DriveMgrThread.h

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#ifndef CARMA_ANTENNA_BIMA_DRIVEMGRTHREAD_H
#define CARMA_ANTENNA_BIMA_DRIVEMGRTHREAD_H

#include <vector>

// System includes
#include <string>
#include <unistd.h>

// CARMA includes
#include "carma/util/Program.h"
#include "log4cpp/Category.hh"
#include "carma/util/IPQreader.h"
#include "carma/services/Table.h"
#include "carma/antenna/bima/Drives.h"
#include "carma/antenna/bima/DriveCommand.h"
#include "carma/antenna/bima/Configuration.h"

namespace carma
{
  namespace antenna
    {
      namespace bima
        {
          class DriveMgrThread 
            {

            public:
              DriveMgrThread( Configuration &config, Drives &drives );

              static void thread( DriveMgrThread &This );
              void run();
              double getAzOffsetRadians();
              double getElOffsetRadians();

              bool isOk();

            private:
              std::string _name;
              Drives &_drives;
              Configuration &_config;
              static bool _ok;
             
              int _azNewV, _azOldV;
              int _elNewV, _elOldV;
              double _azRampDownMod, _elRampDownMod;
              double _azTarget, _elTarget;
              double _azOffset, _elOffset;
              double _azMountOffset, _elMountOffset;
              double _azApertureOffset, _elApertureOffset;
              double _lastAzOffsetRads, _lastElOffsetRads;
              double _lastObsFreq;
              std::string _lastCUEEwhat;
              time_t _cueeThrottle;
              DriveCommand::CommandType _command;

              log4cpp::Category &_logger;
        
              carma::util::IPQreader<DriveCommand> *_drvReader;
              
            }; // class DriveMgrThread
        } // namespace bima
    } // namespace antenna
} // namespace carma

#endif // CARMA_ANTENNA_BIMA_DRIVEMGRTHREAD_H