roachBackend.h

#ifndef ROACHBACKEND_H
#define ROACHBACKEND_H

// Required C header files from the array control code

#include "gcp/control/code/unix/libunix_src/common/regmap.h" // RegMapBlock

#include "gcp/antenna/control/specific/Board.h"
#include "gcp/antenna/control/specific/RoachBackendMsg.h"
#include "gcp/util/common/FdSet.h"

#include <sys/socket.h>
#include <netinet/in.h>
#include <stdio.h>
#include <termios.h>
#include <string>

#define ROACH_TIMEOUT_USEC 5000 

namespace gcp {
  namespace antenna {
    namespace control {

      class SpecificShare;
      
      class RoachBackend : public Board {
    
      public:
    
    RoachBackend(SpecificShare* share, std::string name, bool sim);
    
    RoachBackend();
    
    ~RoachBackend();

    void queryStatus();
    void queryStatus(gcp::util::TimeVal& currTime);

    void fillUtc(gcp::util::TimeVal& currTime);


    bool connect();
    
    void disconnect();

    bool roachIsConnected();

    sockaddr_in servaddr_;

    void getData();

    
    void sendCommand(RoachBackendMsg& command);
    
    int readResponse(RoachBackendMsg& command);

    RoachBackendMsg command_;

    // Return true if the roach is not ready for another command

    bool isBusy();

    //------------------------------------------------------------
    // Methods which will be used to read and write register values.
    // These methods will send a the appropriate command to the servo,
    // and time out waiting for a response.
    //------------------------------------------------------------
    
    int writeString(std::string message);

      private:

    int fd_;
    
    struct termios termioSave_;
    
    RegMapBlock* Utc_;              
    RegMapBlock* LL_;               
    RegMapBlock* RR_;               
    RegMapBlock* Q_;                
    RegMapBlock* U_;                
    RegMapBlock* TL1_;              
    RegMapBlock* TL2_;              
    
    /*
    RegMapBlock* azPositions_;          
    RegMapBlock* azErrors_;             
    RegMapBlock* elPositions_;          
    RegMapBlock* elErrors_;             
    RegMapBlock* slowAzPos_;        
    RegMapBlock* slowElPos_;        
    RegMapBlock* servoStatus_;      
    RegMapBlock* servoThermalCutouts_;  
    RegMapBlock* servoContactors_;      
    RegMapBlock* servoCircuitBreakers_; 
    RegMapBlock* servoBrakes_;      
    RegMapBlock* driveLids_;        
    RegMapBlock* azWrap_;               
    */

    gcp::util::FdSet fdSet_;
    
      public:
    bool connected_;
    
    bool sim_;




      private:
    bool responsePending_;

    void serviceMsgQ();
    
    void zeroReadFds();
    
    void registerReadFd(int fd);
    
    int waitForNextMessage();

    int readTCPPort(RoachBackendMsg& command);


    int parseBackendResponse(RoachBackendMsg& command);

    void waitForResponse();

    void recordStatusResponse(RoachBackendMsg& command);

    void wait(long nsec=100000000);

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




#endif // End