OpticalTelHandle.h

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#ifndef CARMA_CONTROL_OPTICAL_TEL_HANDLE_H
#define CARMA_CONTROL_OPTICAL_TEL_HANDLE_H

#include "carma/corba/corba.h"
#include "carma/control/RemoteObjHandleT.h"
#include "carma/monitor/ControlSubsystem.h"
#include "carma/antenna/common/OpticalTelControl.h"


namespace carma {
namespace control {


typedef RemoteObjHandleT< antenna::common::OpticalTelControl >
        OpticalTelControlRemoteObjHandle;


class OpticalTelHandle : public OpticalTelControlRemoteObjHandle {
    public:
        OpticalTelHandle(
            unsigned short                           carmaAntNo,
            monitor::MonitorSystem &                 monitorSys,
            monitor::ControlSubsystemBase::Antenna & antenna );
    
        virtual ~OpticalTelHandle( );
        
        void findCentroidWithSeqNo( 
            monitor::MonitorSystem * monsys, // Pointer allows polymorphic casts
            CORBA::UShort numFramesPerImage,
            CORBA::UShort minValidCentroids,
            CORBA::UShort maxCentroidAttempts,
            CORBA::UShort numEdgePixels,
            CORBA::UShort apertureRadiusPixels,
            CORBA::Float pixelThresholdSigma,
            CORBA::Boolean subBackground,
            CORBA::Boolean normalizeMedian,
            int preferredSequenceNo );

        void takeBackgroundWithSeqNo(
            monitor::MonitorSystem * monsys, // Pointer allows polymorphic casts
            CORBA::UShort numFrames,
            int preferredSequenceNo );

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

    private:

        int nextSequenceNo_;
        int consecutiveErrors_;
        int errorLimit_;

        const unsigned short carmaAntNo_;
};


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


#endif