TMA.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TMA_H_
#define TMA_H_
 
#include <SAL_MTMountC.h>
 
#include <Units.h>
#include <cRIO/Singleton.h>
 
#include <cmath>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
class TMA : public cRIO::Singleton<TMA> {
public:
    TMA(token);
 
    void checkTimestamps(bool checkAzimuth, bool checkElevation);
 
    void updateTMAAzimuth(MTMount_azimuthC *data);
 
    void updateTMAElevation(MTMount_elevationC *data);
 
    double getElevation(bool forceTelescope = false);
 
    void getMirrorAngularVelocities(double &x, double &y, double &z);
 
    void getMirrorAngularAccelerations(double &ax, double &ay, double &az);
 
    double getElevationSin(bool forceTelescope = false) { return sin(getElevation(forceTelescope) * D2RAD); }
 
    double getElevationCos(bool forceTelescope = false) { return cos(getElevation(forceTelescope) * D2RAD); }
 
private:
    MTMount_azimuthC _last_azimuth_data;
    MTMount_elevationC _last_elevation_data;
 
    double _azimuth_demand_acceleration;
    double _azimuth_actual_acceleration;
 
    double _elevation_demand_acceleration;
    double _elevation_actual_acceleration;
};
 
}  // namespace SS
}  // namespace M1M3
}  // namespace LSST
 
#endif