SecondaryMirror.h

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#ifndef CARMA_ANTENNA_OVRO_SECONDARYMIRROR_H
#define CARMA_ANTENNA_OVRO_SECONDARYMIRROR_H

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

#include <memory>

namespace log4cpp {
    // Forward declarations.
    class Category;
} // End namespace log4cpp

namespace carma {

namespace monitor {
    class AntennaCommon;
} // End namespace monitor

namespace antenna {
namespace ovro {

class SharedOpticsSeqNo;

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

    SecondaryMirror( carma::canbus::nodeType node, 
                     carma::canbus::CanOutput & io,
                     carma::monitor::OvroSubsystem & ovroSubsys, 
                     carma::antenna::ovro::SharedOpticsSeqNo & sharedSeqNo );

    ~SecondaryMirror();

    carma::canbus::MsgBriefMap getHalfSecMonitors( ) const;

    carma::canbus::MsgBriefMap getSlowMonitors( ) const;

    void processMsg( carma::canbus::msgType mid, 
                     carma::canbus::DataVector & data, 
                     bool sim );

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

    void updateFrameData( ); 

    // Public control commands 
    
    void setXPosition( float posInMM, long seqNo ); 
    
    void setYPosition( float posInMM, long seqNo );
    
    void setZPosition( float posInMM, long seqNo ); 

    void cycleLvdtPower( );

    void stopMotion( );

    void doZTracking( bool ztrack, long seqNo );

private:

    // No copy of assignment allowed
    SecondaryMirror( const SecondaryMirror & );
    SecondaryMirror &operator=( const SecondaryMirror & );

    // Routines to process individual blanking frame CAN packets.
    void processBlankingFramePacket1( carma::canbus::DataVector & data );
    void processBlankingFramePacket2( carma::canbus::DataVector & data );
    void processBlankingFramePacket3( carma::canbus::DataVector & data );
    void processBlankingFramePacket4( carma::canbus::DataVector & data );

    // Routines to produce simulated blanking frame CAN packets. 
    carma::canbus::Message simBlankingFramePacket1( );
    carma::canbus::Message simBlankingFramePacket2( );
    carma::canbus::Message simBlankingFramePacket3( );
    carma::canbus::Message simBlankingFramePacket4( );

    // Member variables
    carma::monitor::AntennaCommon & comMon_; // Reference to common MPs.
    carma::monitor::OvroSubsystem::Secondary & mon_; // Reference to secondary.

    carma::antenna::ovro::SharedOpticsSeqNo & sharedSeqNo_;

    struct Shared;

    ::std::auto_ptr< Shared > shared_;

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