139 lines
3.4 KiB
C++
139 lines
3.4 KiB
C++
#pragma once
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#include <mcc_defaults.h>
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#include <mcc_generics.h>
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#include "../LibSidServo/sidservo.h"
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namespace asibfm700
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{
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/* error codes enum definition */
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enum class AsibFM700ServoControllerErrorCode : int {
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// error codes from sidservo library
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ERROR_OK = MCC_E_OK,
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ERROR_FATAL = MCC_E_FATAL,
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ERROR_BADFORMAT = MCC_E_BADFORMAT,
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ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
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ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
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ERROR_FAILED = MCC_E_FAILED,
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// my codes ...
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ERROR_POLLING_TIMEOUT,
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ERROR_NULLPTR
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};
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// error category
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struct AsibFM700HardwareErrorCategory : public std::error_category {
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const char* name() const noexcept;
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std::string message(int ec) const;
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static const AsibFM700HardwareErrorCategory& get();
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};
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static inline std::error_code make_error_code(AsibFM700ServoControllerErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
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}
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} // namespace asibfm700
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namespace std
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{
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template <>
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class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public true_type
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{
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};
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} // namespace std
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namespace asibfm700
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{
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class AsibFM700ServoController
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{
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public:
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typedef std::error_code error_t;
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enum class hardware_moving_state_t : int {
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HW_MOVE_ERROR = -1,
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HW_MOVE_STOPPED = 0,
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HW_MOVE_SLEWING,
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HW_MOVE_ADJUSTING,
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HW_MOVE_TRACKING,
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HW_MOVE_GUIDING,
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HW_MOVE_UNKNOWN
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};
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struct hardware_state_t {
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static constexpr mcc::MccCoordPairKind pair_kind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
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mcc::MccTimePoint time_point;
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double X, Y, speedX, speedY;
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axis_status_t stateX, stateY; // Eddy's LibSidServo axis state
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hardware_moving_state_t moving_state;
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};
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struct hardware_config_t {
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// the 'char*' fields from conf_t:
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// wrap it to std::string
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std::string MountDevPath;
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std::string EncoderDevPath;
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std::string EncoderXDevPath;
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std::string EncoderYDevPath;
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conf_t devConfig; // devices paths and PIDs parameters
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hardware_configuration_t hwConfig; // EEPROM-located configuration
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std::chrono::milliseconds pollingInterval{300}; // hardware polling interval
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std::chrono::milliseconds pollingTimeout{30000}; // hardware polling timeout
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};
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/* constructors and destructor */
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AsibFM700ServoController();
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AsibFM700ServoController(hardware_config_t config);
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AsibFM700ServoController(const AsibFM700ServoController&) = delete;
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AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;
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AsibFM700ServoController(AsibFM700ServoController&&);
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AsibFM700ServoController& operator=(AsibFM700ServoController&&);
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~AsibFM700ServoController();
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/* public methods */
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constexpr std::string_view hardwareName() const;
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error_t hardwareSetState(hardware_state_t state);
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error_t hardwareGetState(hardware_state_t* state);
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error_t hardwareStop();
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error_t hardwareInit();
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void hardwareUpdateConfig(conf_t cfg);
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// save config to EEPROM
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error_t hardwareUpdateConfig(hardware_configuration_t cfg);
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// load config from EEPROM
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error_t hardwareUpdateConfig();
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hardware_config_t hardwareConfig() const;
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private:
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hardware_config_t _hardwareConfig;
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std::unique_ptr<std::mutex> _setStateMutex;
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};
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} // namespace asibfm700
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