TrackerBoard.h

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#ifndef TRACKERBOARD_H
#define TRACKERBOARD_H

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

#include "gcp/antenna/control/specific/Board.h"
#include "gcp/antenna/control/specific/SpecificShare.h"

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

#define NEW_SCAN

namespace gcp {
  namespace antenna {
    namespace control {
      
      class Atmosphere;
      class AxisPositions;
      class Model;
      class PmacTarget;
      class Pointing;
      class Position;
      class Site;
      class Scan;
      class TrackerOffset;

      class TrackerBoard : public Board {
    
      public:
    
    TrackerBoard(SpecificShare* share, char* name);
    
    inline bool isNewFrame() {
      return (positionIndex_ == 0);
    }
    
    void archivePosition(AxisPositions *current, 
                 Position* commanded);
            
    /*.......................................................................
     * Record the latest pointing parameters for archival.
     */
    void archivePointing(unsigned* archived_ptr,
                 Atmosphere* atmosphere,
                 Model* model, 
                 PmacTarget* pmac,
                 Pointing* pointing, 
                 Site* site,
                 TrackerOffset* offset,
                 Scan* scan);

    void archivePointing(unsigned* archived_ptr,
                 Atmosphere* atmosphere,
                 Model* model, 
                 PmacTarget* pmac,
                 Pointing* pointing, 
                 Site* site,
                 TrackerOffset* offset,
                 Scan* scan, 
                 bool servoBusy);
    
    void archiveStatus(unsigned state, unsigned offSoruce, unsigned lacking);
    
    unsigned char trackerStateToBit(int state);

      private:
      
    // Increment the position counter

    unsigned int incrementPosition();
    
    // Pack the LST for archival into the register database

    void packLst(unsigned* u_elements, double lst);
    
    // Pack the Ut1Utc

    void packUt1Utc(signed* s_elements, double ut1utc);
    
    // Pack the equation of the equinoxes.

    void packEqnEqx(signed* s_elements, double eqneqx);
    
    // We store SAMPLES_PER_FRAME samples in each data frame This
    // is the telescope position index of the current sample *
    // which is multiplied by SAMPLES_PER_POSITION to get the
    // sample index

    unsigned int positionIndex_;

    //------------------------------------------------------------
    // Block definitions
    //------------------------------------------------------------

    SpecificShare::Block* lacking_;      

    SpecificShare::Block* offSource_;

    RegMapBlock* servoBusy_;
    
    SpecificShare::Block* lst_;        
      
    SpecificShare::Block* ut1utc_;       

    SpecificShare::Block* eqneqx_;       

    SpecificShare::Block* encoder_off_;  
    
    SpecificShare::Block* encoder_mul_;  

    SpecificShare::Block* az_limits_;    

    SpecificShare::Block* el_limits_;    

    SpecificShare::Block* tilts_;        

    SpecificShare::Block* flexure_;      

    SpecificShare::Block* axis_;         

    SpecificShare::Block* ptel_;         

    SpecificShare::Block* fixedCollimation_;  

    SpecificShare::Block* siteActual_;         

    SpecificShare::Block* siteFiducial_;         

    SpecificShare::Block* location_;         

    SpecificShare::Block* time_diff_;         

    //------------------------------------------------------------
    // Fast registers
    //------------------------------------------------------------

    SpecificShare::Block* utc_;
    
    SpecificShare::Block* tick_utc_;
        
    SpecificShare::Block* tick_nanoseconds_;
        
    SpecificShare::Block* mode_;   

    SpecificShare::Block* refraction_;   

    SpecificShare::Block* source_;  

    /*
     * Scan monitor points
     */
    SpecificShare::Block* scanName_;   
    
    SpecificShare::Block* scanOff_;     
    
    SpecificShare::Block* scanFlag_;     

    SpecificShare::Block* scanInd_;     

    SpecificShare::Block* scanState_;      
    
    SpecificShare::Block* scanRep_;       

    SpecificShare::Block* equat_geoc_;   

    SpecificShare::Block* equat_off_;  
     
    SpecificShare::Block* horiz_geoc_;   
    
    SpecificShare::Block* horiz_topo_;   
    
    SpecificShare::Block* horiz_mount_; 

    SpecificShare::Block* horiz_off_;   

    SpecificShare::Block* sky_xy_off_;  

    SpecificShare::Block* expectedRates_;     
    
    SpecificShare::Block* actualRates_;
    
    SpecificShare::Block* actual_;       

        SpecificShare::Block* motor_current_;

        SpecificShare::Block* sum_tach_;

        SpecificShare::Block* tilt_xy_;

        SpecificShare::Block* tilt_xy_avg_;

        SpecificShare::Block* tilt_enabled_;

        SpecificShare::Block* tilt_max_;

        SpecificShare::Block* tilt_xy_offset_;

        SpecificShare::Block* tilt_theta_;

        SpecificShare::Block* tilt_average_interval_;

        SpecificShare::Block* tilt_temp_;

        SpecificShare::Block* expected_;

        SpecificShare::Block* expectedCounts_;

    SpecificShare::Block* actualCounts_;

    SpecificShare::Block* errors_;   

    SpecificShare::Block* state_;
        
    SpecificShare::Block* stateMask_;      

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

#endif // End #ifndef