PositionController.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 POSITIONCONTROLLER_H_
#define POSITIONCONTROLLER_H_
 
#include <SAL_MTM1M3C.h>
 
#include <HardpointActuatorSettings.h>
#include <PositionControllerSettings.h>
#include <SafetyController.h>
#include <Units.h>
#include <cRIO/DataTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
typedef enum { NO_WAIT, CAN_WAIT, WAITING, ALREADY_WAITED } wait_tension_t;
 
class PositionController {
public:
    PositionController();
 
    int getRaiseTimeout() { return _positionControllerSettings->raiseTimeout; }
    int getLowerTimeout() { return _positionControllerSettings->lowerTimeout; }
 
    bool enableChaseAll();
    void disableChaseAll();
 
    void startRaise();
    void startLower();
 
    bool hpRaiseLowerForcesInTolerance(bool raise);
    bool motionComplete();
 
    bool moveHardpoint(int32_t steps, int hpIndex);
 
    bool move(int32_t *steps);
    bool moveToEncoder(int32_t *encoderValues);
 
    bool moveToAbsolute(double x, double y, double z, double rX, double rY, double rZ);
    bool moveToReferencePosition();
 
    bool moveToLowerPosition();
 
    bool translate(double x, double y, double z, double rX, double rY, double rZ);
 
    void stopMotion(int hardpointIndex = -1);
 
    void updateSteps();
 
    void checkLimits(int hp);
 
private:
    void _convertToSteps(int32_t *steps, double x, double y, double z, double rX, double rY, double rZ);
 
    void _checkFollowingError(int hp);
 
    void _resetWaitTension();
 
    PositionControllerSettings *_positionControllerSettings;
    HardpointActuatorSettings *_hardpointActuatorSettings;
 
    MTM1M3_hardpointActuatorDataC *_hardpointActuatorData;
    MTM1M3_logevent_hardpointActuatorStateC *_hardpointActuatorState;
    MTM1M3_logevent_hardpointActuatorInfoC *_hardpointInfo;
 
    int32_t _scaledMaxStepsPerLoop[HP_COUNT];
    int32_t _targetEncoderValues[HP_COUNT];
    int32_t _stableEncoderCount[HP_COUNT];
    int32_t _unstableEncoderCount[HP_COUNT];
 
    int32_t _lastEncoderCount[HP_COUNT];
    wait_tension_t _waitTension[HP_COUNT];
    uint16_t _raisingLoweringInRangeSamples[HP_COUNT];
 
    SafetyController *_safetyController;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* POSITIONCONTROLLER_H_ */