ServoCommandSa.h

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#ifndef SERVOCOMMANDSA_H
#define SERVOCOMMANDSA_H

#include <string>
#include <map>
#include <vector>

// The hard limit -- pmac can't process more than this in a single
// message

#define SERVO_DATA_MAX_LEN 1400
#define MILLI_SECOND_SAMPLE_RATE 200
#define MAX_RESPONSE_SAMPLES 1000/MILLI_SECOND_SAMPLE_RATE*14

namespace gcp {
  namespace antenna {
    namespace control {
      
      
      class ServoComms;
      
      class ServoCommandSa {

      public:
    
    enum Request {

      INVALID,  // Default which will be used to
      // indicate that a command has not
      // been initialized
      /* These are for the South African dish */
      SERVO_ENGAGE       ,
      GET_AZEL           ,
      GET_PRIOR_LOC      ,
      SEND_POS           ,
      SEND_POS_TRIP      ,
      LOAD_LOOP_PARAMS_A ,
      LOAD_LOOP_PARAMS_B ,
      LOAD_LOOP_PARAMS_C ,
      LOAD_LOOP_PARAMS_D ,
      QUERY_STATUS       ,
      AZ_BRAKE_ON        ,
      AZ_BRAKE_OFF       ,
      EL_BRAKE_ON        ,
      EL_BRAKE_OFF       ,
      CLUTCHES_ON        ,
      CLUTCHES_OFF       ,
      AZ_CONTACTORS_ON   ,
      AZ_CONTACTORS_OFF  ,
      EL_CONTACTORS_ON   ,
      EL_CONTACTORS_OFF  ,
      POSITION_ERRORS


      // For the South African Dish 
      // INVALID            = "";
      // SERVO_ENGAGE       = "SVE";  //  one input, echo output
      // GET_AZEL           = "GAE";  // no input, two outputs
      // GET_PRIOR_LOC      = "GIM";  // no input, many outputs
      // QUERY_STATUS       = "STS";  // no input, one output
      // SEND_POS           = "AEL";  // two inputs, echo output
      // LOAD_LOOP_PARAMS_A = "LPRA"; // 6 inputs, echo output
      // LOAD_LOOP_PARAMS_B = "LPRB"; // 6 inputs, echo output
      // LOAD_LOOP_PARAMS_C = "LPRC"; // 6 inputs, echo output
      // LOAD_LOOP_PARAMS_D = "LPRD"; // 6 inputs, echo output
      // AZ_BRAKE_ON        = "ABN";  // no input, echo output
      // AZ_BRAKE_OFF       = "ABF";  // no input, echo output
      // EL_BRAKE_ON        = "EBN";  // no input, echo output
      // EL_BRAKE_OFF       = "EBF";  // no input, echo output
      // CLUTCHES_ON        = "CLN";  // no input, echo output
      // CLUTCHES_OFF       = "CLF";  // no input, echo output
      // AZ_CONTACTORS_ON   = "AMN";  // no input, echo output
      // AZ_CONTACTORS_OFF  = "AMF";  // no input, echo output
      // EL_CONTACTORS_ON   = "EMN";  // no input, echo output
      // EL_CONTACTORS_OFF  = "EMF";  // no input, echo output
      // POSITION_ERRORS    = "ERR";  // no input, two outputs
    };

        std::map<Request, std::string> commandMap_;

    void constructMap();

    unsigned char request_;

    std::string messageToSend_;

    std::string expectedResponse_;

    char responseReceived_[SERVO_DATA_MAX_LEN];

    ServoCommandSa();
    
    ~ServoCommandSa();
    
        void packCommand(Request req);
        void packCommand(Request req, std::vector<float>& values);


        void checkOneOutput();

        void checkTwoOutputs();

        void checkManyOutputs();


    void interpretStatusResponse(const char* response);

    void interpretResponse();

    bool simpleValidityCheck();
    
    size_t responseLength();


    //      private:
    
    friend class ServoComms;

    unsigned short cmdSize_; 
    
    bool expectsResponse_;    
    
    unsigned short responseLength_; 
    
    unsigned char readData_[SERVO_DATA_MAX_LEN];

    unsigned char tmpBuffer_[SERVO_DATA_MAX_LEN];
    
     bool responseValid_;

     bool responseValueValid_;

     bool ppsPresent_;

     float responseValue_[MAX_RESPONSE_SAMPLES];

    size_t size();
    
    
      }; // End class ServoCommandSa
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace gcp

#endif // End #ifndef