MFEAxis.cpp

/*
** Copyright (C) 2025 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: 2025-04-17T15:48:58
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#include "MFEAxis.hpp"
 
#include <ccut/async.hpp>
#include <ccut/utils.hpp>
 
#include "MFEPlatform.hpp"
 
using namespace smc;
using namespace smc::internal;
using ImmediateCmd = GrblPlatform::ImmediateCmd;
 
MFEAxis::MFEAxis(const std::string &uid,
                 const std::shared_ptr<MFEPlatform> &mfe,
                 const std::shared_ptr<GrblPlatform> &grbl) :
    MGrblAxis(uid, mfe, grbl)
{}
 
std::future<void> MFEAxis::setActualPosition(
    const units::Value &userPosition) const
{
    try
    {
        units::Value pos{userPosition};
 
        if (!convert(pos, units::unit_t::steps))
            throw Exception(ErrorCode::IncompatibleUnits,
                            "failed to convert in steps");
        /* this will update both `motion_core.drv_step` register and grbl
         * internal position */
        return setConfig("driver position", std::to_string(pos.value));
    }
    catch (const Exception &ex)
    {
        return ccut::make_future_error(ex);
    }
}
std::future<std::set<std::string>> MFEAxis::listConfig() const
{
    try
    {
        updateInstance();
        std::shared_ptr<GrblPlatform> grbl(m_grbl.lock());
        if (!grbl)
            throw Exception(ErrorCode::Canceled, "platform stopped (deleted)");
 
        grbl::Axis grblAxis = grbl->getAxis(uid());
 
        return grbl->run<std::set<std::string>>(
            [grblAxis](ImmediateCmd &cmd, GrblPlatform::Context &ctx) {
                std::set<std::string> ret;
                for (const std::string &name : ctx.listConfig(grblAxis))
                {
                    if (!ccut::startsWith(name,
                                          MFEPlatform::s_resolverSettingPrefix))
                        ret.insert(name);
                }
                cmd.prom->get<std::set<std::string>>().set_value(ret);
            });
    }
    catch (const Exception &ex)
    {
        return ccut::make_future_error<std::set<std::string>>(ex);
    }
}