State.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 STATE_H_
#define STATE_H_
 
#include <string>
#include <time.h>
 
#include <AbortProfileCommand.h>
#include <AbortRaiseM1M3Command.h>
#include <ApplyActiveOpticForcesCommand.h>
#include <ApplyOffsetForcesByMirrorForceCommand.h>
#include <ApplyOffsetForcesCommand.h>
#include <BoosterValveCloseCommand.h>
#include <BoosterValveOpenCommand.h>
#include <ClearActiveOpticForcesCommand.h>
#include <ClearOffsetForcesCommand.h>
#include <ClearSlewFlagCommand.h>
#include <Command.h>
#include <DisableCommand.h>
#include <DisableForceActuatorCommand.h>
#include <DisableHardpointChaseCommand.h>
#include <DisableHardpointCorrectionsCommand.h>
#include <EnableAllForceActuatorsCommand.h>
#include <EnableCommand.h>
#include <EnableDisableForceComponentCommand.h>
#include <EnableForceActuatorCommand.h>
#include <EnableHardpointChaseCommand.h>
#include <EnableHardpointCorrectionsCommand.h>
#include <EnterControlCommand.h>
#include <EnterEngineeringCommand.h>
#include <ExitControlCommand.h>
#include <ExitEngineeringCommand.h>
#include <ForceActuatorBumpTestCommand.h>
#include <KillForceActuatorBumpTestCommand.h>
#include <KillHardpointTestCommand.h>
#include <LowerM1M3Command.h>
#include <MoveHardpointActuatorsCommand.h>
#include <PauseM1M3RaisingLoweringCommand.h>
#include <PositionM1M3Command.h>
#include <RaiseM1M3Command.h>
#include <ResetPIDCommand.h>
#include <ResumeM1M3RaisingLoweringCommand.h>
#include <RunMirrorForceProfileCommand.h>
#include <SetSlewControllerSettingsCommand.h>
#include <SetSlewFlagCommand.h>
#include <StandbyCommand.h>
#include <StartCommand.h>
#include <StateTypes.h>
#include <StopHardpointMotionCommand.h>
#include <TMAAzimuthSampleCommand.h>
#include <TMAElevationSampleCommand.h>
#include <TestHardpointCommand.h>
#include <TranslateM1M3Command.h>
#include <TurnAirOffCommand.h>
#include <TurnAirOnCommand.h>
#include <TurnLightsOffCommand.h>
#include <TurnLightsOnCommand.h>
#include <TurnPowerOffCommand.h>
#include <TurnPowerOnCommand.h>
#include <UpdateCommand.h>
#include <UpdatePIDCommand.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {

class State {
public:
    State(std::string name);
    virtual ~State();

    virtual States::Type enterControl(EnterControlCommand *command);
    virtual States::Type start(StartCommand *command);
    virtual States::Type enable(EnableCommand *command);
    virtual States::Type disable(DisableCommand *command);
    virtual States::Type standby(StandbyCommand *command);
    virtual States::Type exitControl(ExitControlCommand *command);

    virtual States::Type update(UpdateCommand *command) = 0;
    virtual States::Type setSlewFlag(SetSlewFlagCommand *command);
    virtual States::Type clearSlewFlag(ClearSlewFlagCommand *command);
    virtual States::Type turnAirOn(TurnAirOnCommand *command);
    virtual States::Type turnAirOff(TurnAirOffCommand *command);
    virtual States::Type boosterValveOpen(BoosterValveOpenCommand *command);
    virtual States::Type boosterValveClose(BoosterValveCloseCommand *command);
    virtual States::Type applyOffsetForces(ApplyOffsetForcesCommand *command);
    virtual States::Type clearOffsetForces(ClearOffsetForcesCommand *command);
    virtual States::Type raiseM1M3(RaiseM1M3Command *command);
    virtual States::Type lowerM1M3(LowerM1M3Command *command);
    virtual States::Type pauseM1M3RaisingLowering(PauseM1M3RaisingLoweringCommand *command);
    virtual States::Type resumeM1M3RaisingLowering(ResumeM1M3RaisingLoweringCommand *command);
    virtual States::Type applyActiveOpticForces(ApplyActiveOpticForcesCommand *command);
    virtual States::Type clearActiveOpticForces(ClearActiveOpticForcesCommand *command);
    virtual States::Type enterEngineering(EnterEngineeringCommand *command);
    virtual States::Type exitEngineering(ExitEngineeringCommand *command);
    virtual States::Type testHardpoint(TestHardpointCommand *command);
    virtual States::Type killHardpointTest(KillHardpointTestCommand *command);
    virtual States::Type moveHardpointActuators(MoveHardpointActuatorsCommand *command);
    virtual States::Type enableHardpointChase(EnableHardpointChaseCommand *command);
    virtual States::Type disableHardpointChase(DisableHardpointChaseCommand *command);
    virtual States::Type abortRaiseM1M3(AbortRaiseM1M3Command *command);
    virtual States::Type translateM1M3(TranslateM1M3Command *command);
    virtual States::Type stopHardpointMotion(StopHardpointMotionCommand *command);
    virtual States::Type storeTMAAzimuthSample(TMAAzimuthSampleCommand *command);
    virtual States::Type storeTMAElevationSample(TMAElevationSampleCommand *command);
    virtual States::Type positionM1M3(PositionM1M3Command *command);
    virtual States::Type turnLightsOn(TurnLightsOnCommand *command);
    virtual States::Type turnLightsOff(TurnLightsOffCommand *command);
    virtual States::Type turnPowerOn(TurnPowerOnCommand *command);
    virtual States::Type turnPowerOff(TurnPowerOffCommand *command);
    virtual States::Type enableHardpointCorrections(EnableHardpointCorrectionsCommand *command);
    virtual States::Type disableHardpointCorrections(DisableHardpointCorrectionsCommand *command);
    virtual States::Type runMirrorForceProfile(RunMirrorForceProfileCommand *command);
    virtual States::Type abortProfile(AbortProfileCommand *command);
    virtual States::Type applyOffsetForcesByMirrorForce(ApplyOffsetForcesByMirrorForceCommand *command);
    virtual States::Type updatePID(UpdatePIDCommand *command);
    virtual States::Type resetPID(ResetPIDCommand *command);
    virtual States::Type forceActuatorBumpTest(ForceActuatorBumpTestCommand *command);
    virtual States::Type killForceActuatorBumpTest(KillForceActuatorBumpTestCommand *command);
    virtual States::Type disableForceActuator(DisableForceActuatorCommand *command);
    virtual States::Type enableForceActuator(EnableForceActuatorCommand *command);
    virtual States::Type enableAllForceActuators(EnableAllForceActuatorsCommand *command);
    virtual States::Type enableDisableForceComponent(EnableDisableForceComponentCommand *command);
    virtual States::Type setSlewControllerSettings(SetSlewControllerSettingsCommand *command);
 
protected:
    std::string name;
 
    States::Type rejectCommandInvalidState(Command *command, std::string cmd_name);
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* STATE_H_ */