Optics.h

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#ifndef CARMA_ANTENNA_OVRO_OPTICS_H
#define CARMA_ANTENNA_OVRO_OPTICS_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 {
    // Forward dec
    class Category;
} // End namespace log4cpp

namespace carma {

namespace antenna {
namespace ovro {

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

    Optics( carma::canbus::nodeType node, 
            carma::canbus::CanOutput & io,
            carma::monitor::OvroSubsystem & ovroSubsys );

    ~Optics();

    std::map<carma::canbus::msgType, std::string> getHalfSecMonitors() const;

    std::map<carma::canbus::msgType, std::string> getSlowMonitors() const;

    void processMsg(carma::canbus::msgType mid, 
                    std::vector<carma::canbus::byteType> &data, 
                    bool sim);

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

    void updateFrameData(); 

    // Public control commands 
    enum CAL_POS {
        SKY               = 0x00,  // Sky 
        AMBIENT           = 0x01,  // Sidecab temperature
        PARTIAL           = 0x02,  // Partial reflecting vane
        HOT               = 0x03,  // Temperature controlled load
    }; 
    
    enum POLARIZATION_STATE {
        LINEAR_VERTICAL    = 0x00,
        LINEAR_HORIZONTAL  = 0x01,
        LEFT_CIRCULAR      = 0x02,
        RIGHT_CIRCULAR     = 0x03
    };
    
    enum RECEIVER {
        RX_CM           = 0x00,   // Centimeter Receiver
        RX_3MM          = 0x01,   // 3mm Receiver
        RX_1MM          = 0x02,   // 1mm Receiver
        RX_GRID         = 0x03    // Grid (3mm and 1mm)
    };
    
    enum MM_RX_SELECTION {
        MIRROR          = 0x00, // Mirror (3-mm Rx)
        THROUGH         = 0x01, // Through (1-mm)
        GRID            = 0x02  // Grid (3-mm and 1-mm)
    }; 
        
    void selectReceiver( enum RECEIVER rx );

    void setCalPosition( enum CAL_POS pos );

    void setCalPosition( enum CAL_POS pos,
                         unsigned long sequenceNo,
                         bool sequenceNoFromRx );

    void moveMmRxSelect( enum MM_RX_SELECTION mmRx );

    void moveTertiary( bool in );

    void setMmCalPosition( enum CAL_POS pos ); 

    void setCmCalPosition( enum CAL_POS pos ); 

    void setMmRxSelectorAngle( float angleInDegrees );

private:

    
    // Disallow assignment and copy construction.
    Optics(const Optics &);
    Optics &operator=(const Optics &);

    // Routines to process individual blanking frame CAN packets.
    // These routines are called by processMsg.
    void processBlankingFramePacket1(
        std::vector<carma::canbus::byteType> &data);
    void processBlankingFramePacket2(
        std::vector<carma::canbus::byteType> &data);
    void processBlankingFramePacket3(
        std::vector<carma::canbus::byteType> &data);
    void processBlankingFramePacket4(
        std::vector<carma::canbus::byteType> &data);
    void processBlankingFramePacket5(
        std::vector<carma::canbus::byteType> &data);
    void processBlankingFramePacket6(
        std::vector<carma::canbus::byteType> &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();
    carma::canbus::Message simBlankingFramePacket5();
    carma::canbus::Message simBlankingFramePacket6();
    
    typedef carma::monitor::OvroSubsystem::CalStateMonitorPointEnum OvroCalStateMPE;

    void
    setAntennaCommonCalibratorState( 
        OvroCalStateMPE::CALSTATE instantaneousCalState );

    void 
    handlePendingCalibratorPositionRequests( 
        OvroCalStateMPE::CALSTATE instantaneousCalState );

    typedef struct {
        OvroCalStateMPE::CALSTATE requestedPosition;
        bool                      requestPending;
        unsigned int              requestPendingFrames; 
        unsigned long             pendingSequenceNo;  
        bool                      sequenceNoFromRx;
        carma::util::PthreadMutex mutex;
    } CalPosRequestType;

    // Member variables
    log4cpp::Category &log_;  // Reference to the system logger
    carma::monitor::AntennaCommon &common_; // Reference to common MPs.
    carma::monitor::OvroSubsystem::Optics &mon_;

    CalPosRequestType calPosRequest_;
    unsigned long currentSequenceNo_;  

    OvroCalStateMPE::CALSTATE lastInstantaneousCalState_; 

}; // End class Optics 
}}} // End namespace carma::antenna::ovro
#endif