ServoCommand.h

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#ifndef SERVOCOMMAND_H
#define SERVOCOMMAND_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 1600
#define MILLI_SECOND_SAMPLE_RATE 200
#define MAX_RESPONSE_SAMPLES 1000/MILLI_SECOND_SAMPLE_RATE*4+2

namespace gcp {
  namespace antenna {
    namespace control {
      
      
      class ServoComms;
      
      class ServoCommand {
      public:
    
    enum Request {

      /* need a PACKBLAHBLAH function to deal with each of these. */
      INVALID,  // Default which will be used to
      // indicate that a command has not
      // been initialized
      /* First set is for the Douloi box */
      GET_AZEL        ,
      GET_PRIOR_LOC   ,
      GET_PPS_TICK    ,
      SEND_POS        ,
      BEGIN_PPS_LOOP  ,
      BEGIN_TRACK_LOOP,
      LOAD_LOOP_PARAMS,
      STOP_ALL        ,
      CAL_ENCODERS    ,
      CLEAR_OFFSETS   ,
      POSITION_OFFSET ,
      VELOCITY_OFFSET ,
      POSITION_ERRORS ,
      SET_ENCODERS    ,
      QUERY_STATUS    ,
      AZ_BRAKE_ON     ,
      AZ_BRAKE_OFF    ,
      EL_BRAKE_ON     ,
      EL_BRAKE_OFF    ,
      SET_AZ_TORQUE   ,
      SET_EL_TORQUE   ,
      QUERY_VERSION   ,
      SET_AZ_TORQUES  ,
      READ_AZ_ENCODERS,
      NUMBER_ERRORS   ,

      /* Second set is for the electronics card */
      START_AMP_COMMS  ,
      ENABLE_AZ_AMP1   ,
      ENABLE_AZ_AMP2   ,
      ENABLE_EL_AMP    ,
      DISABLE_AZ_AMP1  ,
      DISABLE_AZ_AMP2  ,
      DISABLE_EL_AMP   ,
      STATUS_AZ_AMP1    ,
      STATUS_AZ_AMP2    ,
      STATUS_EL_AMP    ,
      ALIVE_AZ_AMP1    ,
      ALIVE_AZ_AMP2    ,
      ALIVE_EL_AMP     ,
      ACTUAL_CURR_AZ1  ,
      ACTUAL_CURR_AZ2  ,
      ACTUAL_CURR_EL   ,
      COMMAND_CURR_AZ1 ,
      COMMAND_CURR_AZ2 ,
      COMMAND_CURR_EL  

      //      /* First set is for the Douloi box 
      // INVALID          = '';
      // GET_AZEL         = 'GAE';
      // GET_PRIOR_LOC    = 'GIM';
      // GET_PPS_TICK     = 'GPPS';
      // SEND_POS         = 'AEL';  // needs further input
      // BEGIN_PPS_LOOP   = 'TIM';  
      // BEGIN_TRACK_LOOP = 'TON';
      // LOAD_LOOP_PARAMS = 'LPR'; //needs further input
      // STOP_ALL         = 'SPA';
      // CAL_ENCODERS     = 'CLE';
      // CLEAR_OFFSETS    = 'CLO';
      // POSITION_OFFSET  = 'POF'; //needs more input
      // VELOCITY_OFFSET  = 'VOF'; //needs more input
      // POSITION_ERRORS  = 'ERR';
      // SET_ENCODERS     = 'SEN'; //needs more input
      // QUERY_STATUS     = 'STS';
      // AZ_BRAKE_ON      = 'ABN';
      // AZ_BRAKE_OFF     = 'ABF';
      // EL_BRAKE_ON      = 'EBN';
      // EL_BRAKE_OFF     = 'EBF';
      // SET_AZ_TORQUE    = 'AZV'; //needs more input
      // SET_EL_TORQUE    = 'ELV'; //needs more input
      // QUERY_VERSION    = 'VER';
      // SET_AZ_TORQUES   = 'AZS'; //needs more input
      // READ_AZ_ENCODERS = 'ENC';
      // REPORT_ERRORS    = 'ERR';
      // */
      //
      // /* Second set is for the electronics card 
      // START_AMP_COMMS  = '2A01';  // if not completed, no >
      // ENABLE_AZ_AMP1   = '2A01EN1'; // if not completed, no >
      // ENABLE_AZ_AMP2   = '2A02EN1'; 
      // ENABLE_EL_AMP    = '2A03EN1'; 
      // DISABLE_AZ_AMP1  = '2A01EN0'; // 2A01> if not completed, no >
      // DISABLE_AZ_AMP2  = '2A02EN0';
      // DISABLE_EL_AMP   = '2A03EN0';  
      // QUERY_AZ_AMP1    = '2A01EN';  // 2A01(0-1) for disable/enable
      // QUERY_AZ_AMP2    = '2A02EN';
      // STATUS_EL_AMP    = '2A03EN';  
      // ALIVE_AZ_AMP1    = '2A01RST'; // if 2A01>, the amp is communicating.
      // ALIVE_AZ_AMP2    = '2A02RST';   
      // ALIVE_EL_AMP     = '2A03RST';  
      // ACTUAL_CURR_AZ1  = '2A01SIA'; // 2A01VAL (in abs term)
      // ACTUAL_CURR_AZ2  = '2A02SIA';
      // ACTUAL_CURR_EL   = '2A03SIA';
      // COMMAND_CURR_AZ1 = '2A01SIC'; // 2A01+-VAL
      // COMMAND_CURR_AZ2 = '2A02SIC';
      // COMMAND_CURR_EL  = '2A03SIC';  
      // */
    };

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

    void constructMap();

    unsigned char request_;

    std::string messageToSend_;

    std::string expectedResponse_;

    char responseReceived_[SERVO_DATA_MAX_LEN];

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


        void checkOneOutput();

        void checkTwoOutputs();

        void checkManyOutputs();


    void interpretStatusResponse(const char* response);

    void packStartAmpComms();

    void packEnableElAmp();

    void packDisableElAmp();

    void packEnableAzAmp1();

    void packDisableAzAmp1();

    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 ServoCommand
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace gcp

#endif // End #ifndef