AsyncPositionController.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: 2023-06-21T14:39:33
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#ifndef ASYNCPOSITIONCONTROLLER_HPP__
#define ASYNCPOSITIONCONTROLLER_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/DeviceBase.hpp"
#include "device/DeviceStore.hpp"
#include "device/PositionSensor.hpp"
#include "platform/PlatformFactory.hpp"
#include "util/serialize.hpp"
 
#include OATPP_CODEGEN_BEGIN(ApiController)
 
// clang-format off
class AsyncPositionController : public SmcController
{
public:
    explicit AsyncPositionController(OATPP_COMPONENT(std::shared_ptr<ObjectMapper>,
                                                objectMapper)) :
        SmcController(objectMapper)
    {
        addTag(*this, "position");
    }
 
    void addParams(const std::shared_ptr<oatpp::web::server::api::Endpoint::Info>& info)
    {
        info->pathParams.add<String>("id")
        .addExample("Resolver for axis X", String("mfe://1/resolver/X"))
        .addExample("Resolver for axis Y", String("mfe://1/resolver/Y"))
        .addExample("Resolver for axis Z", String("mfe://1/resolver/Z"));
 
        {
            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(getPosition)
    {
        info->summary = "get current position";
        info->addResponse<Float64>(Status::CODE_200, "application/json")
            .addExample("example", Float64(1234));
        addParams(info);
    }
    ENDPOINT_ASYNC("GET", "/position/{id}/value", getPosition)
    {
    public:
        ENDPOINT_ASYNC_INIT(getPosition)
        Action act() override;
        Action onResult(const smc::units::value_t &value);
    };
 
    ENDPOINT_INFO(putCurrentPosition)
    {
        info->summary = "Set current position";
        info->addResponse(Status::CODE_200, "application/json");
        info->addConsumes<Float64>("application/json")
        .addExample("absolute position", Float64(123));
        addParams(info);
    }
    ENDPOINT_ASYNC("PUT", "/position/{id}/settings/value", putCurrentPosition)
    {
    public:
        ENDPOINT_ASYNC_INIT(putCurrentPosition)
        Action act() override;
        Action onSetCurrentPosition(const Float64 &position);
    };
 
};
 
//clang-format on
 
#include OATPP_CODEGEN_END(ApiController)
 
 
#endif