AntennaMonitor.h

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#ifndef ANTENNAMONITOR_H
#define ANTENNAMONITOR_H

#include "carma/szautil/DataFrame.h"
#include "carma/szautil/GenericTask.h"
#include "carma/szautil/NetStr.h"
#include "carma/szautil/NetMsgHandler.h"
#include "carma/szautil/SignalTask.h"
#include "carma/szautil/TcpClient.h"

#include "carma/antenna/sza/antenna/control/AntennaMonitorMsg.h"
#include "carma/antenna/sza/antenna/control/Scanner.h"
#include "carma/antenna/sza/antenna/control/SzaTask.h"

namespace sza {
  namespace antenna {
    namespace control {
      
      class AntennaDrive;
      class AntennaMaster;

      class AntennaMonitor : 
        public SzaTask,
        public sza::util::GenericTask<AntennaMonitorMsg> {
        
        private:
        
        
        Scanner* scanner_;
        
        friend class AntennaMaster;
        
        AntennaMaster* parent_;
        
        AntennaMonitor(AntennaMaster* master);
        
        ~AntennaMonitor();
        
        //------------------------------------------------------------
        // Methods for communication with this task
        //
        
        void sendDispatchDataFrameMsg();
        
        void processMsg(AntennaMonitorMsg* taskMsg);
        
        std::string host_;           
        
        sza::util::TcpClient client_;
        
        sza::util::NetMsgHandler netMsgHandler_;

        bool connectionPending_;

        sza::util::NetHandler netDataFrameHandler_;       
        
        bool dispatchPending_;

        bool connect();

        void disconnect();

        void connectScanner(bool reEnable);
          
        void disconnectScanner();
          
        void serviceMsgQ();

        // Handlers to be called while communicating with the
        // translator

        static NET_READ_HANDLER(netMsgReadHandler);
        static NET_SEND_HANDLER(netMsgSentHandler);
        static NET_SEND_HANDLER(netDataFrameSentHandler);

        static NET_ERROR_HANDLER(netErrorHandler);

        void packNextFrame();

        void dispatchNextFrame();

        void packFrame(sza::util::DataFrame* frame);

        void sendScannerConnectedMsg(bool connected);

        void sendAntennaIdMsg();

        void parseGreetingMsg(sza::util::NetMsg* msg);

      }; // End class AntennaMonitor
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace sza

#endif