CanMonitorPoint.h

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#ifndef SZA_ANTENNA_CANBUS_CANMONITORPOINT_H
#define SZA_ANTENNA_CANBUS_CANMONITORPOINT_H

#include "carma/antenna/sza/antenna/canbus/CanMonitorCondition.h"
#include "carma/szaarrayutils/regmap.h"
#include "carma/szautil/DataType.h"

#define CAN_MONITOR_CONDITION_HANDLER(fn) void (fn)(void* arg, bool satisfied, std::string message)

namespace sza {

  namespace util {
    class Coord;
    class CoordRange;
  }
  
  namespace antenna {

    namespace control {
      class SzaShare;
    }

    namespace canbus {
      
      class CanMonitorPoint {
      public:
        
        CanMonitorPoint(sza::antenna::control::SzaShare* share, 
                        RegMapBlock* block);
        
        virtual ~CanMonitorPoint();
        
        inline RegMapBlock* block() {
          return block_;
        }

        void writeReg(bool isSim, bool b, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, unsigned char uc, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, char ch, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, unsigned short us, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, short s, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, unsigned int ui, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, int i, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, float f, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, double d, sza::util::CoordRange* range=0);

        void writeReg(bool isSim, bool* b, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, unsigned char* uc, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, char* ch, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, unsigned short* us, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, short* s, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, unsigned int* ui, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, int* i, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, float* f, sza::util::CoordRange* range=0);
        void writeReg(bool isSim, double* d, sza::util::CoordRange* range=0);

        // Register a callback associated with a condition

        void registerConditionHandler(CAN_MONITOR_CONDITION_HANDLER(*handler), 
                                      void* arg,
                                      std::string& message,
                                      CanMonitorCondition& condition, 
                                      sza::util::Coord* coord=0);

        // This struct will manage condition-handler associations.

        struct ConditionHandler {
          CanMonitorCondition condition_;
          CAN_MONITOR_CONDITION_HANDLER(*handler_);
          void* arg_;
          std::string message_;

          unsigned packetCount_;
          unsigned stablePacketCount_;
          unsigned giveUpPacketCount_;

          ConditionHandler();
          void callHandler(bool conditionWasMet);
        };

      private:

        // The register block that represents this monitor point

        RegMapBlock* block_;

        // A pointer to the shared memory object

        sza::antenna::control::SzaShare* share_;

        // The value of this monitor point

        sza::util::DataType dataType_;

        // A vector of handlers

        std::vector<ConditionHandler> handlers_;

        void checkHandler(bool isSim, sza::util::CoordRange* range);

      }; // End class CanMonitorPoint
      
    } // End namespace canbus
  } // End namespace antenna
} // End namespace sza


#endif // End #ifndef SZA_ANTENNA_CANBUS_CANMONITORPOINT_H