mountcontrol/asibfm700/asibfm700_mount.h

#pragma once


#include <mcc_generic_mount.h>
#include <mcc_pzone_container.h>
#include <mcc_slewing_model.h>
#include <mcc_spdlog.h>
#include <mcc_telemetry.h>
#include <mcc_tracking_model.h>

#include "asibfm700_common.h"
#include "asibfm700_configfile.h"


namespace asibfm700
{


class Asibfm700Mount : public Asibfm700CCTE,
                       public Asibfm700PCM,
                       public mcc::MccGenericMount<AsibFM700ServoController,
                                                   mcc::MccTelemetry,
                                                   Asibfm700PZoneContainer,
                                                   mcc::MccSimpleSlewingModel,
                                                   mcc::MccSimpleTrackingModel,
                                                   Asibfm700Logger>
{
    typedef mcc::MccGenericMount<AsibFM700ServoController,
                                 mcc::MccTelemetry,
                                 Asibfm700PZoneContainer,
                                 mcc::MccSimpleSlewingModel,
                                 mcc::MccSimpleTrackingModel,
                                 Asibfm700Logger>
        gm_class_t;

public:
    using gm_class_t::error_t;

    using Asibfm700CCTE::setStateERFA;
    using Asibfm700CCTE::updateBulletinA;
    using Asibfm700CCTE::updateLeapSeconds;
    using Asibfm700CCTE::updateMeteoERFA;

    using Asibfm700Logger::logCritical;
    using Asibfm700Logger::logDebug;
    using Asibfm700Logger::logError;
    using Asibfm700Logger::logInfo;
    using Asibfm700Logger::logWarn;

    // using Asibfm700PZoneContainer::addPZone;

    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);

    ~Asibfm700Mount();

    Asibfm700Mount(Asibfm700Mount&&) = default;
    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;

    Asibfm700Mount(const Asibfm700Mount&) = delete;
    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;

    error_t initMount();

    error_t updateMountConfig(Asibfm700MountConfig const&);
    Asibfm700MountConfig currentMountConfig();

protected:
    Asibfm700MountConfig _mountConfig;
    std::unique_ptr<std::mutex> _mountConfigMutex;

    void errorLogging(const std::string&, const std::error_code&);
};


/*
class Asibfm700Mount : public Asibfm700CCTE,
                       public Asibfm700PCM,
                       public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                                           mcc::MccTelemetry,
                                                                           Asibfm700PZoneContainer,
                                                                           mcc::MccSimpleSlewingModel,
                                                                           mcc::MccSimpleTrackingModel,
                                                                           Asibfm700Logger>>
{
    typedef mcc::MccGenericMount<AsibFM700ServoController,
                                 mcc::MccTelemetry,
                                 Asibfm700PZoneContainer,
                                 mcc::MccSimpleSlewingModel,
                                 mcc::MccSimpleTrackingModel,
                                 Asibfm700Logger>
        gm_class_t;

    typedef mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
                                                         mcc::MccTelemetry,
                                                         Asibfm700PZoneContainer,
                                                         mcc::MccSimpleSlewingModel,
                                                         mcc::MccSimpleTrackingModel,
                                                         Asibfm700Logger>>
        base_gm_class_t;

protected:
    struct Asibfm700ErrorState : base_gm_class_t::MccGenericFsmMountBaseState {
        static constexpr std::string_view ID{"ASIBFM700-MOUNT-ERROR-STATE"};

        // void exit(MccGenericFsmMountErrorEvent& event)
        // {
        //     event.mount()->logWarn("The mount already in error state!");
        // }

        void enter(MccGenericFsmMountErrorEvent& event)
        {
            enterLog(event);

            // event.mount()->logWarn("The mount already in error state!");
            auto err = event.eventData();
            event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());
        }

        void exit(mcc::fsm::traits::fsm_event_c auto& event)
        {
            exitLog(event);
        }

        void enter(mcc::fsm::traits::fsm_event_c auto& event)
        {
            enterLog(event);

            // ...
        }

        using transition_t = mcc::fsm::fsm_transition_table_t<
            std::pair<MccGenericFsmMountErrorEvent, Asibfm700ErrorState>,
            std::pair<MccGenericFsmMountInitEvent, MccGenericFsmMountInitState<Asibfm700ErrorState>>,
            std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<Asibfm700ErrorState>>>;
    };


    typedef base_gm_class_t::MccGenericFsmMountStartState<Asibfm700ErrorState> Asibfm700StartState;

public:
    using base_gm_class_t::error_t;

    using Asibfm700CCTE::setStateERFA;
    using Asibfm700CCTE::updateBulletinA;
    using Asibfm700CCTE::updateLeapSeconds;
    using Asibfm700CCTE::updateMeteoERFA;

    using Asibfm700Logger::logCritical;
    using Asibfm700Logger::logDebug;
    using Asibfm700Logger::logError;
    using Asibfm700Logger::logInfo;
    using Asibfm700Logger::logWarn;

    // using Asibfm700PZoneContainer::addPZone;

    Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);

    ~Asibfm700Mount();

    Asibfm700Mount(Asibfm700Mount&&) = default;
    Asibfm700Mount& operator=(Asibfm700Mount&&) = default;

    Asibfm700Mount(const Asibfm700Mount&) = delete;
    Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;

    error_t initMount();

    error_t updateMountConfig(Asibfm700MountConfig const&);
    Asibfm700MountConfig currentMountConfig();

protected:
    Asibfm700MountConfig _mountConfig;
    std::unique_ptr<std::mutex> _mountConfigMutex;

    void errorLogging(const std::string&, const std::error_code&);
};
*/

static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");

static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");

}  // namespace asibfm700