Trajectory1D.h

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// This file is part of DynExp.
 
#pragma once
 
#include "stdafx.h"
#include "DynExpCore.h"
#include "../MetaInstruments/Stage.h"
#include "../MetaInstruments/DataStreamInstrument.h"
#include "../Instruments/InterModuleCommunicator.h"
 
#include "CommonModuleEvents.h"
 
#include <QWidget>
 
namespace Ui
{
    class Trajectory1D;
}
 
namespace DynExpModule
{
    class Trajectory1D;
 
    class Trajectory1DWidget : public DynExp::QModuleWidget
    {
        Q_OBJECT
 
    public:
        Trajectory1DWidget(Trajectory1D& Owner, QModuleWidget* parent = nullptr);
        ~Trajectory1DWidget() = default;
 
        bool AllowResize() const noexcept override final { return false; }
 
        const auto GetUI() const noexcept { return ui.get(); }
 
    private:
        std::unique_ptr<Ui::Trajectory1D> ui;
    };
 
    class Trajectory1DData : public DynExp::QModuleDataBase
    {
    public:
        enum TriggerModeType { Continuous, ManualOnce, Manual, OnStreamChanged };
        enum PositioningModeType { Absolute, Relative };
 
        Trajectory1DData() { Init(); }
        virtual ~Trajectory1DData() = default;
 
        auto& GetTrajectoryDataInstr() { return TrajectoryDataInstr; }
        auto& GetPositionerStage() { return PositionerStage; }
        auto& GetCommunicator() { return Communicator; }
 
        auto GetTriggerMode() const noexcept { return TriggerMode; }
        void SetTriggerMode(TriggerModeType TriggerMode) noexcept { this->TriggerMode = TriggerMode; }
        auto GetPositioningMode() const noexcept { return PositioningMode; }
        void SetPositioningMode(PositioningModeType PositioningMode) noexcept { this->PositioningMode = PositioningMode; }
        auto GetPosMultiplier() const noexcept { return PosMultiplier; }
        void SetPosMultiplier(double PosMultiplier) noexcept { this->PosMultiplier = PosMultiplier; }
        auto GetRepeatCount() const noexcept { return RepeatCount; }
        void SetRepeatCount(size_t RepeatCount) noexcept { this->RepeatCount = RepeatCount; }
        auto GetDwellTime() const noexcept { return DwellTime; }
        void SetDwellTime(std::chrono::milliseconds DwellTime) noexcept { this->DwellTime = DwellTime; }
 
        auto GetLastWrittenSampleID() const noexcept { return LastWrittenSampleID; }
        void SetLastWrittenSampleID(size_t LastWrittenSampleID) noexcept { this->LastWrittenSampleID = LastWrittenSampleID; }
        const auto& GetSamples() const noexcept { return Samples; }
        auto& GetSamples() noexcept { return Samples; }
        void SetSamples(DynExpInstr::DataStreamBase::BasicSampleListType&& Samples) noexcept { this->Samples = std::move(Samples); }
 
        auto GetCurrentPlaybackPos() const noexcept { return CurrentPlaybackPos; }
        bool IsTriggered() const noexcept { return CurrentPlaybackPos > 0; }
        void SetCurrentPlaybackPos(size_t CurrentPlaybackPos) noexcept { this->CurrentPlaybackPos = CurrentPlaybackPos; }
        auto GetCurrentRepeatCount() const noexcept { return CurrentRepeatCount; }
        void SetCurrentRepeatCount(size_t CurrentRepeatCount) noexcept { this->CurrentRepeatCount = CurrentRepeatCount; }
        auto IsReady() const noexcept { return Ready; }
        void SetReady(bool Ready) noexcept { this->Ready = Ready; }
        auto GetTrajectoryStartedTime() const noexcept { return TrajectoryStartedTime; }
        void SetTrajectoryStartedTime(std::chrono::time_point<std::chrono::system_clock> TrajectoryStartedTime) noexcept { this->TrajectoryStartedTime = TrajectoryStartedTime; }
 
    private:
        void ResetImpl(dispatch_tag<QModuleDataBase>) override final;
        virtual void ResetImpl(dispatch_tag<Trajectory1DData>) {};
 
        void Init();
 
        DynExp::LinkedObjectWrapperContainer<DynExpInstr::DataStreamInstrument> TrajectoryDataInstr;
        DynExp::LinkedObjectWrapperContainer<DynExpInstr::PositionerStage> PositionerStage;
        DynExp::LinkedObjectWrapperContainer<DynExpInstr::InterModuleCommunicator> Communicator;
 
        TriggerModeType TriggerMode = TriggerModeType::Manual;
        PositioningModeType PositioningMode = PositioningModeType::Absolute;
        double PosMultiplier = 1.0;
        size_t RepeatCount = 1;
        std::chrono::milliseconds DwellTime = std::chrono::milliseconds(100);
 
        size_t LastWrittenSampleID = 0;
        DynExpInstr::DataStreamBase::BasicSampleListType Samples;
 
        size_t CurrentPlaybackPos = 0;  
        size_t CurrentRepeatCount = 0;
        bool Ready = false;             
        std::chrono::time_point<std::chrono::system_clock> TrajectoryStartedTime;
    };
 
    class Trajectory1DParams : public DynExp::QModuleParamsBase
    {
    public:
        static Util::TextValueListType<Trajectory1DData::TriggerModeType> TriggerModeTypeStrList();
        static Util::TextValueListType<Trajectory1DData::PositioningModeType> PositioningModeTypeStrList();
 
        Trajectory1DParams(DynExp::ItemIDType ID, const DynExp::DynExpCore& Core) : QModuleParamsBase(ID, Core) {}
        virtual ~Trajectory1DParams() = default;
 
        virtual const char* GetParamClassTag() const noexcept override { return "Trajectory1DParams"; }
 
        Param<DynExp::ObjectLink<DynExpInstr::DataStreamInstrument>> TrajectoryDataInstr = { *this, GetCore().GetInstrumentManager(),
            "TrajectoryDataInstr", "Trajectory data stream", "Data stream instrument to stream position data from", DynExpUI::Icons::Instrument };
        Param<DynExp::ObjectLink<DynExpInstr::PositionerStage>> PositionerStage = { *this, GetCore().GetInstrumentManager(),
            "PositionerStage", "Positioner", "Underlying positioner to be controlled by this module", DynExpUI::Icons::Instrument };
        Param<DynExp::ObjectLink<DynExpInstr::InterModuleCommunicator>> Communicator = { *this, GetCore().GetInstrumentManager(),
            "InterModuleCommunicator", "Inter-module communicator", "Inter-module communicator to control this module with", DynExpUI::Icons::Instrument, true };
 
        Param<Trajectory1DData::TriggerModeType> TriggerMode = { *this, TriggerModeTypeStrList(), "TriggerMode", "Trigger mode",
            "Trigger action which starts streaming the position data", true, Trajectory1DData::TriggerModeType::Manual };
        Param<Trajectory1DData::PositioningModeType> PositioningMode = { *this, PositioningModeTypeStrList(), "PositioningMode", "positioning mode",
            "Indicates how position samples are treated", true, Trajectory1DData::PositioningModeType::Absolute };
        Param<ParamsConfigDialog::NumberType> PosMultiplier = { *this, "PosMultiplier", "Position multiplier",
            "Factor to multiply each position sample with before moving", true, 1, -1e9, 1e9, 1, 2 };
        Param<ParamsConfigDialog::NumberType> RepeatCount = { *this, "RepeatCount", "Number of repetitions",
            "Determines how many times the trajectory data stream should be played back after a trigger event has occurred", true, 1, 1 };
        Param<ParamsConfigDialog::NumberType> DwellTime = { *this, "DwellTime", "Dwell time in ms",
            "Dwell time used for data streams containing samples without time data", true, 100, 1 };
 
    private:
        void ConfigureParamsImpl(dispatch_tag<QModuleParamsBase>) override final {}
    };
 
    class Trajectory1DConfigurator : public DynExp::QModuleConfiguratorBase
    {
    public:
        using ObjectType = Trajectory1D;
        using ParamsType = Trajectory1DParams;
 
        Trajectory1DConfigurator() = default;
        virtual ~Trajectory1DConfigurator() = default;
 
    private:
        virtual DynExp::ParamsBasePtrType MakeParams(DynExp::ItemIDType ID, const DynExp::DynExpCore& Core) const override final { return DynExp::MakeParams<Trajectory1DConfigurator>(ID, Core); }
    };
 
    class Trajectory1D : public DynExp::QModuleBase
    {
    public:
        using ParamsType = Trajectory1DParams;
        using ConfigType = Trajectory1DConfigurator;
        using ModuleDataType = Trajectory1DData;
 
        constexpr static auto Name() noexcept { return "1D Trajectory Positioning"; }
        constexpr static auto Category() noexcept { return "Motion Control"; }
 
        Trajectory1D(const std::thread::id OwnerThreadID, DynExp::ParamsBasePtrType&& Params)
            : QModuleBase(OwnerThreadID, std::move(Params)) {}
        virtual ~Trajectory1D() = default;
 
        virtual std::string GetName() const override { return Name(); }
        virtual std::string GetCategory() const override { return Category(); }
 
        std::chrono::milliseconds GetMainLoopDelay() const override final { return std::chrono::milliseconds(1); }
 
    private:
        Util::DynExpErrorCodes::DynExpErrorCodes ModuleMainLoop(DynExp::ModuleInstance& Instance) override final;
 
        void ResetImpl(dispatch_tag<QModuleBase>) override final;
 
        std::unique_ptr<DynExp::QModuleWidget> MakeUIWidget() override final;
        void UpdateUIChild(const ModuleBase::ModuleDataGetterType& ModuleDataGetter) override final;
 
        // Helper functions
        void UpdateStream(Util::SynchronizedPointer<ModuleDataType>& ModuleData);
        void Move(Util::SynchronizedPointer<ModuleDataType>& ModuleData);
        void Start(Util::SynchronizedPointer<ModuleDataType>& ModuleData) const;
        void Stop(Util::SynchronizedPointer<ModuleDataType>& ModuleData) const;
        void Trigger(Util::SynchronizedPointer<ModuleDataType>& ModuleData) const;
 
        // Events, run in module thread
        void OnInit(DynExp::ModuleInstance* Instance) const override final;
        void OnExit(DynExp::ModuleInstance* Instance) const override final;
 
        void OnStartClicked(DynExp::ModuleInstance* Instance, bool) const { OnStart(Instance); }
        void OnStopClicked(DynExp::ModuleInstance* Instance, bool) const { OnStop(Instance); }
        void OnTriggerClicked(DynExp::ModuleInstance* Instance, bool) const { OnTrigger(Instance); }
        void OnStart(DynExp::ModuleInstance* Instance) const;
        void OnStop(DynExp::ModuleInstance* Instance) const;
        void OnTrigger(DynExp::ModuleInstance* Instance) const;
 
        size_t NumFailedUpdateAttempts = 0;
    };
}