motor.hpp

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#ifndef DEVMGR_DEVICE_MOTOR_HPP
#define DEVMGR_DEVICE_MOTOR_HPP

#include <fcf/common/dispatcher.hpp>

#include <devmgr/common/device.hpp>
#include <devmgr/devices/motorConfig.hpp>
#include <devmgr/devices/motorLcsIf.hpp>
#include <devmgr/common/dataContext.hpp>

namespace devmgr {
  namespace motor {

    class Motor : public devmgr::common::Device
    {

      enum {
              POS_TARGET = 0,
              POS_ACTUAL,
              SCALE_FACTOR,
              AXIS_STATUS,
              BCKLASHSTEP,
              LAST_CMD,
              ERROR_CODE,
              INIT_STEP,
              REF_SWITCH,
              AT_MAX_POS,
              AT_MAX_POS_VAL,
              AT_MIN_POS,
              AT_MIN_POS_VAL,
              INFO_DATA1,
              INFO_DATA2,
              SWITCH_LHW,
              BRAKE_ACTIVE,
              LOCAL,
              SWITCH_INDEX,
              SWITCH_REF,
              VEL_TARGET,
              VEL_ACTUAL,
              SWITCH_LSTOP,
              SWITCH_USTOP
          };

    public:
      Motor(const std::string filename,
           const std::string name,
           devmgr::common::DataContext& data_ctx);


      void CreateObjects(std::shared_ptr<devmgr::common::IDeviceConfig>  config = nullptr);

      void RegisterComm(std::shared_ptr<fcf::common::IComm> comm_if,
                              fcf::common::Dispatcher<>& failure,
                              fcf::common::Dispatcher<>& normal);

      virtual void Setup(const modif::ReqSetup& setupMsg);

      virtual bool IsSetupActive(const modif::ReqSetup& setupMsg) const;

      virtual void Status(const modif::ReqStatus& statusMsg, std::string& buffer);

      virtual void Status(bool end_acq,
                          const dit::did::Did& dictionary,
                          CCfits::FITS* fits_handle = nullptr);
      virtual void UpdateStatus();

      virtual std::shared_ptr<devmgr::common::DeviceLcsIf> GetLcsIf() const;

      virtual std::shared_ptr<devmgr::common::IDeviceConfig> GetConfig() const;

      void SetTargetNamedPosition(const std::string named_position);
      const std::string GetTargetNamedPosition();

      protected:
      MotorControllerData           m_controller_status;
      std::string                   m_target_named_pos;

      std::shared_ptr<MotorConfig>  m_config;
      std::shared_ptr<MotorLcsIf>   m_lcs_if;
    };
  }
}


#endif //DEVMGR_DEVICE_MOTOR_HPP