MotionController.cpp

/*
 * 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: 2021-10-08
 *     Author: Michal Mysior <mmysior> <michal.mysior@cern.ch>
 *
 */
 
#include "MotionController.hpp"
 
#include <ccut/utils.hpp>
#include <ccut/yml.hpp>
#include <logger/Logger.hpp>
 
#include "Exception.hpp"
#include "MotionLibConfig.hpp"
#include "device/Axis.hpp"
#include "device/DeviceStore.hpp"
#include "local-config.h"
#include "platform/NotificationWorker.hpp"
#include "platform/PlatformFactory.hpp"
 
using namespace logger;
namespace yml = ccut::yml;
namespace smc {
 
static const std::string s_loggerCat{"smc:controller"};
 
using namespace internal;
 
MotionController::MotionController() :
    m_platformFactory{std::make_shared<PlatformFactory>()},
    m_deviceStore{std::make_shared<DeviceStore>()},
    m_notificationWorker{std::make_shared<NotificationWorker>(m_deviceStore)}
{
    ccut::ccutVersion(true, true);
    logger::info(s_loggerCat) << "motion-lib: " << MOTIONLIB_VERSION << "-"
                              << MOTIONLIB_GIT_SHORT << MOTIONLIB_GIT_DIRTY;
    m_notificationWorker->start();
}
 
MotionController::~MotionController()
{
    m_notificationWorker->stop();
    m_deviceStore.reset();
    m_platformFactory.reset();
}
 
size_t MotionController::load(const std::string &config)
{
    try
    {
        yml::Parser parser;
        yml::Tree tree = parser.parse_in_arena("<yml>", yml::to_csubstr(config));
        yml::NodeRef node = yml::get(tree.rootref(), "platforms");
        if (node.valid())
            m_platformFactory->buildPlatforms(node, &parser);
 
        node = yml::get(tree.rootref(), "alias");
        if (node.valid())
            m_deviceStore->loadAlias(node, &parser);
    }
    catch (std::exception &ex)
    {
        error(s_loggerCat) << "failed to parse config: " << ex.what();
    }
 
    std::size_t newDeviceCount = 0;
    for (const PlatformBase::Shared &platform :
         m_platformFactory->getPlatforms())
    {
        platform->setNotificationWorker(m_notificationWorker);
        newDeviceCount += m_deviceStore->probeDevices(platform);
    }
 
    return newDeviceCount;
}
 
DeviceBase::Shared MotionController::getDevice(const std::string &address)
{
    return m_deviceStore->getDevice(address);
}
 
size_t MotionController::getDeviceCount() const
{
    return m_deviceStore->getDeviceCount();
}
 
std::set<std::string> MotionController::getDeviceList() const
{
    return m_deviceStore->getDeviceList();
}
 
std::set<std::string> MotionController::getDeviceList(DeviceType type) const
{
    return m_deviceStore->getDeviceList(type);
}
 
std::set<std::string> MotionController::getAliasList() const
{
    return m_deviceStore->getAliasList();
}
 
DeviceId MotionController::getAlias(const std::string &alias) const
{
    return m_deviceStore->getAlias(alias);
}
 
bool MotionController::addAlias(const std::string &alias,
                                const DeviceId &deviceId,
                                bool override)
{
    return m_deviceStore->addAlias(alias, deviceId, override);
}
 
void MotionController::removeAlias(const std::string &alias)
{
    m_deviceStore->removeAlias(alias);
}
 
} /* namespace smc */