Model.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 MODEL_H_
#define MODEL_H_
 
#include <chrono>
#include <mutex>
#include <string>
 
#include <cRIO/Singleton.h>
 
#include <Accelerometer.h>
#include <BumpTestController.h>
#include <Displacement.h>
#include <ForceActuatorApplicationSettings.h>
#include <ForceController.h>
#include <Gyro.h>
#include <HardpointActuatorApplicationSettings.h>
#include <HardpointMonitorApplicationSettings.h>
#include <HardpointTestController.h>
#include <Inclinometer.h>
#include <InclinometerSettings.h>
#include <MirrorLowerController.h>
#include <MirrorRaiseController.h>
#include <PIDSettings.h>
#include <PositionController.h>
#include <PositionControllerSettings.h>
#include <PowerController.h>
#include <ProfileController.h>
#include <SSILCs.h>
#include <SafetyController.h>
#include <SlewController.h>
#include <StartCommand.h>
#include <StateTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
class Model : public cRIO::Singleton<Model> {
public:
    Model(token);
    virtual ~Model();
 
    inline Displacement *getDisplacement() { return _displacement; }
    inline Inclinometer *getInclinometer() { return _inclinometer; }
    inline SSILCs *getILC() { return _ilc; }
    inline ForceController *getForceController() { return _forceController; }
    inline SafetyController *getSafetyController() { return _safetyController; }
    inline PositionController *getPositionController() { return _positionController; }
    inline Accelerometer *getAccelerometer() { return _accelerometer; }
    inline PowerController *getPowerController() { return _powerController; }
    inline MirrorRaiseController *getMirrorRaiseController() { return _mirrorRaiseController; }
    inline MirrorLowerController *getMirrorLowerController() { return _mirrorLowerController; }
    inline Gyro *getGyro() { return _gyro; }
    inline ProfileController *getProfileController() { return &_profileController; }
    inline BumpTestController *getBumpTestController() { return &_bumpTestController; }
    inline HardpointTestController *getHardpointTestController() { return _hardpointTestController; }
    inline SlewController *getSlewController() { return &_slewController; }
 
    void setCachedTimestamp(double timestamp) { this->_cachedTimestamp = timestamp; }
    double getCachedTimestamp() { return _cachedTimestamp; }
 
    void loadSettings(const char *settingsToApply);
    void initialize(StartCommand *command);
 
    void publishStateChange(States::Type newState);
    void publishRecommendedSettings();
    void publishOuterLoop(std::chrono::nanoseconds executionTime);
 
    void exitControl();
    void waitForExitControl();
 
private:
    Model &operator=(const Model &) = delete;
    Model(const Model &) = delete;
 
    void _populateHardpointActuatorInfo(
            HardpointActuatorApplicationSettings *hardpointActuatorApplicationSettings);
    void _populateHardpointMonitorInfo(
            HardpointMonitorApplicationSettings *hardpointMonitorApplicationSettings);
 
    Displacement *_displacement;
    Inclinometer *_inclinometer;
    SSILCs *_ilc;
    ForceController *_forceController;
    SafetyController *_safetyController;
    PositionController *_positionController;
    Accelerometer *_accelerometer;
    PowerController *_powerController;
    MirrorRaiseController *_mirrorRaiseController;
    MirrorLowerController *_mirrorLowerController;
    Gyro *_gyro;
    ProfileController _profileController;
    BumpTestController _bumpTestController;
    HardpointTestController *_hardpointTestController;
    SlewController _slewController;
 
    std::mutex _mutex;
 
    double _cachedTimestamp;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* MODEL_H_ */