AntennaDrive.h

Go to the documentation of this file.

#ifndef DRIVETASK_H
#define DRIVETASK_H

#include "carma/szautil/GenericTask.h"
#include "carma/szautil/SignalTask.h" // SIGNALTASK_HANDLER_FN

#include "carma/antenna/sza/antenna/control/AntennaDriveMsg.h"
#include "carma/antenna/sza/antenna/control/SzaShare.h"
#include "carma/antenna/sza/antenna/control/SzaTask.h"
#include "carma/antenna/sza/antenna/control/Tracker.h"

#define ANTENNADRIVE_TASK_FWD_FN(fn) void (fn)(AntennaDriveMsg* msg)

// Create an AntennaDrive class in namespace carma

namespace sza {
  namespace antenna {
    namespace control {
      
      class AntennaMaster;
      
      class AntennaDrive : 
        public SzaTask,
        public sza::util::GenericTask<AntennaDriveMsg> {
        
        public:
        
        void  sendPmacConnectedMsg(bool connected);
        
        void sendPmacDoneMsg(unsigned int seq);

        void sendSourceSetMsg(unsigned int seq);

        void sendCarmaSeqNoMsg(unsigned long seq, 
                               sza::util::GenericTaskMsg::CarmaSeqNoType type, 
                               bool success);

        private:
        
        bool simPmac_;

        friend class AntennaMaster;
        
        AntennaMaster* parent_;
        
        AntennaDrive(AntennaMaster* parent, bool simPmac=false);
        
        ~AntennaDrive();
        
        void processMsg(AntennaDriveMsg* taskMsg);
        
        void adoptBoards();
        
        //------------------------------------------------------------
        // Thread management functions.
        //------------------------------------------------------------
        
        static THREAD_START(startTracker);
        
        //------------------------------------------------------------
        // Thread cleanup handlers methods
        
        static THREAD_CLEAN(cleanTracker);
        
        //------------------------------------------------------------
        // Ping routines for the (pingable) subsystem threads
        
        static THREAD_PING(pingTracker);
        
        //------------------------------------------------------------
        // Subsystem resources.
        //
        // Pointers to the subsystem resources.  These pointers are
        // initialized by the subsystem threads on startup
        
        Tracker* trackertask_;
        
        ANTENNADRIVE_TASK_FWD_FN(forwardTrackerMsg);
        
        void respondToHeartBeat();
        
      }; // End class AntennaDrive
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace sza

#endif