XacDevice.h

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#ifndef CARMA_CANBUS_DEVICES_XACDEVICE_H
#define CARMA_CANBUS_DEVICES_XACDEVICE_H

// Carma includes
#include "carma/canbus/Device.h"

#include "carma/util/types.h"
    
namespace carma {

namespace monitor {
    // Forward dec
    class Xac;
} // End namespace monitor

namespace canbus {
namespace devices {

    class XacDevice : public carma::canbus::Device {
    public:

        XacDevice(carma::canbus::apiType api, carma::canbus::nodeType node,
            carma::canbus::CanOutput &canOutput);

        virtual ~XacDevice();
        
        virtual std::map<msgType, std::string> getSlowMonitors() const;

        virtual void setState(deviceStateType state); 
        
        // Standard System Monitor Packets supported in this class
        static const carma::canbus::msgType SYSTEM_MONITOR_PACKET_1  = 0x120;
        static const carma::canbus::msgType SYSTEM_MONITOR_PACKET_2  = 0x121;
        static const carma::canbus::msgType SYSTEM_MONITOR_PACKET_3  = 0x122;
        static const carma::canbus::msgType SYSTEM_MONITOR_PACKET_4  = 0x123;
        static const carma::canbus::msgType SYSTEM_MONITOR_PACKET_5  = 0x124;

    protected:
    
        virtual void initialize( );

        static bool isSystemMonitorPacket( carma::canbus::msgType );

        void processSystemMonitorPacket( 
            carma::canbus::msgType mid,
            carma::canbus::DataVector & data,
            carma::monitor::Xac & xac );

        void processSystemMonitorPacket1(
            carma::canbus::DataVector &data, 
            carma::monitor::Xac& xac);

        void processSystemMonitorPacket2(
            carma::canbus::DataVector &data,
            carma::monitor::Xac& xac);

        void processSystemMonitorPacket3(
            carma::canbus::DataVector &data,
            carma::monitor::Xac& xac);

        void processSystemMonitorPacket4(
            carma::canbus::DataVector &data,
            carma::monitor::Xac& xac);

        void processSystemMonitorPacket5(
            carma::canbus::DataVector &data,
            carma::monitor::Xac& xac);
            
        carma::canbus::Message simSystemMonitorPacket( 
            carma::canbus::msgType mid );

        carma::canbus::Message simSystemMonitorPacket1();
        
        carma::canbus::Message simSystemMonitorPacket2();
        
        carma::canbus::Message simSystemMonitorPacket3();
        
        carma::canbus::Message simSystemMonitorPacket4();

        carma::canbus::Message simSystemMonitorPacket5();

    public:

        void reset();

        void stopChannelOneFastSampling();

        void stopChannelTwoFastSampling();

        void startChannelOneFastSampling(unsigned short fastItem);

        void startChannelTwoFastSampling(unsigned short fastItem);

        bool isOnline();

    private:
        
        // Prevent assignment and copy construction
        XacDevice(const XacDevice &);
        XacDevice &operator=(const XacDevice &);

        const carma::util::frameType startFrame_;

    }; // End XacDevice
} // End devices 
} // End canbus
} // End carma
#endif