MockPlatform.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: 2021-10-29
 *     Author: Michal Mysior <mmysior> <michal.mysior@cern.ch>
 *
 */
 
#ifndef MOCK_PLATFORM_HPP__
#define MOCK_PLATFORM_HPP__
 
#include <cstdint>
#include <map>
#include <mutex>
 
#include <ccut/yml.hpp>
 
#include "Exception.hpp"
#include "Units.hpp"
#include "device/DeviceBase.hpp"
#include "platform/PlatformBase.hpp"
 
#define MOCK_PLATFORM_STEPS_PER_MM 250
#define MOCK_PLATFORM_DELAY_MS 20
#define MOCK_PLATFORM_COMMAD_TIMEOUT_MS 40
 
namespace smc {
namespace internal {
class MockPlatform : public PlatformBase
{
public:
    static inline PlatformBase::Shared create(const ccut::yml::NodeRef &config)
    {
        return PlatformBase::Shared(new MockPlatform(config));
    }
 
    virtual ~MockPlatform();
 
    inline std::shared_ptr<MockPlatform> shared_from_this()
    {
        return std::static_pointer_cast<MockPlatform>(
            PlatformBase::shared_from_this());
    }
 
    inline std::shared_ptr<const MockPlatform> shared_from_this() const
    {
        return std::static_pointer_cast<const MockPlatform>(
            PlatformBase::shared_from_this());
    }
 
    enum class MotorLocation
    {
        X,
        Y,
        Z,
        A,
        B,
        C
    };
    friend std::ostream &operator<<(std::ostream &os, MotorLocation l)
    {
        switch (l)
        {
        case MotorLocation::X: os << "X"; return os;
        case MotorLocation::Y: os << "Y"; return os;
        case MotorLocation::Z: os << "Z"; return os;
        case MotorLocation::A: os << "A"; return os;
        case MotorLocation::B: os << "B"; return os;
        case MotorLocation::C: os << "C"; return os;
        default: throw Exception(ErrorCode::InvalidArguments);
        }
    }
    static MotorLocation motorFromStr(const std::string &str)
    {
        if (str == "X")
        {
            return MotorLocation::X;
        }
        if (str == "Y")
        {
            return MotorLocation::Y;
        }
        if (str == "Z")
        {
            return MotorLocation::Z;
        }
        if (str == "A")
        {
            return MotorLocation::A;
        }
        if (str == "B")
        {
            return MotorLocation::B;
        }
        if (str == "C")
        {
            return MotorLocation::C;
        }
        throw Exception(ErrorCode::InvalidArguments);
    }
 
    using PlatformBase::stop;
 
    // PlatformBase overrides
    DeviceTypeList getSupportedDevices() const override;
    DeviceList generateDevices(const DeviceTypeList &deviceType) override;
 
    size_t getPlatformId() const;
 
    void setMotorPosition(const std::string &motor,
                          units::Value::value_type destPosition);
    units::Value::value_type getMotorPosition(const std::string &motor);
 
    units::Value::value_type getLvdtAngle(const std::string &lvdt);
    void setLvdtAngle(const std::string &lvdt, units::Value::value_type value);
 
    void setGpioState(const std::string &gpio, const units::io_port_t &state);
    units::io_port_t getGpioState(const std::string &gpio);
 
    static const std::string s_loggerCat;
 
protected:
    explicit MockPlatform(const ccut::yml::NodeRef &node);
 
    size_t m_platformId;
 
    std::mutex m_lock;
    std::map<std::string, MotorLocation> m_motors;
    std::map<MotorLocation, units::Value::value_type> m_motorPositions;
 
    std::map<std::string, uint8_t> m_lvdts;
    std::map<uint8_t, units::Value::value_type> m_lvdtPositions;
 
    std::map<std::string, uint8_t> m_gpios;
    std::map<uint8_t, units::io_port_t> m_gpioStates;
};
 
} /* namespace internal */
} /* namespace smc */
 
#endif /* MOCK_PLATFORM_HPP__ */