gpCmdsImpl.hpp

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#ifndef pfssimhlcc_GP_CMDS_IMPL_HPP
#define pfssimhlcc_GP_CMDS_IMPL_HPP
 
#include <pfssimhlcc/gpCtrEvents.rad.hpp>
 
#include <pfssimhlcc/logger.hpp>
 
#include <rad/exceptions.hpp>
#include <rad/smAdapter.hpp>
 
namespace hlcc::pfssimhlcc {
 
class GpCmdsImpl : public pfsif::AsyncGpCmds {
public:
    explicit GpCmdsImpl(rad::SMAdapter& sm) : m_sm(sm) {
        RAD_TRACE(GetLogger());
 
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::Preset>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::MoveGPTo>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::MoveRaw>();
        m_sm.RegisterDefaultRequestRejectHandler<GpCtrEvents::SetTarget>();
    }
 
    virtual ~GpCmdsImpl() {
        RAD_TRACE(GetLogger());
    }
 
    elt::mal::future<std::string> MoveGPTo(const std::shared_ptr<::pfsif::GpXY>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::MoveGPTo>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> MoveGpToNamedPos(const std::shared_ptr<::pfsif::GpNamedPos>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::MoveGpToNamedPos>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> MoveRaw(const std::shared_ptr<::pfsif::GpRaw>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::MoveRaw>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> StartControlling() override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::StartControlling>();
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> StopControlling() override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::StopControlling>();
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> AssignFixTrajectory(const std::shared_ptr<::pfsif::GpXY>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::AssignFixTrajectory>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> Preset(const std::shared_ptr<::pfsif::GuideStarArgs>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::Preset>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> StopFollowingTrajectory(::pfsif::GuideProbeId args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::StopFollowingTrajectory>(args);
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> SetTarget(const std::shared_ptr<::pfsif::TargetArgs>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::SetTarget>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
    elt::mal::future<std::string> SetHierarchy(const std::shared_ptr<::pfsif::GpHierarchyArgs>& args) override {
        RAD_TRACE(GetLogger());
 
        auto ev = std::make_shared<GpCtrEvents::SetHierarchy>(args->clone());
        m_sm.PostEvent(ev);
 
        return ev->GetPayload().GetReplyFuture();
    }
 
 
private:
    rad::SMAdapter& m_sm;
};
 
 
}  // namespace hlcc::pfssimhlcc
 
#endif  // pfssimhlcc_GP_CMDS_IMPL_HPP