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cxx/asibfm700_hardware.cpp

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+#include "asibfm700_hardware.h"
+
+using namespace asibfm700;
+
+
+/*                          error category implementation  */
+
+const char* AsibFM700HardwareErrorCategory::name() const noexcept
+{
+    return "ASTROSIB FM700 MOUNT HARDWARE ERROR CATEGORY";
+}
+
+std::string AsibFM700HardwareErrorCategory::message(int ec) const
+{
+    AsibFM700HardwareErrorCode code = static_cast<AsibFM700HardwareErrorCode>(ec);
+
+    std::string msg;
+
+    switch (code) {
+        case AsibFM700HardwareErrorCode::ERROR_OK:
+            msg = "OK";
+        case asibfm700::AsibFM700HardwareErrorCode::ERROR_FATAL:
+            msg = "fatal hardware error";
+        case AsibFM700HardwareErrorCode::ERROR_BADFORMAT:
+            msg = "wrong arguments of function";
+        case AsibFM700HardwareErrorCode::ERROR_ENCODERDEV:
+            msg = "encoder device error or can't open";
+        case AsibFM700HardwareErrorCode::ERROR_MOUNTDEV:
+            msg = "mount device error or can't open";
+        case AsibFM700HardwareErrorCode::ERROR_FAILED:
+            msg = "failed to run command - protocol error";
+        default:
+            msg = "UNKNOWN ERROR";
+    }
+
+    return msg;
+}
+
+const AsibFM700HardwareErrorCategory& AsibFM700HardwareErrorCategory::get()
+{
+    static const AsibFM700HardwareErrorCategory constInst;
+    return constInst;
+}
+
+
+
+/*                          AsibFM700Hardware CLASS IMPLEMENTATION  */
+
+
+/*  static methods  */
+
+// void AsibFM700Hardware::moveInst(AsibFM700Hardware* from, AsibFM700Hardware* to)
+// {
+//     to->_hwConfig = std::move(from->_hwConfig);
+//     to->_deviceConfig = std::move(from->_deviceConfig);
+
+//     from->_deviceConfig.MountDevPath = nullptr;
+//     from->_deviceConfig.EncoderDevPath = nullptr;
+//     from->_deviceConfig.EncoderXDevPath = nullptr;
+//     from->_deviceConfig.EncoderYDevPath = nullptr;
+// }
+
+/*  constructors and destructor  */
+
+AsibFM700Hardware::AsibFM700Hardware(const hardware_config_t& conf) : _hardwareConfig(conf)
+{
+    _hardwareConfig.devConfig.MountDevPath = const_cast<char*>(_hardwareConfig.MountDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderDevPath = const_cast<char*>(_hardwareConfig.EncoderDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderXDevPath = const_cast<char*>(_hardwareConfig.EncoderXDevPath.c_str());
+    _hardwareConfig.devConfig.EncoderYDevPath = const_cast<char*>(_hardwareConfig.EncoderYDevPath.c_str());
+}
+
+// AsibFM700Hardware::AsibFM700Hardware(AsibFM700Hardware&& other)
+// {
+//     moveInst(&other, this);
+// }
+
+// AsibFM700Hardware& AsibFM700Hardware::operator=(AsibFM700Hardware&& other)
+// {
+//     moveInst(&other, this);
+
+//     return *this;
+// }
+
+AsibFM700Hardware::~AsibFM700Hardware() {}
+
+std::string_view AsibFM700Hardware::id() const
+{
+    return "Sidereal Technology Servo II controller";
+}
+
+
+
+AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos_t pos)
+{
+    double X = pos.x, Y = pos.y;
+    auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&X, &Y));
+
+    return err;
+}
+
+
+
+AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos_t& pos)
+{
+    mountdata_t data;
+    auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
+
+    if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
+        // time point from sidservo library is 'struct timeval', i.e., seconds and
+        // microseconds ellapsed from UNIX time epoch
+
+        using secs_t = std::chrono::duration<double>;
+        secs_t secs = secs_t{1.0 * data.encposition.msrtime.tv_sec + 1.0E-6 * data.encposition.msrtime.tv_usec};
+
+        pos.time_point = time_point_t{std::chrono::duration_cast<time_point_t::duration>(secs)};
+
+        pos.x = data.encposition.X;
+        pos.y = data.encposition.Y;
+    }
+
+    return err;
+}
+
+
+AsibFM700Hardware::error_t AsibFM700Hardware::stop()
+{
+    auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.stop());
+
+    return err;
+}
+
+AsibFM700Hardware::error_t AsibFM700Hardware::init()
+{
+    auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.init(&_hardwareConfig.devConfig));
+
+    return err;
+}