Pointing.h

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#ifndef POINTING_H
#define POINTING_H

// Needed for SRC_LEN

#include "carma/szaarrayutils/szaregs.h"

#include "carma/szautil/Axis.h"
#include "carma/szautil/PmacMode.h"
#include "carma/szautil/RegDate.h"

#include "carma/antenna/sza/antenna/control/AxisPositions.h"
#include "carma/antenna/sza/antenna/control/Encoder.h"
#include "carma/antenna/sza/antenna/control/PmacAxis.h"
#include "carma/antenna/sza/antenna/control/Position.h"
#include "carma/antenna/sza/antenna/control/SzaShare.h"
#include "carma/antenna/sza/antenna/control/TrackerMsg.h"

namespace sza {
  namespace antenna {
    namespace control {
      
      
      class Tracker;
      
      class Pointing {
        
      public:

        enum PositionType {
          MOUNT_ANGLES,
          MOUNT_RATES,
          TOPOCENTRIC,
          GEOCENTRIC
        };
        
        Pointing();
        
        void reset();
        
        // Methods to set up pointing in preparation for various moves
        
        void setupForHalt(SzaShare* share);
        
        void setupForReboot(SzaShare* share);
        
        void setupForSlew(SzaShare* share, TrackerMsg* msg);
        
        void setupForTrack();

        // Member modification methods
        
        void setTime(double utc);
        
        void setTime(int mjd, int sec);
        
        void setName(char* name);
        unsigned char* getName();

        void setAxes(sza::util::Axis::Type axes);
        
        void setRa(double ra);
        
        void setDec(double dec);
        
        void setDist(double dist);
        
        void setRefraction(double refraction);
        
        // Member access methods
        
        sza::util::Axis::Type getAxes();
        
        bool includesAxis(sza::util::Axis::Type axis);
        
        double getUtc();
        sza::util::RegDate getDate();
        
        double getRefraction();
        
        void convertMountToEncoder(Encoder* encoder,
                                   PmacAxis* axis,
                                   int current,
                                   bool ignoreWrapLogic=true);
        
        sza::antenna::control::Position* Position(PositionType type);
        
        void setAngles(double az, double el, double pa);
        
        void setRates(double az, double el, double pa);
        
        void computeGeocentricPosition(double lst, PointingCorrections* f);
        
        void packUtc(unsigned* u_elements);
        
        void packSourceName(unsigned* u_elements, int nel);
        
        void packEquatGeoc(signed* s_elements);
        
        void packHorizGeoc(signed* s_elements);
        
        void packHorizTopo(signed* s_elements);
        
        void packHorizMount(signed* s_elements);
        
        bool isFixed();
        bool isHalt();

        void setCurrentPosition(AxisPositions& axes);
        AxisPositions currentPosition_;
        sza::util::PmacMode::Mode mode_;

      private:
        
        friend class Tracker;
        
        bool currentPositionIsSet_;

        double wrapPi(double angle);
        
        double wrap2pi(double angle);
        
        char name_[SRC_LEN];  
        
        int mjd_, sec_;       
        
        double ra_,dec_;      
        
        double dist_;         
        
        double refraction_;   
        
        sza::antenna::control::Position geocentric_;   
        
        sza::antenna::control::Position topocentric_;  
        
        sza::antenna::control::Position mountAngles_; 
        
        sza::antenna::control::Position mountRates_;  
        
        sza::util::Axis::Type axes_;    // The set of axes to drive,
                                        // expressed as a bitwise
                                        // union of Axis enumerators.

        bool isFixed_; // Is this a fixed source?
        bool isHalt_;  // Is this a request to halt the telescope?

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

#endif // End #ifndef