mastermacs/src/masterMacsAxis.h

#ifndef masterMacsAXIS_H
#define masterMacsAXIS_H
#include "masterMacsController.h"
#include "sinqAxis.h"
#include <memory>

struct HIDDEN masterMacsAxisImpl;

class HIDDEN 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 Delete the copy and copy assignment constructors, because this
     * class should not be copied (it is tied to hardware!)
     */
    masterMacsAxis(const masterMacsAxis &) = delete;
    masterMacsAxis &operator=(const masterMacsAxis &) = delete;

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

    /**
     * @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 TODO
     *
     * @param minVelocity
     * @param maxVelocity
     * @param acceleration
     * @return asynStatus
     */
    asynStatus moveVelocity(double minVelocity, double maxVelocity,
                            double acceleration);

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

    /**
     * @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 `doReset` function from sinqAxis.
     *
     * @param on
     * @return asynStatus
     */
    asynStatus doReset();

    /**
     * @brief Performs a "node reset" on the axis as defined in the CANopen
     * standard
     *
     * A "node reset" is a factory reset on the axis which completely deletes
     * all configured information (e.g. limits or speed) from the axis. The
     * MasterMACS controller then reapplies the initial configuration to this
     * axis. It can therefore be seen as a "hard" version of the normal error
     * reset performed by the `doReset` method.
     *
     * @return asynStatus
     */
    asynStatus nodeReset();

    /**
     * @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 Write the new operation mode (position or velocity) to the
     * MasterMACS controller.
     *
     * @param mode
     * @return asynStatus
     */
    asynStatus setMode(int mode);

    /**
     * @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();

    /**
     * @brief Check if the axis needs to run its initialization function
     *
     * @return true
     * @return false
     */
    bool needInit();

    /**
     * @brief Instruct the axis to run its init() function during the next
     * poll
     *
     * @param needInit
     */
    void setNeedInit(bool needInit);

    /**
     * @brief Return a pointer to the axis controller
     */
    virtual masterMacsController *pController() override { return pC_; };

    /**
     * @brief Read the Master MACS status with the xR10 command and store
     * the result in axisStatus (see masterMacsAxisImpl redefinition in
     * masterMacsAxis.cpp)
     *
     */
    asynStatus readAxisStatus();

    /**
     * @brief Read the upper and lower limits and store them in the parameter
     * library.
     */
    asynStatus readLimits();

    /*
    The functions below read the specified status bit from the axisStatus (see
    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
    can either be 0 or 1, the return value is given as a boolean.
    */

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool readyToBeSwitchedOn();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool switchedOn();

    // Bit 2 is unused

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool faultConditionSet();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool voltagePresent();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool quickStopping();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool switchOnDisabled();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool warning();

    // Bit 8 is unused

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool remoteMode();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool targetReached();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool internalLimitActive();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool speedEqualZero();

    // Bits 12 and 13 are unused

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool setEventHasOcurred();

    /**
     * @brief Read the property from axisStatus (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool powerEnabled();

    /**
     * @brief Read the Master MACS error with the xR10 command and store
     * the result in axisError (see masterMacsAxisImpl redefinition in
     * masterMacsAxis.cpp)
     *
     */
    asynStatus readAxisError();

    /*
    The functions below read the specified error bit from the axisError (see
    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
    can either be 0 or 1, the return value is given as a boolean.
    */

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool shortCircuit();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool encoderError();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool followingError();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool communicationError();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool feedbackError();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool positiveLimitSwitch();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool negativeLimitSwitch();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool positiveSoftwareLimit();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool negativeSoftwareLimit();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool overCurrent();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool overTemperature();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool overVoltage();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool underVoltage();

    /**
     * @brief Read the property from axisError (see masterMacsAxisImpl
     * redefinition in masterMacsAxis.cpp)
     */
    bool stoFault();

  private:
    masterMacsController *pC_;
    std::unique_ptr<masterMacsAxisImpl> pMasterMacsA_;
};

#endif