MotionController.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: 2021-10-04
 *     Author: Michal Mysior <mmysior> <michal.mysior@cern.ch>
 *
 */
 
#ifndef MOTION_CONTROLLER_HPP__
#define MOTION_CONTROLLER_HPP__
 
#include <cstdint>
#include <exception>
#include <set>
#include <string>
 
/* convenience includes */
#include "device/Axis.hpp"
#include "device/DeviceBase.hpp"
#include "device/Gpio.hpp"
#include "device/PlatformDevice.hpp"
#include "device/PositionSensor.hpp"
#include "device/Trigger.hpp"
 
namespace smc {
 
namespace internal {
class PlatformFactory;
class DeviceStore;
class NotificationWorker;
} // namespace internal
 
class MotionController
{
public:
    MotionController();
    ~MotionController();
 
    std::size_t load(const std::string &config);
 
    std::size_t getDeviceCount() const;
 
    DeviceBase::Shared getDevice(const DeviceId &address);
 
    template<typename T>
    std::shared_ptr<T> getDevice(const DeviceId &address);
 
    std::set<DeviceId> getDeviceList() const;
 
    std::set<DeviceId> getDeviceList(DeviceType type) const;
 
    std::set<std::string> getAliasList() const;
 
    DeviceId getAlias(const std::string &alias) const;
 
    bool addAlias(const std::string &alias,
                  const DeviceId &deviceId,
                  bool override = true);
 
    void removeAlias(const std::string &alias);
 
    inline std::shared_ptr<internal::PlatformFactory> getPlatformFactory() const
    {
        return m_platformFactory;
    }
 
    inline std::shared_ptr<internal::DeviceStore> getDeviceStore() const
    {
        return m_deviceStore;
    }
 
protected:
    std::shared_ptr<internal::PlatformFactory> m_platformFactory;
    std::shared_ptr<internal::DeviceStore> m_deviceStore;
    std::shared_ptr<internal::NotificationWorker> m_notificationWorker;
};
 
} /* namespace smc */
 
#include "MotionController.hxx"
 
#endif /* MOTION_CONTROLLER_HPP__ */