ILCMessageFactory.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 ILCMESSAGEFACTORY_H_
#define ILCMESSAGEFACTORY_H_
 
#include <ILCApplicationSettings.h>
#include <ModbusBuffer.h>
#include <cRIO/DataTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
struct ILCApplicationSettings;
 
class ILCMessageFactory {
public:
    ILCMessageFactory();
 
    void reportServerID(ModbusBuffer *buffer, uint8_t address);

    void reportServerStatus(ModbusBuffer *buffer, uint8_t address);
    void changeILCMode(ModbusBuffer *buffer, uint8_t address, uint16_t mode);
    void reportILCMode(ModbusBuffer *buffer, uint8_t address);
    void broadcastStepMotor(ModbusBuffer *buffer, uint8_t broadcastCounter, int8_t *steps);
    void unicastStepMotor(ModbusBuffer *buffer, uint8_t address, int8_t steps);
    void electromechanicalForceAndStatus(ModbusBuffer *buffer, uint8_t address);
    void broadcastElectromechanicalFreezeSensorValues(ModbusBuffer *buffer, uint8_t broadcastCounter);
    void broadcastPneumaticFreezeSensorValues(ModbusBuffer *buffer, uint8_t broadcastCounter);
    void setBoostValveDCAGains(ModbusBuffer *buffer, uint8_t address, float primaryGain, float secondaryGain);
    void readBoostValveDCAGains(ModbusBuffer *buffer, uint8_t address);
    void broadcastForceDemand(ModbusBuffer *buffer, uint8_t broadcastCounter, uint8_t boosterValves,
                              int32_t *saaPrimarySetpoint, int32_t *daaPrimarySetpoint,
                              int32_t *daaSecondarySetpoint);
    void unicastForceDemand(ModbusBuffer *buffer, uint8_t address, uint8_t boosterValve,
                            int32_t primarySetpoint, int32_t secondarySetpoint);
    void unicastSingleAxisForceDemand(ModbusBuffer *buffer, uint8_t address, uint8_t boosterValve,
                                      int32_t primarySetpoint);
    void unicastDualAxisForceDemand(ModbusBuffer *buffer, uint8_t address, uint8_t boosterValve,
                                    int32_t primarySetpoint, int32_t secondarySetpoint);

    void pneumaticForceStatus(ModbusBuffer *buffer, uint8_t address);
    void setADCScanRate(ModbusBuffer *buffer, uint8_t address, uint8_t rate);
    void reportADCScanRate(ModbusBuffer *buffer, uint8_t address);
    void setADCChannelOffsetAndSensitivity(ModbusBuffer *buffer, uint8_t address, uint8_t channel,
                                           float offset, float sensitivity);
    void reset(ModbusBuffer *buffer, uint8_t address);
    void readCalibration(ModbusBuffer *buffer, uint8_t address);
    void reportDCAPressure(ModbusBuffer *buffer, uint8_t address);
    void reportDCAID(ModbusBuffer *buffer, uint8_t address);
    void reportDCAStatus(ModbusBuffer *buffer, uint8_t address);
    void reportLVDT(ModbusBuffer *buffer, uint8_t address);
    void nopReportLVDT(ModbusBuffer *buffer, uint8_t address);
 
private:
    ILCApplicationSettings *_ilcApplicationSettings;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* ILCMESSAGEFACTORY_H_ */