PmacBoard.h

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#ifndef PMACBOARD_H
#define PMACBOARD_H

#include <vector>

#include "gcp/antenna/control/specific/AxisPositions.h"
#include "gcp/antenna/control/specific/Board.h"
#include "gcp/antenna/control/specific/Model.h"
#include "gcp/antenna/control/specific/ServoComms.h"
#include "gcp/antenna/control/specific/PmacTarget.h"
#include "gcp/antenna/control/specific/SpecificShare.h"

#define DPRAM_TIMEOUT 100

#define PMAC_TEST

namespace gcp {
  namespace antenna {
    namespace control {
      
      class PmacBoard : public Board {
    
      public:
    
    PmacBoard(SpecificShare* share, std::string name, bool simPmac=false);
    
    ~PmacBoard();
    
    bool isBusyOld(); // Version until 1 Oct 2008

    bool isBusy();    // No-op version for the new tracking mode,
              // in which we don't synchronize with the
              // pmac
    
    unsigned int readPositionFault();
    
    void commandNewPosition(PmacTarget* pmac);
    
    // Read out the last position information from the servo box

    void strobeServo();

    bool readPosition(AxisPositions* axes, Model* model);
    
    bool connect();
    
    void disconnect();
    
    void mirrorDpramToSharedMemory();
    
    bool pmacIsConnected();

    unsigned char driveStatusToBit(unsigned int driveStatus);

      private:
    
    bool simPmac_;

    ServoComms* comms_;
    
    RegMapBlock* hostRead_;    
    
    RegMapBlock* pmacWrite_;    
    
    RegMapBlock* newPosition_;      

    RegMapBlock* positionFault_;

    RegMapBlock* newMode_;      
    
    RegMapBlock* newAz_;        
    
    RegMapBlock* newEl_;        
    
    RegMapBlock* newDk_;        
    
    RegMapBlock* newAzRate_;   
    
    RegMapBlock* newElRate_;   
    
    RegMapBlock* newDkRate_;   
    
    RegMapBlock* azPos_;        
    
    RegMapBlock* elPos_;        
    
    RegMapBlock* dkPos_;        
    
    RegMapBlock* driveStatus_;  
    RegMapBlock* statusMask_;  
    
    unsigned long dpramSize_;
    
    unsigned long dpramBaseAddr_;
    
    unsigned long dpramCmdSize_;
    
    unsigned long dpramCmdBaseAddr_;
    
    std::vector<unsigned char> dpramWork_;

    void computeDpramStats();
    
    unsigned int* readoutDpram();
    
    void readReg(RegMapBlock* blk, unsigned int first, 
             unsigned int nreg, unsigned int* value);
    
    void writeReg(RegMapBlock* blk, unsigned int first, 
              unsigned int nreg, unsigned int* value);
    
    void writeRegToWork(RegMapBlock *blk, 
                unsigned int first, unsigned int nreg, 
                unsigned int *value);

    void writeWork();

    void initializePmac();

      }; // End class PmacBoard
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace gcp

#endif // End #ifndef