AsyncAxisPositionMonitorController.hpp

/*
** Copyright (C) 2023 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: 2023-07-18T11:29:48
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#ifndef ASYNCAXISPOSITIONMONITORCONTROLLER_HPP__
#define ASYNCAXISPOSITIONMONITORCONTROLLER_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/AxisPositionMonitor.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 AsyncAxisPositionMonitorController : public SmcController
{
public:
    explicit AsyncAxisPositionMonitorController(OATPP_COMPONENT(std::shared_ptr<ObjectMapper>,
                                                objectMapper)) :
        SmcController(objectMapper)
    {
        addTag(*this, "monitor");
    }
 
    void addParams(const std::shared_ptr<oatpp::web::server::api::Endpoint::Info>& info, bool units = false)
    {
        info->pathParams.add<String>("id")
        .addExample("Resolver monitor for axis X", String("mfe://1/resolver/X/monitor"))
        .addExample("Resolver monitor for axis Y", String("mfe://1/resolver/Y/monitor"))
        .addExample("Resolver monitor for axis Z", String("mfe://1/resolver/Z/monitor"));
 
        if (units)
        {
            auto &param = info->queryParams.add<String>("unit")
            .addExample("steps (default)", String("steps"))
            .addExample("radians", String("rad"));
 
            param.required = false;
            param.description = "request unit";
        }
    }
 
    ENDPOINT_INFO(getDifference)
    {
        info->summary = "get position difference between axis and positionSensor";
        info->addResponse<Float64>(Status::CODE_200, "application/json")
        .addExample("example", Float64(1234));
        addParams(info, true);
    }
    ENDPOINT_ASYNC("GET", "/monitor/{id}/diff", getDifference)
    {
    public:
        ENDPOINT_ASYNC_INIT(getDifference)
        Action act() override;
        Action onResult(const smc::units::value_t &value);
    };
 
    ENDPOINT_INFO(getMaxDifference)
    {
        info->summary = "get max position difference measured since monitor was enabled";
        info->addResponse(Status::CODE_200, "application/json")
        .addExample("example", Float64(123));
        addParams(info, true);
    }
    ENDPOINT_ASYNC("GET", "/monitor/{id}/diff/max", getMaxDifference)
    {
    public:
        ENDPOINT_ASYNC_INIT(getMaxDifference)
        Action act() override;
        Action onResult(const smc::units::value_t &value);
    };
 
    ENDPOINT_INFO(getState)
    {
        info->summary = "get current monitor state";
        info->addResponse(Status::CODE_200, "application/json")
        .addExample("example", String("enabled"))
        .addExample("example2", String("triggered"));
        addParams(info);
    }
    ENDPOINT_ASYNC("GET", "/monitor/{id}/state", getState)
    {
    public:
        ENDPOINT_ASYNC_INIT(getState)
        Action act() override;
        Action onResult(const smc::AxisPositionMonitor::State &value);
    };
 
    ENDPOINT_INFO(getEnabled)
    {
        info->summary = "check if monitor is enabled";
        info->addResponse(Status::CODE_200, "application/json")
        .addExample("example", Boolean(true));
        addParams(info);
    }
    ENDPOINT_ASYNC("GET", "/monitor/{id}/enabled", getEnabled)
    {
    public:
        ENDPOINT_ASYNC_INIT(getEnabled)
        Action act() override;
        Action onResult(const smc::AxisPositionMonitor::State &value);
    };
 
    ENDPOINT_INFO(putEnabled)
    {
        info->summary = "set current monitor state";
        info->addResponse(Status::CODE_200, "application/json");
        info->addConsumes<Float64>("application/json")
        .addExample("example", Boolean(true));
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/monitor/{id}/enabled", putEnabled)
    {
    public:
        ENDPOINT_ASYNC_INIT(putEnabled)
        Action act() override;
        Action onBody(const Boolean &value);
    };
};
 
//clang-format on
 
#include OATPP_CODEGEN_END(ApiController)
 
#endif