Clock.h

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#ifndef CARMA_CLOCK_CLOCK_H
#define CARMA_CLOCK_CLOCK_H

// CARMA includes
#include "carma/canbus/devices/XacDevice.h"
#include "carma/clock/ClockControl.h"
#include "carma/corba/corba.h"
#include "carma/monitor/MasterClockSubsystem.h"

namespace carma {

namespace clock {

class Clock : public carma::canbus::devices::XacDevice {
public:
  Clock(carma::canbus::nodeType node,
        carma::canbus::CanOutput &io,
        carma::monitor::MasterClockSubsystem *masterClockSubsystem);

  // virtual destructor
  virtual ~Clock();

  static carma::canbus::apiType getApiId();

private:
  virtual std::map<carma::canbus::msgType, std::string>
    getControls() const;

  virtual std::map<carma::canbus::msgType, std::string>
    getHalfSecMonitors() const;

  virtual std::map<carma::canbus::msgType, std::string>
    getSlowMonitors() const;

  virtual carma::canbus::Message
    simulateMsg(carma::canbus::msgType messageId);

  // simulation of CAN messages corresponding to monitor points
  carma::canbus::Message simulateBlankingFramePacket1();
  carma::canbus::Message simulateBlankingFramePacket2();
  carma::canbus::Message simulateBlankingFramePacket3();
  carma::canbus::Message simulateBlankingFramePacket4();
  carma::canbus::Message simulateBlankingFramePacket5();
  carma::canbus::Message simulateBlankingFramePacket6();
  carma::canbus::Message simulateBlankingFramePacket7();
  carma::canbus::Message simulateBlankingFramePacket8();
  carma::canbus::Message simulateBlankingFramePacket9();

  virtual void processMsg(carma::canbus::msgType messageId,
                          std::vector<carma::canbus::byteType>& data,
                          bool sim);

  // half-second monitor packet processing routines
  void processBlankingFramePacket1(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket2(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket3(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket4(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket5(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket6(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket7(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket8(std::vector<carma::canbus::byteType> &data);
  void processBlankingFramePacket9(std::vector<carma::canbus::byteType> &data);

public:

  // CORBA control routines
  void setPpsMode(carma::clock::ppsModeType ppsMode);

  void setRbMode(carma::clock::rbModeType rbMode);

  void setGpsSource(carma::clock::gpsSourceType gpsSource);

  void set10MHzSource(carma::clock::tenMHzSourceType tenMHzSource);

  void setHbDelay(CORBA::UShort delay, carma::clock::delayRegister reg);

  void resync10MHzGps(carma::clock::walshSyncType walshSync);

  void resetRb();

  void initialize(carma::clock::ppsModeType ppsMode,
                  carma::clock::rbModeType rbMode,
                  carma::clock::gpsSourceType gpsSource,
                  carma::clock::tenMHzSourceType tenMHzSource,
                  carma::clock::walshSyncType walshSync);

private:

  void updateFrameData( );

  // reference to monitor subsystem
  carma::monitor::MasterClockSubsystem::Clock *mon_;

};  // class Clock

}  // namespace carma::clock
}  // namespace carma

#endif