mastermacs/src/masterMacsAxis.h

#ifndef masterMacsAXIS_H
#define masterMacsAXIS_H
#include "sinqAxis.h"
#include <bitset>

// Forward declaration of the controller class to resolve the cyclic dependency
// between C804Controller.h and C804Axis.h. See
// https://en.cppreference.com/w/cpp/language/class.
class masterMacsController;

class masterMacsAxis : public sinqAxis {
  public:
    /**
     * @brief Construct a new masterMacsAxis
     *
     * @param pController         Pointer to the associated controller
     * @param axisNo              Index of the axis
     */
    masterMacsAxis(masterMacsController *pController, int axisNo);

    /**
     * @brief Destroy the masterMacsAxis
     *
     */
    virtual ~masterMacsAxis();

    /**
     * @brief Implementation of the `stop` function from asynMotorAxis
     *
     * @param acceleration        Acceleration ACCEL from the motor record. This
     * value is currently not used.
     * @return asynStatus
     */
    asynStatus stop(double acceleration);

    /**
     * @brief Implementation of the `doHome` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doHome`.
     *
     * @param minVelocity
     * @param maxVelocity
     * @param acceleration
     * @param forwards
     * @return asynStatus
     */
    asynStatus doHome(double minVelocity, double maxVelocity,
                      double acceleration, int forwards);

    /**
     * @brief Implementation of the `doPoll` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doPoll`.
     *
     * @param moving
     * @return asynStatus
     */
    asynStatus doPoll(bool *moving);

    /**
     * @brief Implementation of the `doMove` function from sinqAxis. The
     * parameters are described in the documentation of `sinqAxis::doMove`.
     *
     * @param position
     * @param relative
     * @param min_velocity
     * @param max_velocity
     * @param acceleration
     * @return asynStatus
     */
    asynStatus doMove(double position, int relative, double min_velocity,
                      double max_velocity, double acceleration);

    /**
     * @brief Readout of some values from the controller at IOC startup
     *
     * The following steps are performed:
     * - Read out the motor status, motor position, velocity and acceleration
     * from the MCU and store this information in the parameter library.
     * - Set the enable PV accordint to the initial status of the axis.
     *
     * @return asynStatus
     */
    asynStatus init();

    /**
     * @brief Enable / disable the axis.
     *
     * @param on
     * @return asynStatus
     */
    asynStatus enable(bool on);

    /**
     * @brief Read the encoder type (incremental or absolute) for this axis from
     * the MCU and store the information in the PV ENCODER_TYPE.
     *
     * @return asynStatus
     */
    asynStatus readEncoderType();

  protected:
    masterMacsController *pC_;
    double lastSetSpeed_;
    bool waitForHandshake_;
    time_t timeAtHandshake_;

    asynStatus readConfig();

    /*
    The axis status and axis error of MasterMACS are given as an integer from
    the controller. The 16 individual bits contain the actual information.
    */
    std::bitset<16> axisStatus_;
    std::bitset<16> axisError_;

    /**
     * @brief Read the Master MACS status with the xR10 command and store the
     * result in axisStatus_
     *
     */
    asynStatus readAxisStatus();

    /*
    The functions below read the specified status bit from the axisStatus_
    bitset. Since a bit can either be 0 or 1, the return value is given as a
    boolean.
    */

    /**
     * @brief Read the property from axisStatus_
     */
    bool readyToBeSwitchedOn() { return axisStatus_[0]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool switchedOn() { return axisStatus_[1]; }

    // Bit 2 is unused

    /**
     * @brief Read the property from axisStatus_
     */
    bool faultConditionSet() { return axisStatus_[3]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool voltagePresent() { return axisStatus_[4]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool quickStopping() { return axisStatus_[5] == 0; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool switchOnDisabled() { return axisStatus_[6]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool warning() { return axisStatus_[7]; }

    // Bit 8 is unused

    /**
     * @brief Read the property from axisStatus_
     */
    bool remoteMode() { return axisStatus_[9]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool targetReached() { return axisStatus_[10]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool internalLimitActive() { return axisStatus_[11]; }

    // Bits 12 and 13 are unused

    /**
     * @brief Read the property from axisStatus_
     */
    bool setEventHasOcurred() { return axisStatus_[14]; }

    /**
     * @brief Read the property from axisStatus_
     */
    bool powerEnabled() { return axisStatus_[15]; }

    /**
     * @brief Read the Master MACS status with the xR10 command and store the
     * result in axisStatus_
     *
     */
    asynStatus readAxisError();

    /*
    The functions below read the specified error bit from the axisError_
    bitset. Since a bit can either be 0 or 1, the return value is given as a
    boolean.
    */

    /**
     * @brief Read the property from axisError_
     */
    bool shortCircuit() { return axisError_[1]; }

    /**
     * @brief Read the property from axisError_
     */
    bool encoderError() { return axisError_[2]; }

    /**
     * @brief Read the property from axisError_
     */
    bool followingError() { return axisError_[3]; }

    /**
     * @brief Read the property from axisError_
     */
    bool communicationError() { return axisError_[4]; }

    /**
     * @brief Read the property from axisError_
     */
    bool feedbackError() { return axisError_[5]; }

    /**
     * @brief Read the property from axisError_
     */
    bool positiveLimitSwitch() { return axisError_[6]; }

    /**
     * @brief Read the property from axisError_
     */
    bool negativeLimitSwitch() { return axisError_[7]; }

    /**
     * @brief Read the property from axisError_
     */
    bool positiveSoftwareLimit() { return axisError_[8]; }

    /**
     * @brief Read the property from axisError_
     */
    bool negativeSoftwareLimit() { return axisError_[9]; }

    /**
     * @brief Read the property from axisError_
     */
    bool overCurrent() { return axisError_[10]; }

    /**
     * @brief Read the property from axisError_
     */
    bool overTemperature() { return axisError_[11]; }

    /**
     * @brief Read the property from axisError_
     */
    bool overVoltage() { return axisError_[12]; }

    /**
     * @brief Read the property from axisError_
     */
    bool underVoltage() { return axisError_[13]; }

    /**
     * @brief Read the property from axisError_
     */
    bool stoFault() { return axisError_[15]; }

  private:
    friend class masterMacsController;
};

#endif