HardpointTestController.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Telescope & Site Software Systems.
 * 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 HARDPOINTTESTCONTROLLER_H_
#define HARDPOINTTESTCONTROLLER_H_
 
#include <SAL_MTM1M3.h>
 
#include <HardpointActuatorSettings.h>
#include <PositionController.h>
#include <cRIO/DataTypes.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {

class HardpointTestController : public MTM1M3_logevent_hardpointTestStatusC {
public:
    HardpointTestController(PositionController *positionController);

    int startHardpointTest(int hardpointIndex);

    void runLoop();

    int killHardpointTest(int hardpointIndex);

    bool isTested(int hardpointIndex);
 
private:
    bool _runHardpointLoop(int hardpointIndex);
 
    PositionController *_positionController;
    HardpointActuatorSettings *_hardpointActuatorSettings;
    MTM1M3_hardpointActuatorDataC *_hardpointActuatorData;
    MTM1M3_logevent_hardpointActuatorStateC *_hardpointActuatorState;
};
 
}  // namespace SS
}  // namespace M1M3
}  // namespace LSST
 
#endif /* HARDPOINTTESTCONTROLLER_H_ */