONFIG_HPP
#define FCF_DEVMGR_DEVICE_MATRK_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/maxisConfig.hpp"
#include "ifw/fcf/devmgr/devices/matrkRpcErrors.hpp"
#include "ifw/fcf/devmgr/devices/matrkHwErrors.hpp"
 
 
namespace ifw::fcf::devmgr::matrk {
 
  constexpr auto LOGGER_NAME = "matrk";
 
  // Constants for internal mapping
  constexpr auto CI_AXES              = "motors";
  constexpr auto CI_FOCUS_SIGN        = "focus_sign";
  constexpr auto CI_DIR_SIGN          = "dir_sign";
  constexpr auto CI_STAT_REF          = "off_ref";
  constexpr auto CI_STAT_AUTO         = "auto_ref";
  constexpr auto CI_MODES             = "modes";
 
  constexpr auto CI_LATITUDE          = "latitude";
  constexpr auto CI_LONGITUDE         = "longitude";
  constexpr auto CI_TRK_PERIOD        = "trk_period";
  constexpr auto CI_TRK_THRESHOLD     = "trk_threshold";
 
  // Specific MAtrk RPC
  constexpr auto RPC_MOVE_ANGLE       = "rpcMoveAngle";
  constexpr auto RPC_MOVE_USER        = "rpcMoveUser";
  constexpr auto RPC_START_TRACK      = "rpcStartTrack";
  constexpr auto RPC_STOP_TRACK       = "rpcStopTrack";
  constexpr auto RPC_TRACK_OFFSET     = "rpcTrackOffset";
 
 
  // Specific constant values for MAtrk device state/substate
 
  constexpr int SUBSTATE_RESETTING           =  109;
  constexpr int SUBSTATE_ENABLING            =  110;
 
  constexpr int SUBSTATE_OP_TRACKING         =  220;
  constexpr int SUBSTATE_OP_PRESETTING       =  221;
 
  constexpr auto SUBSTATE_RESETTING_STR        =  "Resetting";
  constexpr auto SUBSTATE_ENABLING_STR         =  "Enabling";
  constexpr auto SUBSTATE_OP_TRACKING_STR      =  "Tracking";
  constexpr auto SUBSTATE_OP_PRESETTING_STR    =  "Presetting";
 
 
 
  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},
    {SUBSTATE_OP_TRACKING,    SUBSTATE_OP_TRACKING_STR},
    {SUBSTATE_OP_PRESETTING,    SUBSTATE_OP_PRESETTING_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},
  };
 
  constexpr short TRK_MODE_ENG       = 0;
  constexpr short TRK_MODE_OFF       = 1;
  constexpr short TRK_MODE_AUTO      = 2;
 
 
  constexpr auto TRK_MODE_ENG_STR      = "eng";
  constexpr auto TRK_MODE_OFF_STR      = "off";
  constexpr auto TRK_MODE_AUTO_STR     = "auto";
 
 
  const std::unordered_map<short, std::string>  TRK_MODE_MAP = {
    {TRK_MODE_ENG,       TRK_MODE_ENG_STR},
    {TRK_MODE_OFF,       TRK_MODE_OFF_STR},
    {TRK_MODE_AUTO,      TRK_MODE_AUTO_STR},
  };
 
  constexpr auto CI_STAT_TRACK_MODE              = "track_mode";
 
  class MAtrkConfig : public ifw::fcf::devmgr::maxis::MAxisConfig {
 
  public:
 
 
    MAtrkConfig(const std::string filename,
              const std::string name);
 
    MAtrkConfig(const std::string name);
 
    virtual ~MAtrkConfig() = default;
 
    std::optional<short> GetModeIndex(const std::string& name) const;
    std::optional<std::string> GetModeStr(const short& mode) const;
    bool FindMode(const std::string& name) const;
 
 
  private:
    log4cplus::Logger  m_logger;
  };
 
} //namespace
 
#endif //FCF_DEVMGR_DEVICE_MATRK_CONFIG_H