BumpTestController.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Telescope & Site Software Systems.
 * 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 BUMPTESTCONTROLLER_H_
#define BUMPTESTCONTROLLER_H_
 
#include <cRIO/DataTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {

class BumpTestController {
public:
    BumpTestController();

    int setBumpTestActuator(int actuatorId, bool testPrimary, bool testSecondary);

    void runLoop();

    void stopAll(bool forced);

    void stopCylinder(char axis);
 
private:
    int _xIndex;
    int _yIndex;
    int _zIndex;
    int _secondaryIndex;
    bool _testPrimary;
    bool _testSecondary;
 
    float _testForce;
 
    float _testedWarning;
    float _testedError;
    float _nonTestedWarning;
    float _nonTestedError;
 
    float _testSettleTime;
    int _testMeasurements;
    int _testProgress;
    // if NAN, don't sleep
    double _sleepUntil;
 
    typedef enum { FINISHED, FAILED, NO_CHANGE, STATE_CHANGED } runCylinderReturn_t;
    runCylinderReturn_t _runCylinder(char axis, int index, double averages[], short int *stage);
 
    void _resetProgress(bool zeroOffsets = true);
    void _resetAverages();
 
    double _xAverages[FA_X_COUNT];
    double _yAverages[FA_Y_COUNT];
    double _zAverages[FA_Z_COUNT];

    bool _collectAverages();

    int _checkAverages(char axis = ' ', int index = -1, double value = 0);
};
 
}  // namespace SS
}  // namespace M1M3
}  // namespace LSST
 
#endif /* BUMPTESTCONTROLLER_H_ */