Model.h

Go to the documentation of this file.

#ifndef MODEL_H
#define MODEL_H

#include "carma/szautil/Axis.h"
#include "carma/antenna/sza/antenna/control/AzTilt.h"
#include "carma/antenna/sza/antenna/control/Collimation.h"
#include "carma/antenna/sza/antenna/control/ElTilt.h"
#include "carma/antenna/sza/antenna/control/Encoder.h"
#include "carma/antenna/sza/antenna/control/Flexure.h"
#include "carma/szautil/PointingMode.h"

namespace sza {
  namespace antenna {
    namespace control {
      
      
      class Model {
        
      public:
        
        Model();
        
        ~Model();
        
        void reset();
        
        sza::antenna::control::Collimation* 
          Collimation(sza::util::PointingMode::Type mode);
        
        void setCurrentCollimation(sza::util::PointingMode::Type mode);
        
        sza::antenna::control::Collimation* currentCollimation();
        
        sza::antenna::control::Flexure* 
          Flexure(sza::util::PointingMode::Type mode);
        
        void setCurrentFlexure(sza::util::PointingMode::Type mode);
        
        sza::antenna::control::Flexure* currentFlexure();
        
        sza::antenna::control::Encoder* 
          Encoder(sza::util::Axis::Type axis);
        
        void updateMountLimits();
        
        void setFlexure(double flexure);
        
        bool isCurrent(sza::antenna::control::Collimation* collim);
        
        bool isCurrent(sza::antenna::control::Flexure* flexure);

        void applyFlexure(PointingCorrections* f);
        
        void applyCollimation(PointingCorrections* f);
        
        sza::antenna::control::AxisTilt* 
          AxisTilt(sza::util::Axis::Type axis);
        
        void packEncoderZeros(signed* s_elements);
        
        void packEncoderMultipliers(signed* s_elements);
        
        void packTilts(signed* s_elements);
        
        void packFlexure(signed* s_elements);
        
        void packCollimationMode(unsigned* u_elements);
        
        void packCollimation(signed* s_elements);
        
      private:
        
        sza::antenna::control::Encoder az_; 
        sza::antenna::control::Encoder el_; 
        sza::antenna::control::Encoder pa_; 
        
        AzTilt azt_;           
        
        ElTilt elt_;
        
        //------------------------------------------------------------
        // Collimation terms
        //------------------------------------------------------------

        // The collimation model for optical pointing

        sza::antenna::control::Collimation opticalCollimation_; 
        
        // The collimation model for radio pointing

        sza::antenna::control::Collimation radioCollimation_;   
        
        // A pointer to the currently selected radio or or optical
        // collimation model

        sza::antenna::control::Collimation* currentCollimation_;
        
        //------------------------------------------------------------
        // Flexure terms
        //------------------------------------------------------------

        // The flexure model for optical pointing

        sza::antenna::control::Flexure opticalFlexure_; 
        
        // The flexure model for radio pointing

        sza::antenna::control::Flexure radioFlexure_;   
        
        // A pointer to the currently selected radio or or optical
        // flexure model

        sza::antenna::control::Flexure* currentFlexure_;
        
      }; // End class Model
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace sza

#endif // End #ifndef