actionsGpCmds.hpp

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// SPDX-FileCopyrightText: 2020-2025 European Southern Observatory (ESO)
//
// SPDX-License-Identifier: LGPL-3.0-only

#ifndef HLCC_PFSSIMHLCC_ACTIONS_CONTROL_HPP
#define HLCC_PFSSIMHLCC_ACTIONS_CONTROL_HPP
 
#include <pfssimhlcc/gpCtrEvents.rad.hpp>
 
#include <rad/configurableActionGroup.hpp>
#include <rad/application.hpp>
#include <rad/smSubscriber.hpp>
#include <rad/trsHealth.hpp>
 
namespace hlcc {
namespace pfssimhlcc {
 
class DataContext;
class ActionMgr;

class ActionsGpCmds : public rad::ConfigurableActionGroup {
 public:
    ActionsGpCmds(rad::Application& appl,
                     ActionMgr& action_mgr,
                     DataContext& data);

    void Initialize() override;

    void Configure(const std::vector<std::string>& keys) override;

    void AssignSkyTrajectory(scxml4cpp::Context* c);

    void ForwardCommand(scxml4cpp::Context* c);

    void MoveGPTo(scxml4cpp::Context* c);

    void MoveRaw(scxml4cpp::Context* c);

    void Park(scxml4cpp::Context* c);

    void ParkControlling(scxml4cpp::Context* c);

    void SetTarget(scxml4cpp::Context* c);

    void UpdateTarget(scxml4cpp::Context* c);
    
    void MoveGpToNamedPos(scxml4cpp::Context* c);
    void StartControlling(scxml4cpp::Context* c);

    void StopControlling(scxml4cpp::Context* c);

    void AssignFixTrajectory(scxml4cpp::Context* c);

    void AssignUserTrajectory(scxml4cpp::Context* c);

    void StopFollowingTrajectory(scxml4cpp::Context* c);
 
 

    void SetHierarchy(scxml4cpp::Context* c);

    void SetPointingOrigin(scxml4cpp::Context* c);

    bool PresetOkGuard(scxml4cpp::Context* c);
 
 
 
    ActionsGpCmds(const ActionsGpCmds&) = delete;         
    ActionsGpCmds& operator=(const ActionsGpCmds&) = delete;  
 
 private:
    rad::Application&        m_appl;
    ActionMgr&               m_action_mgr;
    DataContext&             m_data;
};
 
}  // namespace pfssimhlcc
}  // namespace hlcc
 
#endif  // HLCC_PFSSIMHLCC_ACTIONS_CONTROL_HPP