ForceActuatorApplicationSettings.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef FORCEACTUATORAPPLICATIONSETTINGS_H_
#define FORCEACTUATORAPPLICATIONSETTINGS_H_
 
#include <vector>
 
#include <ForceActuatorOrientations.h>
#include <ForceActuatorTypes.h>
#include <cRIO/DataTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
struct ForceActuatorTableRow {
    int32_t ActuatorID;
 
    double XPosition;
 
    double YPosition;
 
    //* Force actuator Z (positive toward M2) position in m. Cartesian system with
    // origin in mirror center.
    double ZPosition;
 
    //* Single or double axis actuator.
    ForceActuatorTypes Type;
 
    //* Actuator ILC Modbus subnet (bus) number. 1-4.
    uint8_t Subnet;
 
    //* Actuator ILC address on bus. 10-46.
    uint8_t Address;
 
    //* Second axis orientation. NA for single axis actuators.
    ForceActuatorOrientations Orientation;
};
 
class ForceActuatorApplicationSettings {
public:
    ForceActuatorApplicationSettings();
 
    static ForceActuatorTableRow Table[FA_COUNT];
 
    //* Maps X DAA (lateral support) number (0-11) into Z index (0-155).
    int32_t XIndexToZIndex[FA_X_COUNT];
 
    //* Maps Y DAA (longitudinal support) number (0-99) into Z index (0-155).
    int32_t YIndexToZIndex[FA_Y_COUNT];
 
    //* Maps secondary (DAA) index (0-111) into Z index (0-155).
    int32_t SecondaryCylinderIndexToZIndex[FA_X_COUNT + FA_Y_COUNT];
 
    //* Maps Z index (0-155) to X DAA (lateral support, 0-11).
    int32_t ZIndexToXIndex[FA_Z_COUNT];
 
    //* Maps Z index (0-155) to Y DAA (longitudinal support, 0-99).
    int32_t ZIndexToYIndex[FA_Z_COUNT];
 
    //* Maps Z index (0-155) to secondary (DAA) index (0-111).
    int32_t ZIndexToSecondaryCylinderIndex[FA_Z_COUNT];
 
    const int ActuatorIdToZIndex(int actuatorId);
 
    const int XIndexToActuatorId(int xIndex) { return ZIndexToActuatorId(XIndexToZIndex[xIndex]); }
    const int YIndexToActuatorId(int yIndex) { return ZIndexToActuatorId(YIndexToZIndex[yIndex]); }
    const int SecondaryCylinderIndexToActuatorId(int secIndex) {
        return ZIndexToActuatorId(SecondaryCylinderIndexToZIndex[secIndex]);
    }
 
    // indices of XYZ FAs in mirror quadrants. FAs are assigned trivially by
    // actuator ID (first number depict quadrant), those arrays are there to
    // simplify operations where FAs in quadrant are needed, notably
    // distributing forces from disabled FAs.
    std::vector<int> QuadrantZ[4];  
    std::vector<int> QuadrantY[4];  
    std::vector<int> QuadrantX[4];  
 
    const static int ZIndexToActuatorId(int zIndex);
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* FORCEACTUATORAPPLICATIONSETTINGS_H_ */