AntennaDriveMsg.h

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#ifndef ANTENNADRIVEMSG_H
#define ANTENNADRIVEMSG_H

#include <string>

#include "carma/szautil/Exception.h"
#include "carma/szautil/GenericTaskMsg.h"

#include "carma/antenna/sza/antenna/control/TrackerMsg.h"

#include "carma/szaarrayutils/szaregs.h"

namespace sza {
  namespace antenna {
    namespace control {      
      
      class AntennaDriveMsg :
        public sza::util::GenericTaskMsg {
        
        public:
        
        enum MsgType {
          FLAG_BOARD,        // A message to flag a board.
          PMAC_CONNECTED,    // A message from the Tracker task that
          // the pmac is dis/connected.
          TRACKER_MSG // A message for the tracker thread.
        };
        
        MsgType type;
        
        union {
          
          struct {
            unsigned short board; // The register map index of the
            // board to un/flag
            bool flag;            // True to flag, false to unflag
          } flagBoard;
          
          struct {
            bool connected;
          } pmacConnected;
          
          TrackerMsg trackerMsg;
          
        } body;
        
        //------------------------------------------------------------
        // Methods for accessing messages for tasks managed by this
        // class.
        //------------------------------------------------------------
        
        inline TrackerMsg* getTrackerMsg()
          {
            genericMsgType_ = 
              sza::util::GenericTaskMsg::TASK_SPECIFIC;
            
            type = TRACKER_MSG;

            return &body.trackerMsg;
          }
        
        //------------------------------------------------------------
        // Methods for packing messsages to the drive task.
        //------------------------------------------------------------
        
        inline void packFlagBoardMsg(unsigned short board, bool flag) {
          genericMsgType_ = 
            sza::util::GenericTaskMsg::TASK_SPECIFIC;
          
          type = FLAG_BOARD;
          body.flagBoard.board = board;
          body.flagBoard.flag = flag;
        }
        
        inline void packPmacConnectedMsg(bool connected)
          {
            genericMsgType_ = 
              sza::util::GenericTaskMsg::TASK_SPECIFIC;
            
            type = PMAC_CONNECTED;
            
            body.pmacConnected.connected = connected;
          }
        
      }; // End AntennaDriveMsg class
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace sza

#endif // End #ifndef