Drive.h

#ifndef DRIVE_H
#define DRIVE_H

#include "carma/antenna/sza/antenna/corba/Corba.h"

#include "carma/antenna/common/DriveControl.h"

#include "carma/antenna/sza/antenna/corba/PointingModel.h"

namespace sza {
  namespace antenna {
    namespace corba {


      class Drive { 

      public:

          void scheduleNextSequenceNo(unsigned long seq);

          void setAntLocation(double longitude, double latitude,
                              double altitude);

          void setFiducialLocation(double longitude, double latitude,
                                   double altitude);

          void setRelativeLocation(double north, double east, double up);

          void setAzel(double az, double el, unsigned long seq);

          void setAz(double az, unsigned long seq);

          void setEl(double el, unsigned long seq);

          void setMountOffset(double az, double el, unsigned long seq);

          void setEncoderCountsPerTurn(long az, long el);

          void setEncoderLimits(long azMin, long azMax,
                                long elMin, long elMax);

          void setEncoderZeros(double az, double el);

          void setEqnEqx(double mjd, double eqneqx);

          void setMaxRate(float azRate, float elRate);

          void setAzMaxRate(float azRate);

          void setElMaxRate(float elRate);

          void selectAperture(carma::antenna::common::DriveControl::Aperture
                              model);

          void setRaDec(double mjd, double ra, double dec, double distance);

          void setRefrac(double a, double b );

          void setSlewRate(unsigned long axes,
                           long az, long el);

          void setUt1Utc(double mjd, double ut1utc);

          void setWrap(carma::antenna::common::DriveControl::AzWrapMode
                       azWrapMode, bool elOverTheTop);

          void stop();

          void slew(const char* source, unsigned long axisMask,
                    double az, double el);

          void trackSnow();

          void trackWind();

          void stow(carma::antenna::common::DriveControl::Position position,
                    unsigned long seq);

          void track(const char* source,
                     const carma::antenna::common::DriveControl::RaDecTriplet& positionTriplet,
                     carma::antenna::common::DriveControl::AzWrapMode azWrapMode,
                     bool overTheTop,
                     unsigned long seq);


          virtual void updateRaDec(const carma::antenna::common::DriveControl::RaDecEpoch& position,
                                   carma::antenna::common::DriveControl::AzWrapMode azWrapMode);

          virtual void updateWeather(float ambientTemp,
                                     float barometricPressure,
                                     float relativeHumidity,
                                     float dewpointTemp,
                                     float windSpeed,
                                     float windDirection);

          virtual void setAzMountOffset(double az, unsigned long seq);

          virtual void setElMountOffset(double el, unsigned long seq);

          virtual void setOffset(double az, double el, unsigned long seq);

          virtual void setAzOffset(double az, unsigned long seq);

          virtual void setElOffset(double el, unsigned long seq);

          virtual void setAperturePointingConstants(carma::antenna::common::DriveControl::Aperture aperture,
                                                    float azOffset,
                                                    float elOffset,
                                                    float sag);

          virtual void setTiltmeterZero(float aftForward,
                                        float leftRight);

          virtual void setTolerance(float toleranceInArcsecs);

          virtual void setSafeRange(float azLow,
                                    float azHigh,
                                    float elLow,
                                    float elHigh);

        }; // End namespace sza

    }; // End namespace corba
  }; // End namespace antenna
}; // End namespace sza

#endif