EnvironmentalMonitor.h

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#ifndef CARMA_ANTENNA_OVRO_ENVIRONMENTALMONITOR_H
#define CARMA_ANTENNA_OVRO_ENVIRONMENTALMONITOR_H

// Carma includes
#include "carma/canbus/devices/XacDevice.h"
#include "carma/canbus/Types.h"
#include "carma/monitor/OvroSubsystem.h"
#include "carma/util/PthreadMutex.h"

namespace log4cpp {
    class Category;
} // End namespace log4cpp

namespace carma {
namespace antenna {
namespace ovro {

class EnvironmentalMonitor : public carma::canbus::devices::XacDevice {
public:

    EnvironmentalMonitor(
        carma::canbus::nodeType node, 
        carma::canbus::CanOutput &io,
        carma::monitor::OvroSubsystem & mon);

    ~EnvironmentalMonitor();

    carma::canbus::MsgBriefMap getHalfSecMonitors() const;

    carma::canbus::MsgBriefMap getSlowMonitors() const;

    void processMsg( carma::canbus::msgType      mid, 
                     carma::canbus::DataVector & data, 
                     bool                        sim );

    carma::canbus::Message simulateMsg( carma::canbus::msgType mid );

    void updateFrameData(); 

    // Public control commands
    void enableCamera(bool on);

    void turnSidecabPowerOff();

    void enable24vPs(unsigned short supplyNo, bool on);
    
protected:
    // No protected members
private:
    
    // Disallow assignment and copy construction.
    EnvironmentalMonitor(const EnvironmentalMonitor &);
    EnvironmentalMonitor &operator=(const EnvironmentalMonitor &);

    // Routines to process individual blanking frame CAN packets.
    // These routines are called by processMsg.
    void processBlankingFramePacket1( carma::canbus::DataVector & data );
    void processBlankingFramePacket2( carma::canbus::DataVector & data );
    void processBlankingFramePacket3( carma::canbus::DataVector & data );
    void processBlankingFramePacket4( carma::canbus::DataVector & data );

    // Routines to produce individual simulated blanking frame CAN packets.
    // These routines are called by simulateMsg.
    carma::canbus::Message simBlankingFramePacket1();
    carma::canbus::Message simBlankingFramePacket2();
    carma::canbus::Message simBlankingFramePacket3();
    carma::canbus::Message simBlankingFramePacket4();

    log4cpp::Category &                                   log_; 
    carma::monitor::OvroSubsystem::EnvironmentalMonitor & mon_;
    carma::monitor::OvroSubsystem::Track &                trackMon_;
    carma::monitor::AntennaCommon &                       comMon_;
    
}; // End class EnvironmentalMonitor
}}} // End namespace carma::antenna::ovro
#endif