CanInstruction.h

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#ifndef SZA_ANTENNA_CANBUS_CANINSTRUCTION_H
#define SZA_ANTENNA_CANBUS_CANINSTRUCTION_H

namespace sza {
  namespace antenna {
    namespace canbus {
      
      class CanCommand;

      class CanInstruction {
      public:
        
        // Instructions can be either CAN messages or monitor
        // conditions
        
        enum Type {
          NONE,
          MESSAGE,
          CONDITION
        };
        
        CanInstruction(); // Needed so that we can do
                          // vector<CanInstruction>::resize()
        CanInstruction(const CanInstruction& instruction);
        
        CanInstruction(CanDevice* device, 
                       std::vector<carma::canbus::Message> messages);
        
        CanInstruction(CanMonitorPoint* monitor, 
                       CanMonitorCondition& condition, 
                       char* message, 
                       sza::util::Coord* coord=0);
        
        virtual ~CanInstruction();
        
        // Set methods, corresponding to each constructor type
        
        void setTo(const CanInstruction& instruction);
        
        void setTo(CanDevice* device, 
                   std::vector<carma::canbus::Message> messages);
        
        void setTo(CanMonitorPoint* monitor, 
                   CanMonitorCondition& condition, 
                   char* message, sza::util::Coord* coord=0);
        
        // Convenience methods
        
        Type execute(CanCommand* command);
        
      private:
        
        friend class CanCommand;

        Type type_;  // The type of instruction
        
        //------------------------------------------------------------
        // Instruction for a CAN command
        //------------------------------------------------------------
        
        // The CAN device for whom this intruction is intended
        
        CanDevice* device_;     
        
        // The vector of node messages to send
        
        std::vector<carma::canbus::Message> messages_; 
        
        //------------------------------------------------------------
        // Instruction for a monitor point condition
        //------------------------------------------------------------
        
        CanMonitorPoint* monitor_;      // The monitor point to test
        CanMonitorCondition condition_; // The monitor condition to be met
        sza::util::Coord coord_; // The coordinate of the monitor point
        std::string message_;    // A message to report if the
                                 // condition times out
        
      }; // End class CanInstruction
      
    } // End namespace canbus
  } // End namespace antenna
} // End namespace sza



#endif // End #ifndef SZA_ANTENNA_CANBUS_CANINSTRUCTION_H