gmt_dos-systems_m2 0.1.0

GMT DOS M2 System
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168

use gmt_dos_actors::{
    actor::Actor,
    framework::{
        model::{Check, Task},
        network::ActorOutputsError,
    },
    prelude::{AddActorOutput, AddOuput, TryIntoInputs},
};
use gmt_dos_clients_io::gmt_m2::fsm::segment::{FsmCommand, PiezoForces, PiezoNodes};
use gmt_dos_clients_m2_ctrl::FsmSegmentInnerController;
use serde::{Deserialize, Serialize};

use super::dispatch::{DispatchIn, DispatchOut};

#[derive(Debug, Clone, Serialize, Deserialize)]
pub enum FsmsInnerControllers<const R: usize> {
    S1(Actor<FsmSegmentInnerController<1>, R, R>),
    S2(Actor<FsmSegmentInnerController<2>, R, R>),
    S3(Actor<FsmSegmentInnerController<3>, R, R>),
    S4(Actor<FsmSegmentInnerController<4>, R, R>),
    S5(Actor<FsmSegmentInnerController<5>, R, R>),
    S6(Actor<FsmSegmentInnerController<6>, R, R>),
    S7(Actor<FsmSegmentInnerController<7>, R, R>),
}
impl<const R: usize> FsmsInnerControllers<R> {
    pub fn new(id: u8) -> Self {
        match id {
            1 => Self::S1((FsmSegmentInnerController::<1>::new(), "FSM #1").into()),
            2 => Self::S2((FsmSegmentInnerController::<2>::new(), "FSM #2").into()),
            3 => Self::S3((FsmSegmentInnerController::<3>::new(), "FSM #3").into()),
            4 => Self::S4((FsmSegmentInnerController::<4>::new(), "FSM #4").into()),
            5 => Self::S5((FsmSegmentInnerController::<5>::new(), "FSM #5").into()),
            6 => Self::S6((FsmSegmentInnerController::<6>::new(), "FSM #6").into()),
            7 => Self::S7((FsmSegmentInnerController::<7>::new(), "FSM #7").into()),
            _ => todo!(),
        }
    }
    pub fn as_check(&self) -> Box<&dyn Check> {
        match self {
            Self::S1(actor) => Box::new(actor as &dyn Check),
            Self::S2(actor) => Box::new(actor as &dyn Check),
            Self::S3(actor) => Box::new(actor as &dyn Check),
            Self::S4(actor) => Box::new(actor as &dyn Check),
            Self::S5(actor) => Box::new(actor as &dyn Check),
            Self::S6(actor) => Box::new(actor as &dyn Check),
            Self::S7(actor) => Box::new(actor as &dyn Check),
        }
    }
    pub fn into_task(self) -> Box<dyn Task> {
        match self {
            Self::S1(actor) => Box::new(actor) as Box<dyn Task>,
            Self::S2(actor) => Box::new(actor) as Box<dyn Task>,
            Self::S3(actor) => Box::new(actor) as Box<dyn Task>,
            Self::S4(actor) => Box::new(actor) as Box<dyn Task>,
            Self::S5(actor) => Box::new(actor) as Box<dyn Task>,
            Self::S6(actor) => Box::new(actor) as Box<dyn Task>,
            Self::S7(actor) => Box::new(actor) as Box<dyn Task>,
        }
    }
    pub fn fsm_command(
        &mut self,
        dispatch: &mut Actor<DispatchIn, R, R>,
    ) -> Result<(), ActorOutputsError> {
        match self {
            Self::S1(actor) => dispatch
                .add_output()
                .build::<FsmCommand<1>>()
                .into_input(actor)?,
            Self::S2(actor) => dispatch
                .add_output()
                .build::<FsmCommand<2>>()
                .into_input(actor)?,
            Self::S3(actor) => dispatch
                .add_output()
                .build::<FsmCommand<3>>()
                .into_input(actor)?,
            Self::S4(actor) => dispatch
                .add_output()
                .build::<FsmCommand<4>>()
                .into_input(actor)?,
            Self::S5(actor) => dispatch
                .add_output()
                .build::<FsmCommand<5>>()
                .into_input(actor)?,
            Self::S6(actor) => dispatch
                .add_output()
                .build::<FsmCommand<6>>()
                .into_input(actor)?,
            Self::S7(actor) => dispatch
                .add_output()
                .build::<FsmCommand<7>>()
                .into_input(actor)?,
        };
        Ok(())
    }
    pub fn fsm_pzt_motion(
        &mut self,
        dispatch: &mut Actor<DispatchIn, R, R>,
    ) -> Result<(), ActorOutputsError> {
        match self {
            Self::S1(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<1>>()
                .into_input(actor)?,
            Self::S2(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<2>>()
                .into_input(actor)?,
            Self::S3(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<3>>()
                .into_input(actor)?,
            Self::S4(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<4>>()
                .into_input(actor)?,
            Self::S5(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<5>>()
                .into_input(actor)?,
            Self::S6(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<6>>()
                .into_input(actor)?,
            Self::S7(actor) => dispatch
                .add_output()
                .build::<PiezoNodes<7>>()
                .into_input(actor)?,
        };
        Ok(())
    }
    pub fn fsm_pzt_forces(
        &mut self,
        dispatch: &mut Actor<DispatchOut, R, R>,
    ) -> Result<(), ActorOutputsError> {
        match self {
            Self::S1(actor) => actor
                .add_output()
                .build::<PiezoForces<1>>()
                .into_input(dispatch)?,
            Self::S2(actor) => actor
                .add_output()
                .build::<PiezoForces<2>>()
                .into_input(dispatch)?,
            Self::S3(actor) => actor
                .add_output()
                .build::<PiezoForces<3>>()
                .into_input(dispatch)?,
            Self::S4(actor) => actor
                .add_output()
                .build::<PiezoForces<4>>()
                .into_input(dispatch)?,
            Self::S5(actor) => actor
                .add_output()
                .build::<PiezoForces<5>>()
                .into_input(dispatch)?,
            Self::S6(actor) => actor
                .add_output()
                .build::<PiezoForces<6>>()
                .into_input(dispatch)?,
            Self::S7(actor) => actor
                .add_output()
                .build::<PiezoForces<7>>()
                .into_input(dispatch)?,
        };
        Ok(())
    }
}