GmiEmulator.h

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#pragma once
#include <gmi/iface/Controller.h>
#include <misc/gen/ElapseTimer.h>
#include <misc/gen/Sustain.h>
 
namespace sf
{
 
using gmi::Controller;
using gmi::EAxisLocation;
using gmi::EAxisMode;
using gmi::EMoveConCmd;
using gmi::EMovePosCmd;
using gmi::EMoveVelCmd;
using gmi::EParam;
using gmi::EResult;
using gmi::IdList;
using gmi::ParamInfo;
 
class GmiEmulator final : public Controller
{
  public:
    typedef Controller TInherited;
 
    class TAxis final : public Axis
    {
      public:
        typedef Axis TInherited;
        TAxis(GmiEmulator* me, EAxisLocation al);
        ~TAxis() override;
        //
        void DoMovePos(EMovePosCmd mpc);
        void DoMoveVel(EMoveVelCmd mvc);
        void DoMoveCon(EMoveConCmd mcc);
        //
        bool IsMovePosComplete(timespec clk);
        bool IsMoveVelComplete(timespec clk);
        bool IsMoveConComplete(timespec clk);
        // Position move timer
        sf::ElapseTimer MovePosTimer;
        // Velocity move timer.
        sf::ElapseTimer MoveVelTimer;
        // Continuous move timer.
        sf::ElapseTimer MoveConTimer;
        // Target values.
        value_type TrgPos;
        value_type TrgVel;
        value_type TrgAcc;
        value_type TrgDist;
        value_type TrgDist2;
        // Holds the velocity in velocity mode from which is accelerated.
        value_type StartVel;
        // Current values.
        value_type CurPos;
        value_type CurVel;
        value_type OfsPos;
        // Maximum values.
        value_type MaxPos;
        value_type MaxVel;
        value_type MaxAcc;
        // Minimum values.
        value_type MinPos;
        // Holds the accuracy of this axis.
        value_type Accuracy;
        // Holds the fake resolution. (Does nothing at all)
        value_type Resolution;
        // Holds the rounding for the motion parameters of this axis.
        value_type Round;
        // Holds the mode set.
        EAxisMode Mode;
        //
        GmiEmulator* _Controller;
 
        friend GmiEmulator;
    };
 
    // Constructor.
    explicit GmiEmulator(const Parameters&);
    // Destructor.
    ~GmiEmulator() override;
    // Overridden from base class.
    bool doInitialize(bool) override;
    // Overridden from base class.
    bool doHomeAxes(bool skip) override;
    // Overridden from base class.
    void addPropertyPages(PropertySheetDialog* sheet) override;
    // Overridden from base class.
    bool enumParamIds(IdList& ids) const override;
    // Overridden from base class.
    gmi::IdType getParamId(EParam param, int axis = std::numeric_limits<int>::max()) const override;
    // Overridden from base class.
    bool handleParam(gmi::IdType id, ParamInfo* info, const Value* setval, Value* getval) override;
    // Overridden from base class.
    gmi::IdType getResultId(EResult result, int axis = std::numeric_limits<int>::max()) const override;
    // Overridden from base class.
    bool enumResultIds(IdList& ids) const override;
    // Overridden from base class.
    bool handleResult(gmi::IdType id, gmi::ResultInfo* info, gmi::BufferInfo* buf_info) override;
    //
    void doMovePos(EMovePosCmd mpc);
    //
    void doMoveVel(EMoveVelCmd mvc);
    //
    void doMoveCon(EMoveConCmd mcc);
 
    //
    TVector<TAxis*> AxisList;
    // Axis
    TAxis _axisX;// Lineair and moves in [m].
    TAxis _axisY;// Lineair and moves in [m].
    TAxis _axisZ;// Lineair and moves in [m].
    TAxis _axisA;// Angular Gimble and moves [rad].
    TAxis _axisB;// Angular Swivel and moves [rad].
    TAxis _axisC;// Angular Turntable and moves [rad and/or Hz].
    // TAxis _axisD;  // Tool Angular and moves [rad].
    TAxis _axisE;// Tool Lineair and moves in [m].
    // Holds the axis initialization status.
    bool _flagInitialized;
    // Holds the joystick mode flag.
    int _joystickState;
    // Holds the axis responsible for triggering the measurement.
    int _triggerAxis;
    // Holds the axis trigger mode. (intern/extern)
    int _triggerMode;
    // Holds the select pop axis.
    int _popAxis;
    //
    value_type _triggerDensity;
    //
    value_type _triggerFrequency;
    //
    bool _triggerEnable;
    // Holds the current position state.
    EMovePosCmd _curMovePos;
    // Holds the current velocity state.
    EMoveVelCmd _curMoveVel;
    // Holds the current continuous state.
    EMoveConCmd _curMoveCon;
    // Hook to the sustain interface.
    TSustain<GmiEmulator> _sustainEntry;
    //
    bool sustain(const timespec& ts);
    // Hold the reported firmware revision.
    std::string _firmwareRevision;
    // Artificial homing delay.
    ElapseTimer _homingDelay;
    // Holds the error status.
    int _error;
    //
    int _chuckJaw;
    // Holds the last pop event count.
    int _popEventCount;
    //
    int _debug;
 
    friend TAxis;
};
 
}// namespace sf