SubarrayTrackerThread.h

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#ifndef CARMA_SUBARRAY_TRACKER_THREAD_H
#define CARMA_SUBARRAY_TRACKER_THREAD_H

#include <vector>
#include <sys/time.h>
#include "carma/monitor/WeatherSubsystem.h"
#include "carma/control/SubarrayControlImpl.h"

#include "carma/interferometry/DelayEngine.h"

#include "carma/services/Atmosphere.h"
#include "carma/services/Pressure.h"
#include "carma/services/Temperature.h"
#include "carma/services/Velocity.h"


namespace carma  {

namespace util {

class PeriodicTimer;

}

namespace control  {


class SubarrayControlImpl::TrackerThread {
    
public:

    static const unsigned long 
        TRACKER_DEFAULT_UPDATE_INTERVAL = 20; //in seconds
    static const unsigned long 
        TRACKER_DEFAULT_WEATHER_UPDATE_INTERVAL = 4 * 60; //in seconds (4 min)
    //In seconds (8 min)    
    static const unsigned long 
        TRACKER_DEFAULT_ANTENNA_TRACK_UPDATE_INTERVAL = 8 * 60; 

// TESTING ONLY TO SPEED UP TRACKING CYCLE!
//    static const unsigned long 
//        TRACKER_DEFAULT_ANTENNA_TRACK_UPDATE_INTERVAL = 1 * 60; 


        explicit TrackerThread (
            SubarrayControlImpl & saCI,
            monitor::CarmaMonitorSystem & carmaMonitor,
            const unsigned long period = TRACKER_DEFAULT_UPDATE_INTERVAL,
            const unsigned long antennaWeatherPeriod = 
                TRACKER_DEFAULT_WEATHER_UPDATE_INTERVAL,
            const unsigned long delayEngineWeatherPeriod = 
                TRACKER_DEFAULT_WEATHER_UPDATE_INTERVAL,
            const unsigned long antennaTrackPeriod = 
                TRACKER_DEFAULT_ANTENNA_TRACK_UPDATE_INTERVAL );

        ~TrackerThread();

        long getTrackerPeriod () const ;

        long getAntennaTrackPeriod () const ;

        long getAntennaWeatherPeriod () const ;

        long getDelayEngineWeatherPeriod () const ;

        double getInterpolationInterval () const ;

        double getAntInterpolationInterval () const ;

        void setLastAntUpdate(double mjd);

        double getLastAntUpdate( ) const;

        void setLastIntferUpdate(double mjd);

        double getLastIntferUpdate( ) const;

        monitor::CarmaMonitorSystem& getMonitorSystem () const ;
        
        void operator()();

        void updateTracking();

  private:

        struct ::timeval getNextTimerInstant() const ;

        monitor::CarmaMonitorSystem & carmaMonitor_;

        const unsigned long period_;
         
        const unsigned long antennaWeatherPeriod_;
         
        const unsigned long delayEngineWeatherPeriod_;
         
        const unsigned long antennaTrackPeriod_;
         
        const unsigned long antennaWeatherCycleCount_;
         
        const unsigned long delayEngineWeatherCycleCount_;
         
        const unsigned long antennaTrackCycleCount_;
         
        const double interpInterval_;
        
        double lastAntUpdate_;
        double lastIntferUpdate_;
         
        struct ::timeval nextFiringTime_;

        util::PeriodicTimer * timer_;

        SubarrayControlImpl & saCI_;
        
        void updateWeatherSafely();
        
        // Weather data.
        services::Atmosphere atm_;
        services::Temperature   airTemp_;
        services::Temperature   dewTemp_;
        services::Pressure      atmPressure_;
        services::Velocity      windSpeed_;
        // 0 degrees = north, 90 degrees = east
        services::Angle         windDirection_;
        double                  relHumid_;
};


}  // End namespace carma::control
}  // End namespace carma


#endif  // CARMA_SUBARRAY_TRACKER_THREAD_H