Fix #637, implemented the new SRT Minor Servo Command library (#645)

#ifndef _SRTMINORSERVOCOMMANDLIBRARY_H

#define _SRTMINORSERVOCOMMANDLIBRARY_H

/**

 * SRTMinorServoCommandLibrary.h

 * 2021/12/07

 * Giuseppe Carboni (giuseppe.carboni@inaf.it)

 */

#include <sstream>

#include <vector>

#include <acstimeEpochHelper.h>

#include <IRA>

/**

 * SRT Minor Servo Command Library

 *

 * This class features static functions used to build commands to be sent to the PON minor servo control unit of the Sardinia Radio Telescope

 */

class SRTMinorServoCommandLibrary

{

public:

    /**

     * Builds the command used to ask the status of the MSCU or, eventually, a single servo

     * @param servo_id the ID number of the eventual single servo to retrieve the status

     * @return the composed message

     */

    static std::string status(int servo_id = -1);

    /**

     * Builds the command used to configure the telescope for an observation

     * @param configuration the desired observing configuration

     * @return the composed message

     */

    static std::string setup(std::string configuration);

    /*

     * Builds the command used to stow a single servo system to a given stow position

     * @param servo_id the ID number of the single servo to be stowed

     * @param stow_position the position to which the servo have to stow to

     * @return the composed message

     */

    static std::string stow(unsigned int servo_id, unsigned int stow_position = 0);

    /*

     * Builds the command used to stop a single servo system

     * @param servo_id the ID number of the single servo to be stopped

     * @return the composed message

     */

    static std::string stop(unsigned int servo_id);

    /*

     * Builds the command used to move a single servo to a given set of coordinates

     * @param servo_id the ID number of the single servo to be moved

     * @param coordinates a vector containing the N coordinates to be sent to the servo

     * @return the composed message

     */

    static std::string preset(unsigned int servo_id, std::vector<double> coordinates);

    /*

     * Builds the command used to provide a single tracking set of coordinates to a single servo

     * @param servo_id the ID number of the single servo to send the command to

     * @param trajectory_id the ID number of the trajectory the given set of coordinates belongs to

     * @param point_id the ID number of the given set of coordinates inside the trajectory

     * @param coordinates a vector containing the N coordinates the servo have to move to at the given time

     * @param start_time only mandatory for the first point in the trajectory, a double representing the UNIX epoch of the starting instant of the trajectory

     * @return the composed message

     */

    static std::string programTrack(unsigned int servo_id, unsigned int trajectory_id, unsigned int point_id, std::vector<double> coordinates, double start_time = -1);

};

#endif

#

# Includes (.h) files (public only)

# ---------------------------------

INCLUDES        = hexlib.h

INCLUDES        = hexlib.h SRTMinorServoCommandLibrary.h

#

# Libraries (public and local)

# ----------------------------

LIBRARIES       = SRTMinorServoLibrary

LIBRARIES       = SRTMinorServoLibrary SRTMinorServoCommandLibrary

LIBRARIES_L     =

SRTMinorServoLibrary_OBJECTS = hexlib

SRTMinorServoLibrary_LIBS =

SRTMinorServoCommandLibrary_OBJECTS = SRTMinorServoCommandLibrary

SRTMinorServoCommandLibrary_LIBS = IRALibrary

#

# <brief description of lllll library>

/**

 * SRTMinorServoCommandLibrary.cpp

 * 2021/12/07

 * Giuseppe Carboni (giuseppe.carboni@inaf.it)

 */

#include "SRTMinorServoCommandLibrary.h"

std::string SRTMinorServoCommandLibrary::status(int servo_id)

{

    std::stringstream command;

    command << "status";

    if(servo_id >= 0)

    {

        command << "=" << servo_id;

    }

    command << std::endl;

    return command.str();

}

std::string SRTMinorServoCommandLibrary::setup(std::string configuration)

{

    std::stringstream command;

    command << "setup=" << configuration << std::endl;

    return command.str();

}

std::string SRTMinorServoCommandLibrary::stow(unsigned int servo_id, unsigned int stow_position)

{

    std::stringstream command;

    command << "stow=" << servo_id << "," << stow_position << std::endl;

    return command.str();

}

std::string SRTMinorServoCommandLibrary::stop(unsigned int servo_id)

{

    std::stringstream command;

    command << "stop=" << servo_id << std::endl;

    return command.str();

}

std::string SRTMinorServoCommandLibrary::preset(unsigned int servo_id, std::vector<double> coordinates)

{

    std::stringstream command;

    command << "preset=" << servo_id;

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

    }

    command << std::endl;

    return command.str();

}

std::string SRTMinorServoCommandLibrary::programTrack(unsigned int servo_id, unsigned int trajectory_id, unsigned int point_id, std::vector<double> coordinates, double start_time)

{

    std::stringstream command;

    command << "programTrack=" << servo_id << "," << trajectory_id << "," << point_id << ",";

    if(start_time > 0)

    {

        command << std::fixed << std::setprecision(6) << start_time;

    }

    else

    {

        command << "*";

    }

    command.unsetf(std::ios_base::floatfield);

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

    }

    command << std::endl;

    return command.str();

}