adcConfig.hpp

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#ifndef FCF_DEVMGR_DEVICE_ADC_CONFIG_HPP
#define FCF_DEVMGR_DEVICE_ADC_CONFIG_HPP
 
#include <string>
#include <yaml-cpp/yaml.h>
#include "fcf/common/iComm.hpp"
 
#include <utils/bat/logger.hpp>
#include "fcf/devmgr/common/configSet.hpp"
#include "fcf/devmgr/common/dataContext.hpp"
#include "fcf/devmgr/devices/motorConfig.hpp"
#include "fcf/devmgr/devices/adcRpcErrors.hpp"
#include "fcf/devmgr/devices/adcHwErrors.hpp"
 
namespace fcf::devmgr::adc {
 
 
  constexpr auto LOGGER_NAME = "adc";
  // Constants for internal mapping
  // Specifics Adc status values
  constexpr auto CI_MOTOR_MAP_FILE    = "mapMotorFile";
 
  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_LATITUDE          = "latitude";
  constexpr auto CI_LONGITUDE         = "longitude";
  constexpr auto CI_TRK_PERIOD        = "trk_period";
  constexpr auto CI_TRK_THRESHOLD     = "trk_threshold";
 
  constexpr auto CI_PSLOPE            = "pslope";
  constexpr auto CI_POFFSET           = "poffset";
  constexpr auto CI_TSLOPE            = "tslope";
  constexpr auto CI_TOFFSET           = "toffset";
  constexpr auto CI_AFACTOR           = "afactor";
  constexpr auto CI_ZDLIMIT           = "zdlimit";
  constexpr auto CI_MINELEV           = "minelev";
 
  constexpr auto CI_MOT1_SIGN_OFF     = "mot1_signoff";
  constexpr auto CI_MOT2_SIGN_OFF     = "mot2_signoff";
  constexpr auto CI_MOT1_SIGN_AUTO    = "mot1_signauto";
  constexpr auto CI_MOT2_SIGN_AUTO    = "mot2_signauto";
  constexpr auto CI_MOT1_SIGN_PHI     = "mot1_signphi";
  constexpr auto CI_MOT2_SIGN_PHI     = "mot2_signphi";
  constexpr auto CI_MOT1_REF_OFF      = "mot1_refoff";
  constexpr auto CI_MOT2_REF_OFF      = "mot2_refoff";
  constexpr auto CI_MOT1_REF_AUTO     = "mot1_refauto";
  constexpr auto CI_MOT2_REF_AUTO     = "mot2_refauto";
  constexpr auto CI_MOT1_COFFSET      = "mot1_coffset";
  constexpr auto CI_MOT2_COFFSET      = "mot2_coffset";
  constexpr auto CI_MOT1_POSOFFSET    = "mot1_poffset";
  constexpr auto CI_MOT2_POSOFFSET    = "mot2_poffset";
  constexpr auto CI_MOT1_DROTFACTOR   = "mot1_drotfactor";
  constexpr auto CI_MOT2_DROTFACTOR   = "mot2_drotfactor";
 
 
  // Specific Adc RPC
  constexpr auto RPC_MOVE_ANGLE       = "rpcMoveAngle";
  constexpr auto RPC_START_TRACK      = "rpcStartTrack";
  constexpr auto RPC_STOP_TRACK       = "rpcStopTrack";
 
 
  // Specific constant values for Adc 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>  SubstateMap = {
    {fcf::devmgr::common::SUBSTATE_NOTREADY,       fcf::devmgr::common::SUBSTATE_NOTREADY_STR},
    {SUBSTATE_RESETTING,      SUBSTATE_RESETTING_STR},
    {fcf::devmgr::common::SUBSTATE_INITIALISING,   fcf::devmgr::common::SUBSTATE_INITIALISING_STR},
    {fcf::devmgr::common::SUBSTATE_READY,          fcf::devmgr::common::SUBSTATE_READY_STR},
    {SUBSTATE_ENABLING,       SUBSTATE_ENABLING_STR},
    {fcf::devmgr::motor::SUBSTATE_ABORTING,       fcf::devmgr::motor::SUBSTATE_ABORTING_STR},
    {fcf::devmgr::common::SUBSTATE_ERROR,          fcf::devmgr::common::SUBSTATE_ERROR_STR},
    {fcf::devmgr::common::SUBSTATE_OP_DISABLING,   fcf::devmgr::common::SUBSTATE_OP_DISABLING_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL,  fcf::devmgr::motor::SUBSTATE_OP_STANDSTILL_STR},
    {fcf::devmgr::motor::SUBSTATE_OP_MOVING,      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,    fcf::devmgr::motor::SUBSTATE_OP_STOPPING_STR},
    {fcf::devmgr::common::SUBSTATE_OP_ERROR,     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>  TrkModeMap = {
    {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";
  constexpr auto CI_STAT_ALPHA                   = "alpha";
  constexpr auto CI_STAT_DELTA                   = "delta";
 
 
 
 
  class AdcConfig : public fcf::devmgr::common::DeviceConfig
  {
 
    // Enumerations of configuration paramters:
    // C++ doesn not allow inheritance of enums so we are using the last
    // enum of the parent class to continue with the enumerations and thus
    // avoid the collission.
    enum {
      CFG_PSLOPE,
      CFG_POFFSET,
      CFG_TSLOPE,
      CFG_TOFFSET,
      CFG_AFACTOR,
      CFG_ZDLIMIT,
      CFG_MINELEV,
      CFG_MOT1_SIGN_OFF,
      CFG_MOT2_SIGN_OFF,
      CFG_MOT1_SIGN_AUTO,
      CFG_MOT2_SIGN_AUTO,
      CFG_MOT1_SIGN_PHI,
      CFG_MOT2_SIGN_PHI,
      CFG_MOT1_REF_OFF,
      CFG_MOT2_REF_OFF,
      CFG_MOT1_REF_AUTO,
      CFG_MOT2_REF_AUTO,
      CFG_MOT1_COFFSET,
      CFG_MOT2_COFFSET,
      CFG_MOT1_POSOFFSET,
      CFG_MOT2_POSOFFSET,
      CFG_MOT1_DROTFACTOR,
      CFG_MOT2_DROTFACTOR,
      CFG_LATITUDE,
      CFG_LONGITUDE,
      CFG_TRK_PERIOD,
      CFG_TRK_THRESHOLD,
      END_ENUM_ADC // WARNING: This should be always last enumerator.
    };
 
 
  public:
 
    AdcConfig(const std::string filename,
              const std::string name);
 
    AdcConfig(const std::string name);
 
    virtual ~AdcConfig() = default;
 
    void Init();
 
    virtual void GetConfig(fcf::common::VectorVariant& params) const override;
 
 
    virtual void GetMotorConfig(fcf::common::VectorVariant& params) const;
 
    virtual void GetMotorConfig(const std::string motor, fcf::common::VectorVariant& params) const;
 
    virtual void SetScaleFactor(const std::string motor, double scale_factor);
 
 
    double GetNpTolerance() const;
 
    virtual void GetConfigList(utils::bat::DbVector& cfg_list,
                               std::string prefix) const override;
 
 
    virtual std::string  GetMotorMapFile() const;
 
    virtual std::string  GetMotorType() const;
 
    std::string  GetMotorPrefix(const int& index) const;
    std::string GetMotorPrefix(const std::string& motor) const;
    std::string  GetMotorName(const int& index) const;
 
    void GetMotorNames(std::vector<std::string>& motor_names) const;
 
    void GetMotorPrefixes(std::vector<std::string>& motor_prefixes) const;
 
    double GetMotorVelocity(const int axis_num) const;
 
    double GetMotorScaleFactor(const int axis_num) const;
 
    double GetMotorScaleFactor(const std::string motor_name) const;
 
    std::string GetMotorName(const std::string nodeid) const;
 
  protected:
 
 
    int m_num_axis;
 
 
 
    std::map<std::string, std::unique_ptr<fcf::devmgr::motor::MotorConfig>> m_motor_config_map;
 
    std::map<std::string, std::string> m_motor_prefix_map;
 
  private:
    log4cplus::Logger  m_logger;
  };
 
} //namespace
 
#endif //FCF_DEVMGR_DEVICE_ADC_CONFIG_H