FocusHandle.h

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#ifndef CARMA_CONTROL_FOCUS_HANDLE_H
#define CARMA_CONTROL_FOCUS_HANDLE_H


#include "carma/corba/corba.h"
#include "carma/antenna/common/FocusControl.h"
#include "carma/control/SubarrayControl_skel.h"
#include "carma/control/RemoteObjHandleT.h"
#include "carma/monitor/MonitorSystem.h"
#include "carma/monitor/ControlSubsystemExt.h"
#include "carma/monitor/ControlSubsystem.h"


namespace carma {
namespace control {


typedef RemoteObjHandleT< antenna::common::FocusControl > 
        FocusControlRemoteObjHandle;


class FocusHandle : public FocusControlRemoteObjHandle {
    public:
        FocusHandle( unsigned short                           carmaAntNo, 
                     monitor::MonitorSystem &                 monitorSystem,
                     monitor::ControlSubsystemBase::Antenna & antenna );
        
        virtual ~FocusHandle( );

        void setX( float positionMm, int preferredSeqNo ); 
        void setY( float positionMm, int preferredSeqNo ); 
        void setZ( float positionMm, int preferredSeqNo ); 

        bool isActionComplete( const monitor::MonitorSystem & monsys,
                               int monDataErrorLimit );
        
    private:

        void setNextSequenceNo( int preferredSequenceNo );

        int nextSequenceNo_; 
        int errLimit_;
        int consecutiveErrors_;

        monitor::MonitorSystem & monitorSystem_;
        const unsigned short carmaAntNo_;

};


}  // namespace carma::control
}  // namespace carma


#endif