RxTemperatures.h

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#ifndef CARMA_ANTENNA_OVRO_RXTEMPERATURES_H
#define CARMA_ANTENNA_OVRO_RXTEMPERATURES_H

// Carma includes
#include "carma/canbus/devices/XacDevice.h"
#include "carma/monitor/OvroSubsystem.h"

// STL includes
#include <map>
#include <vector>

namespace log4cpp {
    // Forward dec
    class Category;
} // End namespace log4cpp

namespace carma {
namespace antenna {
namespace ovro {

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

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

    virtual ~RxTemperatures( );

    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 and enumerations.

    enum LoopId { LOOP_1, LOOP_2 };
    enum OpMode { LOOP_ON, LOOP_OFF, MANUAL };

    void setTemperature( enum LoopId loop, float temp );

    void regulateTemperature( enum LoopId loop, 
                              enum OpMode mode, 
                              float pwr = 0.0 );

    void setLoopGain( enum LoopId loop, float gain );

    void setLoopIntegrationConstant( enum LoopId loop, float integration );

    void setLoopRateConstant( enum LoopId loop, float rate );

    void setLoopBandwidth( enum LoopId loop, float bandwidth );

    void writeParametersToEEPROM( );
                            
protected:

    // No protected data of methods.

private:

    // API Id for this device.
    static const carma::canbus::apiType API_ID                        = 168;

    // API version this class was imlemented from 
    static const char API_VERSION                                     = 'B';

    // Late packet timeout in ms
    static const double PACKET_LATE_THRESHOLD                         = 150.0;

    // Control command message ids.
    static const carma::canbus::msgType SET_TEMPERATURE               = 0x080;
    static const carma::canbus::msgType REGULATE_TEMPERATURE          = 0x081;
    static const carma::canbus::msgType SET_LOOP_GAIN                 = 0x082;
    static const carma::canbus::msgType SET_LOOP_INTEGRATION_CONSTANT = 0x083;
    static const carma::canbus::msgType SET_LOOP_RATE_CONSTANT        = 0x084;
    static const carma::canbus::msgType SET_LOOP_BANDWIDTH            = 0x085;
    static const carma::canbus::msgType WRITE_PARAMS_TO_EEPROM        = 0x08C;
    // Not a control command
    static const carma::canbus::msgType LOOP2_COMMAND_OFFSET          = 0x006;
    

    // Blanking frame message ids.
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_1       = 0x0E0;
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_2       = 0x0E1;
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_3       = 0x0E2;
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_4       = 0x0E3;
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_5       = 0x0E4;
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_6       = 0x0E5;
    static const carma::canbus::msgType BLANKING_FRAME_PACKET_7       = 0x0E6;

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

    // Routines to process individual blanking frame CAN packets.
    // These routines are called internally 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);
    void processBlankingFramePacket7(
            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();
    carma::canbus::Message simBlankingFramePacket7();

    // Member variables
    log4cpp::Category &log_; // Reference to system logger.
    carma::monitor::OvroSubsystem::RxThermalControl & mon_; // Monitor system

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