AsyncAxisController.hpp

/*
** Copyright (C) 2022 CERN
**
** This software is provided 'as-is', without any express or implied
** warranty.  In no event will the authors be held liable for any damages
** arising from the use of this software.
**
** Permission is granted to anyone to use this software for any purpose,
** including commercial applications, and to alter it and redistribute it
** freely, subject to the following restrictions:
**
** 1. The origin of this software must not be misrepresented; you must not
**    claim that you wrote the original software. If you use this software
**    in a product, an acknowledgment in the product documentation would be
**    appreciated but is not required.
** 2. Altered source versions must be plainly marked as such, and must not be
**    misrepresented as being the original software.
** 3. This notice may not be removed or altered from any source distribution.
**
** Created on: 2022-07-27T09:08:31
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#ifndef ASYNCAXISCONTROLLER_HPP__
#define ASYNCAXISCONTROLLER_HPP__
 
#include <algorithm>
#include <cmath>
#include <memory>
 
#include <ccut/async.hpp>
#include <ccut/utils.hpp>
#include <logger/Logger.hpp>
#include <oatpp/core/macro/component.hpp>
 
#include "Exception.hpp"
#include "FutureCoroutine.hpp"
#include "OatExt.hpp"
#include "SmcController.hpp"
#include "device/Axis.hpp"
#include "device/DeviceBase.hpp"
#include "device/DeviceStore.hpp"
#include "platform/PlatformFactory.hpp"
#include "util/serialize.hpp"
 
#include OATPP_CODEGEN_BEGIN(ApiController)
 
// clang-format off
class AsyncAxisController : public SmcController
{
public:
    explicit AsyncAxisController(OATPP_COMPONENT(std::shared_ptr<ObjectMapper>,
                                                objectMapper));
    void addParams(const std::shared_ptr<oatpp::web::server::api::Endpoint::Info>& info);
 
    ENDPOINT_INFO(getPosition)
    {
        info->summary = "get current axis position";
        info->addResponse<Float64>(Status::CODE_200, "application/json")
            .addExample("example", Float64(1234));
        addParams(info);
    }
    ENDPOINT_ASYNC("GET", "/axis/{id}/position", getPosition)
    {
    public:
        ENDPOINT_ASYNC_INIT(getPosition)
        Action act() override;
        Action onResult(const smc::units::value_t &value);
    };
 
    ENDPOINT_INFO(putPosition)
    {
        info->summary = "Absolute axis movement";
        info->addResponse(Status::CODE_200, "application/json");
        info->addConsumes<Float64>("application/json")
        .addExample("absolute position", Float64(123));
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/axis/{id}/position", putPosition)
    {
    public:
        ENDPOINT_ASYNC_INIT(putPosition)
        Action act() override;
        Action onMoveTo(const Float64 &position);
    };
 
 
    ENDPOINT_INFO(postPosition)
    {
        info->summary = "Relative axis movement";
        info->addResponse(Status::CODE_200, "application/json");
        info->addConsumes<Float64>("application/json")
        .addExample("relative position", Float64(-10));
        addParams(info);
    }
    ENDPOINT_ASYNC("POST", "/axis/{id}/position", postPosition)
    {
    public:
        ENDPOINT_ASYNC_INIT(postPosition)
        Action act() override;
        Action onMoveBy(const Float64 &position);
    };
 
    ENDPOINT_INFO(putCurrentPosition)
    {
        info->summary = "Set axis current position";
        info->addResponse(Status::CODE_200, "application/json");
        info->addConsumes<Float64>("application/json")
        .addExample("absolute position", Float64(123));
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/axis/{id}/settings/position", putCurrentPosition)
    {
    public:
        ENDPOINT_ASYNC_INIT(putCurrentPosition)
        Action act() override;
        Action onSetCurrentPosition(const Float64 &position);
    };
 
    ENDPOINT_INFO(putStop)
    {
        info->summary = "Stop motion";
        info->addResponse(Status::CODE_200, "application/json");
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/axis/{id}/stop", putStop)
    {
    public:
        ENDPOINT_ASYNC_INIT(putStop)
        Action act() override;
    };
 
    ENDPOINT_INFO(putPause)
    {
        info->summary = "Pause ongoing motion";
        info->addResponse(Status::CODE_200, "application/json");
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/axis/{id}/pause", putPause)
    {
    public:
        ENDPOINT_ASYNC_INIT(putPause)
        Action act() override;
    };
 
    ENDPOINT_INFO(putResume)
    {
        info->summary = "Resume paused motion";
        info->addResponse(Status::CODE_200, "application/json");
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/axis/{id}/resume", putResume)
    {
    public:
        ENDPOINT_ASYNC_INIT(putResume)
        Action act() override;
    };
 
    ENDPOINT_INFO(postTakeReference)
    {
        info->summary = "Begin the homing sequence";
        info->description = "Timeout is in milliseconds";
        info->addResponse(Status::CODE_200, "application/json");
        info->addConsumes<Float64>("application/json")
        .addExample("homing timeout (ms)", Float64(120*1000));
        info->pathParams.add<String>("id").addExample("Grbl axis X",
                                                  String("grbl://1/axis/X"));
    }
    ENDPOINT_ASYNC("POST", "/axis/{id}/homing", postTakeReference)
    {
    public:
        ENDPOINT_ASYNC_INIT(postTakeReference)
        Action act() override;
        Action onTakeReference(const Float64 &timeout);
    };
 
    ENDPOINT_INFO(getState)
    {
        info->summary = "Get axis state";
        info->addResponse<String>(Status::CODE_200, "application/json")
        .addExample("State", String("idle"));
        addParams(info);
    }
    ENDPOINT_ASYNC("GET", "/axis/{id}/state", getState)
    {
    public:
        ENDPOINT_ASYNC_INIT(getState)
        Action act() override;
        Action onResult(const smc::Axis::State &state);
    };
};
 
//clang-format on
 
#include OATPP_CODEGEN_END(ApiController)
 
#endif