piezoLcsIf.hpp

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#ifndef DEVMGR_DEVICE_PIEZO_IF_HPP
#define DEVMGR_DEVICE_PIEZO_IF_HPP
 
#include <unordered_map>
 
#include <yaml-cpp/yaml.h>
#include "ifw/fcf/devmgr/common/deviceLcsIf.hpp"
#include "ifw/fcf/devmgr/devices/piezoConfig.hpp"
#include "ifw/fcf/devmgr/common/dataContext.hpp"
 
#include <Fcfif.hpp>
#include <rad/mal/publisher.hpp>
 
 
namespace ifw::fcf::devmgr::piezo {
 
    struct PiezoControllerData : fcf::devmgr::common::DeviceControllerData {
    public:
      PiezoControllerData();
      virtual ~PiezoControllerData();
 
      inline std::string GetErrorText() const;
      void SetData(const PiezoControllerData& data);
      void SetPosBit(short axis, int value);
      void SetPosUser(short axis, double value);
      int GetPosBit(short axis) const;
      double GetPosUser(short axis) const;
      inline virtual std::string GetSubstateStr() const;
 
    private:
       std::vector<int> m_pos_bit;
       std::vector<double> m_pos_user;
 
 
    };
 
 
 
    class PiezoLcsIf : public ifw::fcf::devmgr::common::DeviceLcsIf
    {
 
     // enumerations for Piezo status
      enum {
        STAT_LOCAL       = 1,
        STAT_ERROR       = 2,
        STAT_HW_STATUS   = 3,
        STAT_STATE       = 4,
        STAT_SUBSTATE    = 5,
        STAT_BIT1,
        STAT_BIT2,
        STAT_BIT3,
        STAT_POS1,
        STAT_POS2,
        STAT_POS3,
        STAT_MON_BIT1,
        STAT_MON_BIT2,
        STAT_MON_BIT3,
        STAT_MON_POS1,
        STAT_MON_POS2,
        STAT_MON_POS3
      };
 
    public:
       PiezoLcsIf(std::shared_ptr<ifw::fcf::devmgr::common::IDeviceConfig> config,
                  ifw::fcf::devmgr::common::DataContext& data_ctx);
 
 
       virtual ~PiezoLcsIf() = default;
 
     
       virtual void InitObject();
 
       bool IsInAuto() const;
 
       bool IsInPos() const;
 
       void Auto();
 
       void Home();
 
       void Pos();
 
       void MoveBits(short bit1, short bit2, short bit3);
 
       void MoveUser(double pos1, double pos2, double pos3);
 
      virtual void ReadStatus(PiezoControllerData& status);
 
 
      void Listener(ifw::core::protocol::base::VectorVariant& params);
 
      virtual std::string GetRpcError(const short error_code) const;
 
 
    private:
       std::vector<int> m_pos_bit {0,0,0};
       std::vector<double> m_pos_user {0.0, 0.0, 0.0};
 
 
    private:
      log4cplus::Logger  m_logger;
 
 
    };
 
} //namespace
 
#include "piezoLcsIf.ipp"
 
#endif //DEVMGR_DEVICE_PIEZO_IF_HPP