AntennaIF.h

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#ifndef CARMA_ANTENNA_COMMON_ANTENNAIF_H
#define CARMA_ANTENNA_COMMON_ANTENNAIF_H

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

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

namespace carma
{

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

  namespace antenna
  {
    namespace common
    {

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

    AntennaIF(
        carma::canbus::nodeType node, 
        carma::canbus::CanOutput &io,
        carma::monitor::StateMonitorPointEnum & state,
        carma::monitor::AntennaIF &ifMon,
        carma::monitor::Xac &xacMon);

    ~AntennaIF();

    carma::canbus::MsgBriefMap getHalfSecMonitors() const;

    carma::canbus::MsgBriefMap getSlowMonitors() const;

    void processMsg(carma::canbus::msgType mid,
            carma::canbus::DataVector &data,
            bool sim);

    carma::canbus::Message simulateMsg(carma::canbus::msgType mid);

    // Public control commands.

    void selectBand( unsigned short band );

    void setIFtotalAttenuation(float atten);

    void setIFlevel(float pow);

    void setInputIFattenuator(float inputAtten);

    void setOutputIFattenuator(float outputAtten);

    void queryTotalPower();

    void setOutputPowerToPreset();

    virtual void simTotalPower( unsigned int nsamps );

    static const carma::canbus::msgType IF_LEFT_POL_NODE_ID      = 1;
    static const carma::canbus::msgType IF_RIGHT_POL_NODE_ID     = 2;
    
protected:
    
    void updateFrameData();

    // A little different than your typical CAN Device class impl...
    // Below are blankingFrameHooks that must be overloaded by a relative.
    // They are called in addition to processBlankingFrameX
    virtual void blankingFrameHook1( float ifoutTotPower, float pamTemp );
    virtual void blankingFrameHook2( float attenSet, 
                                     unsigned char pamStat,
                                     unsigned char ifSwitchStat,
                                     unsigned char laserStat,
                                     unsigned char nErrors );
    virtual void blankingFrameHook3( float laserOpticalPow, 
                                     float laserTemp );
    virtual void blankingFrameHook4( float inputAttenSet, 
                                     float outputAttenSet );

    virtual void processTotalPowerResponse(
        carma::canbus::DataVector &data) = 0;
    virtual void processFastTotalPowerPacket(
        carma::canbus::DataVector & data) = 0;
    virtual void processSwitchStatusOnChange(
        carma::canbus::DataVector &data) = 0;
    virtual void processPAMStatusOnChange(carma::canbus::DataVector &data) = 0;
    
    virtual void processFastChannel1Packet( carma::canbus::DataVector &data ) = 0;
    virtual void processFastChannel2Packet( carma::canbus::DataVector &data ) = 0;
    
private:

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

    // Routines to process individual blanking frame CAN packets.
    // These routines are called by processMsg.
    void processBlankingFramePacket1(carma::canbus::DataVector &data);
    void processBlankingFramePacket2(carma::canbus::DataVector &data);
    void processBlankingFramePacket3(carma::canbus::DataVector &data);
    void processBlankingFramePacket4(carma::canbus::DataVector &data);
    void processBlankingFramePacket5(carma::canbus::DataVector &data);

    void processLogMsg( carma::canbus::DataVector &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();

    // Member variables
    log4cpp::Category & log_;
    carma::monitor::StateMonitorPointEnum & state_;
    carma::monitor::AntennaIF & ifMon_;
    carma::monitor::Xac & xacMon_;

}; // End class carma::antenna::common::AntennaIF
}}} // End namespace carma::antenna::common
#endif