Pointing.h

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#ifndef POINTING_H
#define POINTING_H

// Needed for SRC_LEN

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

#include "gcp/util/common/Axis.h"
#include "gcp/util/common/RegDate.h"

#include "gcp/antenna/control/specific/TrackerMsg.h"
#include "gcp/antenna/control/specific/Encoder.h"
#include "gcp/antenna/control/specific/PmacAxis.h"
#include "gcp/antenna/control/specific/Position.h"
#include "gcp/antenna/control/specific/SpecificShare.h"

namespace gcp {
  namespace antenna {
    namespace control {
      
      
      class Tracker;
      
      class Pointing {
    
      public:

    enum PositionType {
      MOUNT_ANGLES,
      MOUNT_RATES,
      TOPOCENTRIC,
      GEOCENTRIC
    };
    
    Pointing();
    
    void reset();
    
    // Methods to set up pointing in preparation for various moves
    
    void setupForHalt(SpecificShare* share);
    
    void setupForReboot(SpecificShare* share);
    
    void setupForSlew(SpecificShare* share, TrackerMsg* msg);

    void setupForTrack();
    
    // Member modification methods
    
    void setTime(double utc);
    
    void setTime(int mjd, int sec);
    
    void setSrcName(char* name);
    unsigned char* getSrcName();

    void setScanName(char* name);
    unsigned char* getScanName();

    void setAxes(gcp::util::Axis::Type axes);
    
    void setRa(double ra);
    
    void setDec(double dec);
    
    void setDist(double dist);
    
    void setRefraction(double refraction);
    
    // Member access methods
    
    gcp::util::Axis::Type getAxes();
    
    bool includesAxis(gcp::util::Axis::Type axis);
    
    double getUtc();
    gcp::util::RegDate getDate();
    
    double getRefraction();
    
    void convertMountToEncoder(Encoder* encoder,
                   PmacAxis* axis,
                   int current);
    void convertMountToEncoder(Encoder* encoder,
                   PmacAxis* axis, 
                   double current);
    gcp::antenna::control::Position* Position(PositionType type);
    
    void setAngles(double az, double el, double pa);
    
    void setRates(double az, double el, double pa);
    
    void computeGeocentricPosition(double lst, PointingCorrections* f);
    
    void packUtc(unsigned* u_elements);
    
    void packSourceName(unsigned* u_elements, int nel);
    
    void packScanName(unsigned* u_elements, int nel);

    void packEquatGeoc(signed* s_elements);
    
    void packHorizGeoc(signed* s_elements);
    
    void packHorizTopo(signed* s_elements);
    
    void packHorizMount(signed* s_elements);
    void packHorizMount(double* array);
    
    bool isCenter() {
      return isCenter_;
    }

    void resetAngles();

      private:
    
    friend class Tracker;
    
    double wrapPi(double angle);
    
    double wrap2pi(double angle);
    
    char srcName_[SRC_LEN];  

    char scanName_[SCAN_LEN];  
    
    bool isCenter_;

    int mjd_, sec_;       
    
    double ra_,dec_;      
    
    double dist_;         
    
    double refraction_;   
    
    gcp::antenna::control::Position geocentric_;   
    
    gcp::antenna::control::Position topocentric_;  
    
    gcp::antenna::control::Position mountAngles_; 
    gcp::antenna::control::Position saveAngles_; 
    
    gcp::antenna::control::Position mountRates_;  
    
    gcp::util::Axis::Type axes_;    // The set of axes to drive,
                    // expressed as a bitwise
                    // union of Axis enumerators.
      }; // End class Pointing
      
    }; // End namespace control
  }; // End namespace antenna
} // End namespace gcp

#endif // End #ifndef