Tiltmeter.h

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#ifndef CARMA_ANTENNA_OVRO_TILTMETER_H
#define CARMA_ANTENNA_OVRO_TILTMETER_H

#include "carma/canbus/devices/XacDevice.h"
#include "carma/canbus/Types.h"
#include "carma/monitor/OvroSubsystem.h"
#include "carma/services/Angle.h"

#include <memory>

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::OvroSubsystem & mon,
        unsigned short antNo );

    virtual ~Tiltmeter();

    carma::services::Angle getMostRecentAftForwardTilt( ) const;

    carma::services::Angle getMostRecentLeftRightTilt( ) const;
    
    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:

    // 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();

    struct Shared;

    // Member variables
    unsigned short antennaNo_;
    log4cpp::Category &log_;  // Reference to the system logger
    carma::monitor::TiltmeterModule &mon_;
    ::std::auto_ptr< Shared > shared_;


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