HardwareAdapterSmarAct.h

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// This file is part of DynExp.
 
#pragma once
 
#include "stdafx.h"
#include "HardwareAdapter.h"
#include "../MetaInstruments/Stage.h"
 
namespace DynExpHardware::SmarActSyms
{
    #include "../include/SmarAct/SmarActControl.h"
}
 
namespace DynExpHardware
{
    class SmarActHardwareAdapter;
 
    class SmarActException : public Util::Exception
    {
    public:
        SmarActException(std::string Description, const int ErrorCode,
            const std::source_location Location = std::source_location::current()) noexcept
            : Exception(std::move(Description), Util::ErrorType::Error, ErrorCode, Location)
        {}
    };
 
    class SmarActHardwareAdapterParams : public DynExp::HardwareAdapterParamsBase
    {
    public:
        SmarActHardwareAdapterParams(DynExp::ItemIDType ID, const DynExp::DynExpCore& Core) : HardwareAdapterParamsBase(ID, Core) {}
        virtual ~SmarActHardwareAdapterParams() = default;
 
        virtual const char* GetParamClassTag() const noexcept override { return "SmarActHardwareAdapterParams"; }
 
        Param<TextList> DeviceDescriptor = { *this, {}, "DeviceDescriptor", "Device descriptor",
            "Descriptor of the SmarAct controller to connect with" };
 
    private:
        void ConfigureParamsImpl(dispatch_tag<HardwareAdapterParamsBase>) override final;
        virtual void ConfigureParamsImpl(dispatch_tag<SmarActHardwareAdapterParams>) {}
    };
 
    class SmarActHardwareAdapterConfigurator : public DynExp::HardwareAdapterConfiguratorBase
    {
    public:
        using ObjectType = SmarActHardwareAdapter;
        using ParamsType = SmarActHardwareAdapterParams;
 
        SmarActHardwareAdapterConfigurator() = default;
        virtual ~SmarActHardwareAdapterConfigurator() = default;
 
    private:
        virtual DynExp::ParamsBasePtrType MakeParams(DynExp::ItemIDType ID, const DynExp::DynExpCore& Core) const override { return DynExp::MakeParams<SmarActHardwareAdapterConfigurator>(ID, Core); }
    };
 
    class SmarActHardwareAdapter : public DynExp::HardwareAdapterBase
    {
    public:
        using ParamsType = SmarActHardwareAdapterParams;
        using ConfigType = SmarActHardwareAdapterConfigurator;
 
        using ChannelType = int8_t;
        using PositionType = int64_t;
        using DirectionType = DynExpInstr::PositionerStage::DirectionType;
 
        constexpr static auto Name() noexcept { return "SmarAct"; }
        constexpr static auto Category() noexcept { return "Positioners"; }
        static auto Enumerate();
 
        SmarActHardwareAdapter(const std::thread::id OwnerThreadID, DynExp::ParamsBasePtrType&& Params);
        virtual ~SmarActHardwareAdapter();
 
        virtual std::string GetName() const override { return Name(); }
        virtual std::string GetCategory() const override { return Category(); }
 
        bool IsOpened() const noexcept { return SmarActHandleValid; }
 
        // Position in pm or ndeg
        PositionType GetCurrentPosition(const ChannelType Channel) const;
        PositionType GetTargetPosition(const ChannelType Channel) const;
 
        // Velocity in pm/s or ndeg/s
        PositionType GetVelocity(const ChannelType Channel) const;
 
        int32_t GetChannelState(const ChannelType Channel) const;
 
        void Calibrate(const ChannelType Channel) const;
        void Reference(const ChannelType Channel) const;
 
        // Velocity in pm/s or ndeg/s
        void SetVelocity(const ChannelType Channel, PositionType Velocity) const;
 
        // Position in pm or ndeg
        void MoveAbsolute(const ChannelType Channel, PositionType Position) const;
        void MoveRelative(const ChannelType Channel, PositionType Position) const;
 
        void StopMotion(const ChannelType Channel) const;
 
    private:
        void Init();
 
        void ResetImpl(dispatch_tag<HardwareAdapterBase>) override final;
        virtual void ResetImpl(dispatch_tag<SmarActHardwareAdapter>) {}
 
        void EnsureReadyStateChild() override final;
        bool IsReadyChild() const override final;
        bool IsConnectedChild() const noexcept override final;
 
        // Not thread-safe, must be called from function calling AcquireLock().
        void CheckError(const SmarActSyms::SA_CTL_Result_t Result, const std::source_location Location = std::source_location::current()) const;
 
        void OpenUnsafe();
        void CloseUnsafe();
 
        std::string DeviceDescriptor;
        std::atomic<bool> SmarActHandleValid;
        
        SmarActSyms::SA_CTL_DeviceHandle_t SmarActHandle;
    };
}