MockAxis.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: 2025-04-16T10:36:20
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#include "MockAxis.hpp"
 
#include <ccut/async.hpp>
#include <logger/Logger.hpp>
 
#include "MockPlatform.hpp"
 
using namespace logger;
using namespace smc;
using namespace smc::internal;
 
MockAxis::MockAxis(const std::string &uid,
                   const std::shared_ptr<MockPlatform> &mock) :
    Axis{uid},
    m_mock(mock)
{}
 
std::future<void> MockAxis::moveTo(const units::Value &position) const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    info(MockPlatform::s_loggerCat)
        << "MoveTo requested on MockPlatform id: " << mock->getPlatformId()
        << " for axis " << uid() << " to position: " << position.value;
    std::promise<void> movePromise;
    auto moveFuture = movePromise.get_future();
 
    try
    {
        units::Value convertedPosition{position};
        if (!convert(convertedPosition, units::unit_t::MILLIMETERS))
        {
            throw Exception{ErrorCode::IncompatibleUnits};
        }
        if (convertedPosition.unit != units::MILLIMETERS)
        {
            throw Exception{ErrorCode::InternalError};
        }
        mock->setMotorPosition(uid(), convertedPosition.value);
 
        movePromise.set_value();
        mock->notify(uid());
    }
    catch (...)
    {
        movePromise.set_exception(std::current_exception());
    }
    return moveFuture;
}
 
std::future<void> MockAxis::moveBy(const units::Value &distance) const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    info(MockPlatform::s_loggerCat)
        << "MoveBy requested on MockPlatform id: " << mock->getPlatformId()
        << " for axis " << uid() << " by distance: " << distance.value;
    std::promise<void> movePromise;
    auto moveFuture = movePromise.get_future();
 
    try
    {
        units::Value convertedDistance{distance};
        if (!convert(convertedDistance, units::unit_t::MILLIMETERS))
        {
            throw Exception{ErrorCode::IncompatibleUnits};
        }
        if (convertedDistance.unit != units::MILLIMETERS)
        {
            throw Exception{ErrorCode::InternalError};
        }
        units::Value newPosition{units::unit_t::MILLIMETERS,
                                 mock->getMotorPosition(uid())};
        newPosition += convertedDistance.value;
 
        mock->setMotorPosition(uid(), newPosition.value);
        movePromise.set_value();
        mock->notify(uid());
    }
    catch (...)
    {
        movePromise.set_exception(std::current_exception());
    }
    return moveFuture;
}
 
std::future<units::value_t> MockAxis::getPosition(units::unit_t unit) const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error<units::value_t>(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    info(MockPlatform::s_loggerCat)
        << "Querying axis " << uid()
        << " on MockPlatform id: " << mock->getPlatformId() << " for position";
    std::promise<units::value_t> positionPromise;
    auto positionFuture = positionPromise.get_future();
 
    try
    {
        positionPromise.set_value(lastPosition(unit));
    }
    catch (...)
    {
        positionPromise.set_exception(std::current_exception());
    }
    return positionFuture;
}
 
std::future<void> MockAxis::stop() const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    std::promise<void> promise;
    auto future = promise.get_future();
 
    promise.set_value();
    return future;
}
 
std::future<void> MockAxis::pause() const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    std::promise<void> promise;
    auto future = promise.get_future();
 
    promise.set_value();
    return future;
}
 
std::future<void> MockAxis::resume() const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    std::promise<void> promise;
    auto future = promise.get_future();
 
    promise.set_value();
    return future;
}
 
std::future<void> MockAxis::setActualPosition(const units::Value &position) const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    info(MockPlatform::s_loggerCat)
        << "setActualPosition requested on MockPlatform id: "
        << mock->getPlatformId() << " for axis " << uid()
        << " to position: " << position;
    std::promise<void> promise;
    auto future = promise.get_future();
 
    try
    {
        units::Value convertedDistance{position};
        if (!convert(convertedDistance, units::unit_t::MILLIMETERS))
        {
            throw Exception{ErrorCode::IncompatibleUnits};
        }
        if (convertedDistance.unit != units::MILLIMETERS)
        {
            throw Exception{ErrorCode::InternalError};
        }
 
        mock->setMotorPosition(uid(), convertedDistance.value);
        promise.set_value();
        mock->notify(uid());
    }
    catch (...)
    {
        promise.set_exception(std::current_exception());
    }
    return future;
}
 
units::value_t MockAxis::lastPosition(units::unit_t unit) const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        throw Exception(ErrorCode::Canceled, "platform stopped (deleted)");
 
    units::Value motorPosition{units::unit_t::MILLIMETERS,
                               mock->getMotorPosition(uid())};
    if (!convert(motorPosition, unit))
    {
        throw Exception{ErrorCode::IncompatibleUnits};
    }
    return motorPosition;
}
 
std::future<void> MockAxis::takeReference(
    const std::chrono::milliseconds &timeout) const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    info(MockPlatform::s_loggerCat)
        << "Homing sequence (takeReference) requested on MockPlatform id: "
        << mock->getPlatformId() << "with timeout: " << timeout.count() << "ms";
 
    mock->setMotorPosition(uid(), 0.0);
 
    std::promise<void> promise;
    auto future = promise.get_future();
 
    promise.set_value();
    return future;
}
 
std::future<Axis::State> MockAxis::getState() const
{
    std::shared_ptr<MockPlatform> mock(m_mock.lock());
    if (!mock)
        return ccut::make_future_error<Axis::State>(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    info(MockPlatform::s_loggerCat)
        << "Querying axis " << uid()
        << " on MockPlatform id: " << mock->getPlatformId() << " for run state";
    std::promise<Axis::State> promise;
    auto future = promise.get_future();
    // TODO: Implement a more robust run state mock
    promise.set_value(Axis::State::IDLE);
    return future;
}