TiltMeter.h

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#ifndef SZA_ANTENNA_CANBUS_TILTMETER_H
#define SZA_ANTENNA_CANBUS_TILTMETER_H

#include "carma/antenna/sza/antenna/canbus/CanDevice.h"

#include "carma/antenna/sza/antenna/control/SzaShare.h"

#include "carma/szautil/Temperature.h"

#include "carma/szaarrayutils/rtcnetcoms.h"

namespace sza {
  namespace antenna {
    namespace canbus {
      
      class TiltMeter : public CanDevice {
      public:
        
        TiltMeter(sza::antenna::control::SzaShare* share, 
                  std::string boardName,
                  carma::canbus::nodeType node, 
                  carma::canbus::CanOutput& io);
        
        virtual ~TiltMeter();
        
        //------------------------------------------------------------
        // Blanking-frame monitor members.
        //------------------------------------------------------------
        
        std::map<carma::canbus::msgType, std::string> 
          getHalfSecMonitors() const;
        
        void processBlankingFrameMonitor1(std::vector<carma::canbus::byteType>& data, bool isSim);
        
        void processBlankingFrameMonitor2(std::vector<carma::canbus::byteType>& data, bool isSim);
        
        void processBlankingFrameMonitor3(std::vector<carma::canbus::byteType>& data, bool isSim);
        
        void processBlankingFrameMonitor4(std::vector<carma::canbus::byteType>& data, bool isSim);
        
        void processBlankingFrameMonitor5(std::vector<carma::canbus::byteType>& data, bool isSim);
        
        void processBlankingFrameMonitor6(std::vector<carma::canbus::byteType>& data, bool isSim);

        //------------------------------------------------------------
        // Commands for this device.
        //------------------------------------------------------------
        
        enum OpMode {
          ON,
          OFF,
          MANUAL
        };

        enum hostCommands 
          {
            HOSTCMD_SET_TEMP            = 0x080, // Set the desired temp of the tiltmeter
            HOSTCMD_REGULATE_TEMP       = 0x081, // Regulate the temperature
            HOSTCMD_SET_LOOP_GAIN       = 0x082, // Set the loop gain
            HOSTCMD_SET_LOOP_INT_CONST  = 0x083, // Set the loop integration constant
            HOSTCMD_SET_LOOP_RATE_CONST = 0x084, // Set the loop rate constant
            HOSTCMD_SET_LOOP_BW         = 0x085, // Set the loop bandwidth
            HOSTCMD_WRITE_EEPROM        = 0x086, // Write loop parameters to EEPROM
          };
        
        sza::util::Angle afZero_;
        sza::util::Angle lrZero_;

        std::vector<carma::canbus::Message>
          setTemperature(sza::util::Temperature temp, bool send=true);

        std::vector<carma::canbus::Message>
          regulateTemperature(sza::array::TiltmeterMode opmode, float pwrFract, bool send=true);

        std::vector<carma::canbus::Message>
          setLoopGain(float gain, bool send=true);

        std::vector<carma::canbus::Message>
          setLoopIntegrationConstant(float constant, bool send=true);

        std::vector<carma::canbus::Message>
          setLoopRateConstant(float constant, bool send=true);

        std::vector<carma::canbus::Message>
          setLoopBandwidth(float bw, bool send=true);

        std::vector<carma::canbus::Message>
          writeToEeprom(bool send=true);

        void setZeros(sza::util::Angle& afZero, sza::util::Angle& lrZero);

      }; // End class TiltMeter
      
    } // End namespace canbus
  } // End namespace antenna
} // End namespace sza



#endif // End #ifndef SZA_ANTENNA_CANBUS_TILTMETER_H