AntennaRx.h

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#ifndef ANTENNARX_H
#define ANTENNARX_H

#include "carma/szautil/GenericTask.h"

#include "carma/antenna/sza/antenna/control/AntennaRxMsg.h"
#include "carma/antenna/sza/antenna/control/SzaTask.h"
#include "carma/szautil/Directives.h"

#if DIR_HAVE_CARMA
#include "carma/antenna/sza/antenna/canbus/CanCommand.h"
#include "carma/antenna/sza/antenna/canbus/SelectRxCommand.h"
#include "carma/antenna/sza/antenna/canbus/SetBiasCommand.h"
#endif

#include <map>

namespace sza {
  namespace antenna {

#if DIR_HAVE_CARMA
    namespace canbus {
      class IFMod;
      class BiasTunedGunn;
      class CalTert;
      class IntMod;
      class Receiver;
      class Thermal;
      class TiltMeter;
      class VaractorTunedGunn;
      class Yig;
    }
#endif

    namespace control {

      class AntennaMaster;
      
      class AntennaRx : 
        public SzaTask,
        public sza::util::GenericTask<AntennaRxMsg> {
        
        public:
        
        void registerDone();

        void registerCarmaRequest(AntennaRxMsg* msg);
        void sendCarmaSeqNoMsg(bool success);

        void sendCalTertDoneMsg(unsigned int seq);

        void sendIFModDoneMsg(unsigned int seq);

#if DIR_HAVE_CARMA

        static CAN_EXECUTE_DONE_HANDLER(sendExecuteNextCanInstructionMsg);

        static CAN_COMMAND_DONE_HANDLER(sendCanCommandDoneMsg);

        static CAN_COMMAND_DONE_HANDLER(sendSelectRxCommandDoneMsg);

        static CAN_COMMAND_FAILED_HANDLER(canCommandFailed);

        static CAN_COMMAND_FAILED_HANDLER(selectRxCommandFailed);

#endif

        sza::util::AntNum* getAnt();

        void setTuningPending(bool pending);

        AntennaMaster* parent() {
          return parent_;
        }

        private:
        
        sza::util::Rx::Id rxId_;
        
        friend class AntennaMaster;
        
        AntennaMaster* parent_;
        
        static AntennaRx* antennaRx_;
        
        std::map<sza::util::GenericTaskMsg::CarmaSeqNoType, unsigned long> lastReqCarmaSeqNo_;
        std::map<sza::util::GenericTaskMsg::CarmaSeqNoType, unsigned long> lastAckCarmaSeqNo_;
        sza::util::GenericTaskMsg::CarmaSeqNoType carmaSeqNoType_;

        // Declare CAN commands this class will execute

#if DIR_HAVE_CARMA
        friend class sza::antenna::canbus::SelectRxCommand;
        class sza::antenna::canbus::SelectRxCommand selectRxCommand_;

        friend class sza::antenna::canbus::SetBiasCommand;
        sza::antenna::canbus::SetBiasCommand setBiasCommand_;
#endif

        AntennaRx(AntennaMaster* parent);
        
        ~AntennaRx();
        
        void processMsg(AntennaRxMsg* msg);

#if DIR_HAVE_CARMA

        sza::antenna::canbus::IFMod*             IFMod_;
        sza::antenna::canbus::BiasTunedGunn*     gunn_;
        sza::antenna::canbus::CalTert*           calTert_;
        sza::antenna::canbus::IntMod*            intMod_;
        sza::antenna::canbus::Receiver*          receiver_;
        sza::antenna::canbus::Thermal*           thermal_;
        sza::antenna::canbus::TiltMeter*         tiltmeter_;
        sza::antenna::canbus::VaractorTunedGunn* varactor_;
        sza::antenna::canbus::Yig*               yig_;
        
        void installCanDevices();

        void processCanMsg(AntennaRxMsg* msg);

        void processCalTertMsg(AntennaRxMsg* msg);

        void processIFModMsg(AntennaRxMsg* msg);

        void processIntModMsg(AntennaRxMsg* msg);

        void processThermalMsg(AntennaRxMsg* msg);

        void processTiltMeterMsg(AntennaRxMsg* msg);

        void processLoMsg(AntennaRxMsg* msg);

        void toggleLo(sza::util::LoOsc::Osc osc, 
                      sza::util::LoStage::Stage stages,
                      bool on);


        void stepCanCommand(AntennaRxMsg::MsgType type);
#endif
        
        void sendTrackerRxMsg(sza::util::Rx::Id rxId);

        bool moveTertiary(sza::util::Rx::Id rxId);

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

#endif