ForceComponent.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 LSST_M1M3_SS_FORCECONTROLLER_FORCECOMPONENT_H_
#define LSST_M1M3_SS_FORCECONTROLLER_FORCECOMPONENT_H_
 
#include <string>
 
#include <ForceComponentSettings.h>
#include <cRIO/DataTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {

enum ForceComponentState { INITIALISING, DISABLED, ENABLED, DISABLING };

class ForceComponent {
public:
    ForceComponent(const char *name, ForceComponentSettings *forceComponentSettings);
    virtual ~ForceComponent();

    const char *getName() { return _name; }

    bool isInitialising() { return _state == INITIALISING; }

    bool isEnabled() { return _state == ENABLED; }

    bool isDisabling() { return _state == DISABLING; }

    bool isActive() { return _state == INITIALISING || _state == ENABLED || _state == DISABLING; }

    void enable();

    void disable();

    virtual void postEnableDisableActions() = 0;
 
    void update();
 
    void reset();
 
protected:
    virtual void postUpdateActions() = 0;

    float xCurrent[FA_X_COUNT];
    float yCurrent[FA_Y_COUNT];
    float zCurrent[FA_Z_COUNT];

    float xTarget[FA_X_COUNT];
    float yTarget[FA_Y_COUNT];
    float zTarget[FA_Z_COUNT];

    float xOffset[FA_X_COUNT];
    float yOffset[FA_Y_COUNT];
    float zOffset[FA_Z_COUNT];
 
private:
    ForceComponentSettings *_forceComponentSettings;
 
    const char *_name;
 
    ForceComponentState _state;

    void _zeroTarget();
 
    void _zeroAll();
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* LSST_M1M3_SS_FORCECONTROLLER_FORCECOMPONENT_H_ */