Tiltmeter.h

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#ifndef CARMA_ANTENNA_BIMA_TILTMETER_H
#define CARMA_ANTENNA_BIMA_TILTMETER_H

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

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

namespace carma
{
  namespace antenna
  {
    namespace ovro
    {

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

          Tiltmeter(
              carma::canbus::nodeType node, 
              carma::canbus::CanOutput &io,
              carma::monitor::BimaSubsystem &bmon
             );

          virtual ~Tiltmeter();

          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.
          void setTemperature(float temp);

          enum OpMode {LOOP_ON, LOOP_OFF, MANUAL};

          void regulateTemperature(OpMode opMode, float pwrFract);

          void setLoopGain(float gain);

          void setLoopIntegrationConstant(float loopInteg);

          void setLoopRateConstant(float rateConst);

          void setLoopBandwidth(float bw);

          void writeLoopParametersToEEPROM();

        private:

          // API Id for this device.
          static const carma::canbus::apiType API_ID                    = 40;

          // API version this class was implemented from 
          static const char API_VERSION                                 = 'E';

          // 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_INT_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_LOOP_PARAMS         = 0x086;

          // 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;

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

          // Routines to process individual blanking frame CAN packets.
          // These routines are called 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);

          // 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();

          // Other helper routines

          // Units in arcminutes.
          void updateTiltMagAndDir(double lrTilt, double afTilt);

          // Member variables
          log4cpp::Category &log_;  // Reference to the system logger
          carma::monitor::TiltmeterModule &mon_;
          carma::monitor::BimaSubsystem &inputMon_; // For pointing c's and offsets.

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