mcc/mcc_generic_mount.h

#pragma once


/****************************************************************************************
 *                                                                                      *
 *                          MOUNT CONTROL COMPONENTS LIBRARY                            *
 *                                                                                      *
 *                                                                                      *
 *                       IMPLEMENTATION OF A GENERIC MOUNT CLASS                        *
 *                     (A SOME OF POSSIBLE GENERIC IMPLEMENTATIONS)                     *
 *                                                                                      *
 ****************************************************************************************/



#include <thread>
#include "mcc_error.h"

namespace mcc::impl
{

enum class MccGenericMountErrorCode : int {
    ERROR_OK,
    ERROR_HW_INIT,
    ERROR_HW_STOP,
    ERROR_HW_GETSTATE,
    ERROR_SET_TARGET,
    ERROR_MOUNT_SLEW,
    ERROR_MOUNT_TRACK,
    ERROR_GET_TELEMETRY,
    ERROR_UNSUPPORTED_TARGET_COORDPAIR,
    ERROR_PZONE_COMP,
    ERROR_TARGET_IN_ZONE
};

enum class MccGenericFsmMountErrorCode : int { ERROR_OK, ERROR_INVALID_OPERATION, ERROR_UNKNOWN_EVENT };

}  // namespace mcc::impl


namespace std
{

template <>
class is_error_code_enum<mcc::impl::MccGenericMountErrorCode> : public true_type
{
};

}  // namespace std



namespace mcc::impl
{

// error category
struct MccGenericMountCategory : public std::error_category {
    MccGenericMountCategory() : std::error_category() {}

    const char* name() const noexcept
    {
        return "MCC-GENERIC-MOUNT";
    }

    std::string message(int ec) const
    {
        MccGenericMountErrorCode err = static_cast<MccGenericMountErrorCode>(ec);

        switch (err) {
            case MccGenericMountErrorCode::ERROR_OK:
                return "OK";
            case MccGenericMountErrorCode::ERROR_HW_INIT:
                return "an error occured while initializing mount";
            case MccGenericMountErrorCode::ERROR_HW_STOP:
                return "an error occured while stopping mount";
            case MccGenericMountErrorCode::ERROR_HW_GETSTATE:
                return "cannot get state of hardware";
            case MccGenericMountErrorCode::ERROR_SET_TARGET:
                return "cannot set target coordinates";
            case MccGenericMountErrorCode::ERROR_MOUNT_SLEW:
                return "slewing error";
            case MccGenericMountErrorCode::ERROR_MOUNT_TRACK:
                return "tracking error";
            case MccGenericMountErrorCode::ERROR_GET_TELEMETRY:
                return "cannot get telemetry data";
            case MccGenericMountErrorCode::ERROR_UNSUPPORTED_TARGET_COORDPAIR:
                return "unsupported coordinate pair of target";
            case MccGenericMountErrorCode::ERROR_PZONE_COMP:
                return "an error occured while computing prohibited zone";
            case MccGenericMountErrorCode::ERROR_TARGET_IN_ZONE:
                return "target coordinates are in prohibitted zone";
            default:
                return "UNKNOWN";
        }
    }

    static const MccGenericMountCategory& get()
    {
        static const MccGenericMountCategory constInst;
        return constInst;
    }
};


inline std::error_code make_error_code(MccGenericMountErrorCode ec)
{
    return std::error_code(static_cast<int>(ec), MccGenericMountCategory::get());
}



template <mcc_hardware_c HARDWARE_T,
          mcc_telemetry_c TELEMETRY_T,
          mcc_pzone_container_c PZONE_CONT_T,
          mcc_movement_controls_c MOVE_CNTRL_T,
          mcc_logger_c LOGGER_T>
class MccGenericMount : protected HARDWARE_T,
                        public TELEMETRY_T,
                        public PZONE_CONT_T,
                        public MOVE_CNTRL_T,
                        public LOGGER_T
{
public:
    using LOGGER_T::logDebug;
    using LOGGER_T::logError;
    using LOGGER_T::logInfo;
    using LOGGER_T::logTrace;
    using LOGGER_T::logWarn;

    typedef MccError error_t;

    using typename TELEMETRY_T::telemetry_data_t;

    enum class mount_status_t : int {
        MOUNT_STATUS_ERROR,
        MOUNT_STATUS_IDLE,
        MOUNT_STATUS_UNINITIALIZED,
        MOUNT_STATUS_INITIALIZATION,
        MOUNT_STATUS_STOPPED,
        MOUNT_STATUS_STOPPING,
        MOUNT_STATUS_SLEWING,
        MOUNT_STATUS_ADJUSTING,
        MOUNT_STATUS_GUIDING,
        MOUNT_STATUS_TRACKING
    };

    template <typename... HardwareCtorTs,
              typename... TelemetryCtorTs,
              typename... PzoneContCtorTs,
              typename... MoveCntrCtorTs,
              typename... LoggerCtorTs>
    MccGenericMount(std::tuple<HardwareCtorTs...> hw_ctor_args,
                    std::tuple<TelemetryCtorTs...> telemetry_ctor_args,
                    std::tuple<PzoneContCtorTs...> pzone_cont_ctor_ars,
                    std::tuple<MoveCntrCtorTs...> move_cntrl_ctor_ars,
                    std::tuple<LoggerCtorTs...> logger_ctor_args)
        : HARDWARE_T(std::make_from_tuple<HARDWARE_T>(std::move(hw_ctor_args))),
          TELEMETRY_T(std::make_from_tuple<TELEMETRY_T>(std::move(telemetry_ctor_args))),
          PZONE_CONT_T(std::make_from_tuple<PZONE_CONT_T>(pzone_cont_ctor_ars)),
          MOVE_CNTRL_T(std::make_from_tuple<MOVE_CNTRL_T>(move_cntrl_ctor_ars)),
          LOGGER_T(std::make_from_tuple<LOGGER_T>(logger_ctor_args))
    {
        logDebug(std::format("Create MccGenericMount class instance (thread: {})", std::this_thread::get_id()));
    }

    MccGenericMount(const MccGenericMount&) = delete;
    MccGenericMount(MccGenericMount&&) = default;

    MccGenericMount& operator=(const MccGenericMount&) = delete;
    MccGenericMount& operator=(MccGenericMount&&) = default;

    virtual ~MccGenericMount()
    {
        logDebug(std::format("Delete MccGenericMount class instance (thread: {})", std::this_thread::get_id()));

        auto err = MOVE_CNTRL_T::stopMount();
        if (err) {
            logError(formatError(err));
        }
    }

    error_t initMount()
    {
        logInfo(std::format("Start MccGenericMount class initialization (thread: {}) ...", std::this_thread::get_id()));

        *_lastMountError = MccGenericMountErrorCode::ERROR_OK;

        *_mountStatus = mount_status_t::MOUNT_STATUS_INITIALIZATION;

        auto hw_err = this->hardwareInit();
        if (hw_err) {
            *_mountStatus = mount_status_t::MOUNT_STATUS_ERROR;

            *_lastMountError = mcc_deduce_err(hw_err, MccGenericMountErrorCode::ERROR_HW_INIT);
        } else {
            logInfo("Generic mount initialization was performed");

            *_mountStatus = mount_status_t::IDLE;
        }

        return *_lastMountError;
    }

    mount_status_t mountStatus() const
    {
        return _mountStatus->load();
    }

    error_t mountLastError() const
    {
        return _lastMountError->load();
    }

protected:
    std::unique_ptr<std::atomic<mount_status_t>> _mountStatus{
        new std::atomic<mount_status_t>{mount_status_t::MOUNT_STATUS_UNINITIALIZED}};

    std::unique_ptr<std::atomic<error_t>> _lastMountError{new std::atomic<error_t>{MccGenericMountErrorCode::ERROR_OK}};

    std::string formatError(error_t const& err, std::string_view prefix = "") const
    {
        return std::format("{}{} (category: {}, code: {})", prefix, err.message(), err.value(), err.category().name());
    }
};

}  // namespace mcc::impl