actuatorLcsIf.hpp

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#ifndef DEVMGR_DEVICE_ACTUATOR_IF_HPP
#define DEVMGR_DEVICE_ACTUATOR_IF_HPP
 
#include <unordered_map>
 
#include <yaml-cpp/yaml.h>
#include "fcf/devmgr/common/deviceLcsIf.hpp"
#include "fcf/devmgr/devices/actuatorConfig.hpp"
#include "fcf/devmgr/common/dataContext.hpp"
 
#include <Fcfif.hpp>
#include <rad/mal/publisher.hpp>
 
namespace fcf::devmgr {
  namespace actuator {
 
    struct ActuatorControllerData : fcf::devmgr::common::DeviceControllerData {
    public:
      ActuatorControllerData();
      virtual ~ActuatorControllerData();
 
      inline std::string GetErrorText() const;
      void SetData(const ActuatorControllerData& data);
 
      inline virtual std::string GetSubstateStr() const;
 
    protected:
      
    };
 
 
    template<typename TOPIC_TYPE = fcfif::ActuatorTopicUnion>
    class ActuatorLcsIf : public fcf::devmgr::common::DeviceLcsIf
    {
 
     // enumerations for actuator status
      enum {
        STAT_LOCAL       = 1,
        STAT_ERROR       = 2,
        STAT_HW_STATUS   = 3,
        STAT_STATE       = 4,
        STAT_SUBSTATE    = 5,
      };
 
    public:
       ActuatorLcsIf(std::shared_ptr<fcf::devmgr::common::IDeviceConfig> config,
                         fcf::devmgr::common::DataContext& data_ctx, bool initialise = true);
 
       virtual ~ActuatorLcsIf() {};
 
      virtual bool IsReady();
 
      virtual bool IsOperational() ;
     
       void SwitchOn();
 
       void SwitchOff();
 
       bool IsSwitchingOn();
 
       bool IsSwitchingOn(int state, int substate);
 
       bool IsSwitchingOff();
 
       bool IsSwitchingOff(int state, int substate);
 
       bool IsOn();
 
       bool IsOn(int state, int substate);
 
       bool IsOff();
 
       bool IsOff(int state, int substate);
 
      virtual void ReadStatus(ActuatorControllerData& status,
                              bool force_read = true);
 
 
      void Listener(fcf::common::VectorVariant& params);
 
      virtual std::string GetRpcError(const short error_code) const;
 
 
    private:
 
      void StoreAttribute(const std::string key,
                          const fcf::common::Variant& value,
                          bool publish,
                          int  attribute);
 
 
    protected:
       std::unique_ptr<rad::cii::Publisher<TOPIC_TYPE>> m_publisher;
 
    private:
 
 
    };
  }
}
 
#include "actuatorLcsIf.ipp"
 
#endif //DEVMGR_DEVICE_ACTUATOR_IF_HPP