PmacBoard.h

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#ifndef PMACBOARD_H
#define PMACBOARD_H

#include <vector>

#include "carma/antenna/sza/antenna/control/AxisPositions.h"
#include "carma/antenna/sza/antenna/control/Board.h"
#include "carma/antenna/sza/antenna/control/Model.h"
#include "carma/antenna/sza/antenna/control/PmacComms.h"
#include "carma/antenna/sza/antenna/control/PmacTarget.h"
#include "carma/antenna/sza/antenna/control/SzaShare.h"

#define DPRAM_TIMEOUT 100

#define PMAC_TEST

namespace sza {
  namespace antenna {
    namespace control {
      
      class PmacBoard : public Board {
        
      public:
        
        PmacBoard(SzaShare* share, std::string name, bool simPmac=false);
        
        ~PmacBoard();
        
        bool isBusyOld(); // Version until 1 Oct 2008

        bool isBusy();    // No-op version for the new tracking mode,
                          // in which we don't synchronize with the
                          // pmac
        
        unsigned int readPositionFault();
        
        void commandNewPosition(PmacTarget* pmac);
        
        bool readPosition(AxisPositions* axes, Model* model);
        
        bool connect();
        
        void disconnect();
        
        void mirrorDpramToSharedMemory();
        
        bool pmacIsConnected();

        unsigned char driveStatusToBit(unsigned int driveStatus);

      private:
        
        bool simPmac_;

        PmacComms* comms_;
        
        RegMapBlock* hostRead_;    
        
        RegMapBlock* pmacWrite_;    
        
        RegMapBlock* newPosition_;      

        RegMapBlock* positionFault_;

        RegMapBlock* newMode_;      
        
        RegMapBlock* newAz_;        
        
        RegMapBlock* newEl_;        
        
        RegMapBlock* newDk_;        
        
        RegMapBlock* newAzRate_;   
        
        RegMapBlock* newElRate_;   
        
        RegMapBlock* newDkRate_;   
        
        RegMapBlock* azPos_;        
        
        RegMapBlock* elPos_;        
        
        RegMapBlock* dkPos_;        
        
        RegMapBlock* driveStatus_;  
        RegMapBlock* statusMask_;  
        
        unsigned long dpramSize_;
        
        unsigned long dpramBaseAddr_;
        
        unsigned long dpramCmdSize_;
        
        unsigned long dpramCmdBaseAddr_;
        
        std::vector<unsigned char> dpramWork_;

        void computeDpramStats();
        
        unsigned int* readoutDpram();
        
        void readReg(RegMapBlock* blk, unsigned int first, 
                     unsigned int nreg, unsigned int* value);
        
        void writeReg(RegMapBlock* blk, unsigned int first, 
                      unsigned int nreg, unsigned int* value);
        
        void writeRegToWork(RegMapBlock *blk, 
                            unsigned int first, unsigned int nreg, 
                            unsigned int *value);

        void writeWork();

        void initializePmac();

      }; // End class PmacBoard
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace sza

#endif // End #ifndef