FocusControlImpl.h

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#ifndef CARMA_ANTENNA_BIMA_FOCUSCONTROLIMPL_H
#define CARMA_ANTENNA_BIMA_FOCUSCONTROLIMPL_H

#include "carma/antenna/bima/RxClient.h"
#include "carma/corba/corba.h"
#include "carma/antenna/bima/SharedMemory.h"

namespace log4cpp {
    class Category;
}

namespace carma
{
  namespace antenna
  {
    namespace bima
    {

      class Configuration;

      class FocusControlImpl:
        public RxClient
      {
        public:

          FocusControlImpl
            (
             Configuration &config
            );

          ~FocusControlImpl();

          void setX(::CORBA::Float position);

          void setX(::CORBA::Float position, ::CORBA::ULong seqNo);

          // These calls are ignored by bima antennas
          void setY(::CORBA::Float position);
          void setY(::CORBA::Float position, ::CORBA::ULong seqNo);

          void setZ(::CORBA::Float position);
          void setZ(::CORBA::Float position, ::CORBA::ULong seqNo);
          void setZoffset(::CORBA::Float offset, ::CORBA::ULong seqNo);

          void doZTracking(::CORBA::Boolean tracking);
          void doZTracking(::CORBA::Boolean position, ::CORBA::ULong seqNo);

        private:

          log4cpp::Category &log_;
          Configuration &_config;
          float _tmmFocusPosition;
          SharedMemory *bimaShm;
      };
    } // End namespace bima
  } // End namespace antenna
} // End namespace carma

#endif // CARMA_ANTENNA_BIMA_FOCUSCONTROLIMPL_H