AntennaDrive.h

Go to the documentation of this file.

#ifndef DRIVETASK_H
#define DRIVETASK_H

#include "gcp/util/common/GenericTask.h"
#include "gcp/util/common/SignalTask.h" // SIGNALTASK_HANDLER_FN

#include "gcp/antenna/control/specific/AntennaDriveMsg.h"
#include "gcp/antenna/control/specific/SpecificShare.h"
#include "gcp/antenna/control/specific/SpecificTask.h"
#include "gcp/antenna/control/specific/Tracker.h"

#define ANTENNADRIVE_TASK_FWD_FN(fn) void (fn)(AntennaDriveMsg* msg)

// Create an AntennaDrive class in namespace carma

namespace gcp {
  namespace antenna {
    namespace control {
      
      class AntennaMaster;
      
      class AntennaDrive : 
    public SpecificTask,
    public gcp::util::GenericTask<AntennaDriveMsg> {
    
    public:
    
    void  sendDriveConnectedMsg(bool connected);
    
    void sendDriveDoneMsg(unsigned int seq);
    
    void sendBenchDoneMsg(unsigned int seq);
    
    void sendScanDoneMsg(unsigned int seq);

    void sendSourceSetMsg(unsigned int seq);
    
    void sendPollGpsStatusMsg();
    
    bool simPmac();

    private:
    
    bool simPmac_;

    friend class AntennaMaster;
    
    AntennaMaster* parent_;
    
    AntennaDrive(AntennaMaster* parent);
    
    ~AntennaDrive();
    
    void processMsg(AntennaDriveMsg* taskMsg);
    
    void adoptBoards();
    
    //------------------------------------------------------------
    // Thread management functions.
    //------------------------------------------------------------
    
    static THREAD_START(startTracker);
    
    //------------------------------------------------------------
    // Thread cleanup handlers methods
    
    static THREAD_CLEAN(cleanTracker);
    
    //------------------------------------------------------------
    // Ping routines for the (pingable) subsystem threads
    
    static THREAD_PING(pingTracker);
    
    //------------------------------------------------------------
    // Subsystem resources.
    //
    // Pointers to the subsystem resources.  These pointers are
    // initialized by the subsystem threads on startup
    
    Tracker* trackertask_;
    
    ANTENNADRIVE_TASK_FWD_FN(forwardTrackerMsg);
    
    void respondToHeartBeat();
    
      }; // End class AntennaDrive
      
    }; // End namespace control
  }; // End namespace antenna
} // End namespace gcp

#endif