seleneguide/src/seleneOffsetAxis.h

#ifndef seleneOffsetAxis_H
#define seleneOffsetAxis_H

#include "turboPmacAxis.h"

// Forward declaration of the seleneLiftAxis class to resolve the cyclic
// dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
// See https://en.cppreference.com/w/cpp/language/class.
class seleneLiftAxis;

// Forward declaration of the seleneGuideController class to resolve the cyclic
// dependency. See https://en.cppreference.com/w/cpp/language/class.
class seleneGuideController;

/**
 * @brief Virtual axis for setting the offset of a motor of the Selene guide
 *
 * Please see README.md for a detailed explanation.
 */
class seleneOffsetAxis : public turboPmacAxis {
  public:
    /**
     * @brief Construct a new selene Offset Axis object
     *
     * @param pController Pointer to the associated controller
     * @param axisNo      Index of the axis
     * @param xPos        x-Offset of this axis to the origin
     * @param zPos        z-Offset of this axis to the origin
     */
    seleneOffsetAxis(seleneGuideController *pController, int axisNo,
                     double xPos, double zPos);

    /**
     * @brief Initialize this offset axis
     *
     * This function is started from seleneLiftAxis.
     *
     * @return asynStatus
     */
    asynStatus init();

    /**
     * @brief Implementation of the `doPoll` function from sinqAxis.
     *     *
     * @param moving
     * @return asynStatus
     */
    asynStatus doPoll(bool *moving);

    /**
     * @brief Move the offset position of this axis to parameter "position".
     *
     * @param position
     * @param relative
     * @param min_velocity
     * @param maxOffset_velocity
     * @param acceleration
     * @return asynStatus
     */
    asynStatus doMove(double position, int relative, double min_velocity,
                      double maxOffset_velocity, double acceleration);

    /**
     * @brief This function does nothing, since this axis cannot be enabled /
     * disabled
     *
     * @param on
     * @return asynStatus
     */
    asynStatus enable(bool on);

    /**
     * @brief Calculate the member variables `absolutePositionLiftCS_` and
     * `motorPosition` based on the given encoder position.
     *
     * @param encoderPosition
     * @return asynStatus
     */
    asynStatus setPositionsFromEncoderPosition(double encoderPosition);

    /**
     * @brief Read the target position from the axis and write it into the
     * provided pointer.
     *
     * @param targetPosition
     * @return asynStatus
     */
    asynStatus targetPosition(double *targetPosition);

    /**
     * @brief Set the offsets of axis 3 and 4 to zero and recalculate all other
     * axes positions based on it.
     *
     * This function does not communicate with the controller.
     *
     * @return asynStatus
     */
    asynStatus normalizePositions();

    /**
     * @brief Returns the horizontal distance from the origin
     *
     */
    double xOffset() { return xOffset_; }

    /**
     * @brief Returns the vertical distance of the axis' zero position from the
     * origin
     *
     */
    double zOffset() { return zOffset_; }

    /**
     * @brief Return the absolute high limit of the underlying physical axis in
     * lift coordinates, taking the zOffset into account.
     *
     * @return double
     */
    double absoluteHighLimitLiftCS() { return absoluteHighLimitLiftCS_; }

    /**
     * @brief Return the absolute low limit of the underlying physical axis in
     * lift coordinates, taking the zOffset into account.
     *
     * @return double
     */
    double absoluteLowLimitLiftCS() { return absoluteLowLimitLiftCS_; }

  protected:
    // True, if the target has been set from this axis
    bool targetSet_;

    // Absolute position in the lift coordinate system = absolute position
    // corrected by zOffset.
    double absolutePositionLiftCS_;

    // Position of the motor axis on the line defined by the liftAxis and the
    // angleAxis position in mm.
    double liftPosition_;

    // Horizontal distance from the origin
    double xOffset_;

    // Vertical distance from the origin
    double zOffset_;

    // Distance of the motor to the limits read from the controller
    double distHighLimit_;
    double distLowLimit_;

    // Absolute limits read out from the encoder in the lift coordinate system
    double absoluteHighLimitLiftCS_;
    double absoluteLowLimitLiftCS_;

    // Equal to the motor record fields HLM and LLM from the substitution file
    double highLimit_;
    double lowLimit_;

    seleneGuideController *pC_;
    seleneLiftAxis *liftAxis_;

    /*
    The lift axis needs the ability to write to some of the members of this axis
    (e.g. it needs to be able to insert a pointer to itself into the member
    variable liftAxis_).
     */
    friend class seleneLiftAxis;
};

#endif