Axis.hpp

/*
 * Copyright (C) 2021 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: 2021-11-09
 *     Author: Michal Mysior <mmysior> <michal.mysior@cern.ch>
 *
 */
 
#ifndef AXIS_HPP__
#define AXIS_HPP__
 
#include <chrono>
#include <future>
#include <memory>
 
#include "../Units.hpp"
#include "DeviceBase.hpp"
 
namespace smc {
 
class Axis : public DeviceBase
{
public:
    typedef std::shared_ptr<Axis> Shared;
 
    enum State
    {
        UNKNOWN,
        IDLE,
        RUNNING,
        ERROR,
    };
 
    Axis(const std::string &address);
 
    DeviceType type() const override;
 
    virtual std::future<void> moveTo(const units::Value &position) const = 0;
 
    virtual std::future<void> moveBy(const units::Value &distance) const = 0;
 
    virtual std::future<void> stop() const = 0;
 
    virtual std::future<void> pause() const;
 
    virtual std::future<void> resume() const;
 
    virtual std::future<units::value_t> getPosition(units::unit_t unit) const = 0;
 
    virtual units::value_t lastPosition(units::unit_t unit) const = 0;
 
    virtual std::future<void> setActualPosition(
        const units::Value &position) const;
 
    virtual std::future<void> takeReference(
        const std::chrono::milliseconds &timeout = std::chrono::seconds{
            120}) const;
 
    virtual std::future<State> getState() const = 0;
};
 
const std::string &to_string(Axis::State state);
 
} /* namespace smc */
 
#endif /* #define AXIS_HPP__ */