acscourseMount4Impl.h

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#ifndef acscourseMount4Impl_h
#define acscourseMount4Impl_h
/*******************************************************************************
*    ALMA - Atacama Large Millimiter Array
*    (c) European Southern Observatory, 2002
*    Copyright by ESO (in the framework of the ALMA collaboration)
*    and Cosylab 2002, All rights reserved
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307  USA
*
*
* "@(#) $Id: acscourseMount4Impl.h,v 1.6 2008/10/02 08:58:19 cparedes Exp $"
*
*/

#ifndef __cplusplus
#error This is a C++ include file and cannot be used from plain C
#endif

#include <baciCharacteristicComponentImpl.h>
#include <baciROdouble.h>
#include <baciRWdouble.h>

#include <baciSmartPropertyPointer.h>

#include <acscourseMountS.h>
#include "acsThreadManager.h"


class Mount4Impl;

class PositionControlThread :public ACS::Thread
{
  public:
    PositionControlThread(const ACE_CString& name, 
                  Mount4Impl *mount_p, 
                  const ACS::TimeInterval& responseTime=ThreadBase::defaultResponseTime, 
                          const ACS::TimeInterval& sleepTime=ThreadBase::defaultSleepTime);
    ~PositionControlThread();

    virtual void runLoop();

  protected:
    Mount4Impl *mount_p;
};

class Mount4Impl: public virtual baci::CharacteristicComponentImpl,
                  public virtual POA_ACSCOURSE_MOUNT::Mount4,
                  public baci::ActionImplementator
{
  public:
    Mount4Impl(const ACE_CString &name, maci::ContainerServices *containerServices);
    
    virtual ~Mount4Impl();
    
    virtual baci::ActionRequest 
    invokeAction (int function,
                  baci::BACIComponent *cob_p, 
                  const int &callbackID, 
                  const CBDescIn &descIn, 
                  baci::BACIValue *value_p, 
                  Completion &completion, 
                  CBDescOut &descOut);
    
    virtual baci::ActionRequest 
    objfixAction (baci::BACIComponent *cob_p, 
              const int &callbackID,
              const CBDescIn &descIn, 
              baci::BACIValue *value_p,
              Completion &completion, 
              CBDescOut &descOut);
    
    virtual void 
    objfix (CORBA::Double az,
            CORBA::Double elev);

    virtual void 
    objfix_async (
        CORBA::Double az,
        CORBA::Double elev,
        ACS::CBvoid_ptr cb,
        const ACS::CBDescIn &desc);
    
    virtual ACS::ROdouble_ptr 
    cmdAz ();
    
    virtual ACS::ROdouble_ptr 
    cmdEl ();
    
    virtual ACS::ROdouble_ptr 
    actAz ();
    
    virtual ACS::ROdouble_ptr 
    actEl ();
    

  protected:
    
    struct __objfix_action {
        double az;
        double elev;
    };

    baci::SmartPropertyPointer<baci::ROdouble> m_cmdAz_sp;

    baci::SmartPropertyPointer<baci::ROdouble> m_cmdEl_sp;

    baci::SmartPropertyPointer<baci::ROdouble> m_actAz_sp;

    baci::SmartPropertyPointer<baci::ROdouble> m_actEl_sp;

    void operator=(const Mount4Impl&);

    friend class PositionControlThread;
};

#endif