MirrorLowerController.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 MIRRORCONTROLLER_H_
#define MIRRORCONTROLLER_H_
 
#include <ForceController.h>
#include <PositionController.h>
#include <PowerController.h>
#include <SafetyController.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {

class MirrorLowerController {
public:
    MirrorLowerController(PositionController *positionController, ForceController *forceController,
                          SafetyController *safetyController, PowerController *powerController);
 
    void start();
    void runLoop();
    bool checkComplete();
    void complete();
    bool checkTimeout();
    void timeout();
 
    void abortRaiseM1M3();
    void pauseM1M3Lowering();
    void resumeM1M3Lowering();
 
protected:
    void setStartTimestamp();
 
private:
    PositionController *_positionController;
    ForceController *_forceController;
    SafetyController *_safetyController;
    PowerController *_powerController;
 
    double _cachedStartTime;
    double _remaininingTimedout;
 
    bool _movedToLowerPosition;
 
    bool _loweringPaused;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* MIRRORCONTROLLER_H_ */