AntennaDriveMsg.h

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#ifndef ANTENNADRIVEMSG_H
#define ANTENNADRIVEMSG_H

#include <string>

#include "gcp/util/common/Exception.h"
#include "gcp/util/common/GenericTaskMsg.h"

#include "gcp/antenna/control/specific/TrackerMsg.h"

#include "gcp/control/code/unix/libunix_src/specific/specificregs.h"

namespace gcp {
  namespace antenna {
    namespace control {      
      
      class AntennaDriveMsg :
    public gcp::util::GenericTaskMsg {
    
    public:
    
    enum MsgType {
      FLAG_BOARD,        // A message to flag a board.
      DRIVE_CONNECTED,    // A message from the Tracker task that
      // the drive is dis/connected.
      POLL_GPS_STATUS,
      TRACKER_MSG // A message for the tracker thread.
    };
    
    MsgType type;
    
    union {
      
      struct {
        unsigned short board; // The register map index of the
        // board to un/flag
        bool flag;            // True to flag, false to unflag
      } flagBoard;
      
      struct {
        bool connected;
      } driveConnected;
      
      TrackerMsg trackerMsg;
      
    } body;
    
    //------------------------------------------------------------
    // Methods for accessing messages for tasks managed by this
    // class.
    //------------------------------------------------------------
    
    inline TrackerMsg* getTrackerMsg()
      {
        genericMsgType_ = 
          gcp::util::GenericTaskMsg::TASK_SPECIFIC;
        
        type = TRACKER_MSG;
        return &body.trackerMsg;
      }
      
    inline AntennaDriveMsg* packShutdownDriveMsg()
      {
        TrackerMsg* trackerMsg = getTrackerMsg();
        
        trackerMsg->packShutdownDriveMsg();
      }
      
    inline AntennaDriveMsg* packPollGpsStatusMsg()
      {
        genericMsgType_ = 
          gcp::util::GenericTaskMsg::TASK_SPECIFIC;
        
        type = POLL_GPS_STATUS;
      } 
    //------------------------------------------------------------
    // Methods for packing messsages to the drive task.
    //------------------------------------------------------------
    
    inline void packFlagBoardMsg(unsigned short board, bool flag) {
      genericMsgType_ = 
        gcp::util::GenericTaskMsg::TASK_SPECIFIC;
      
      type = FLAG_BOARD;
      body.flagBoard.board = board;
      body.flagBoard.flag = flag;
    }
    
    inline void packDriveConnectedMsg(bool connected)
      {
        genericMsgType_ = 
          gcp::util::GenericTaskMsg::TASK_SPECIFIC;
        
        type = DRIVE_CONNECTED;
        
        body.driveConnected.connected = connected;
      }
    
      }; // End AntennaDriveMsg class
      
    }; // End namespace control
  }; // End namespace antenna
} // End namespace gcp

#endif // End #ifndef