SBIT.h

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#ifndef SBIT_H_
#define SBIT_H_

#include "component/ComponentRegistry.h"
#include "component/SyncComponent.h"

class UniversalDataReader;
class UniversalDataWriter;

class SBIT : public SyncTestComponent
{
public:

    SBIT( const Module* module );

    virtual ~SBIT();

    void initialize( void );

    void run();

    void uninitialize( void );

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

protected:



private:

    // Update configuration
    bool readConfig( void );

    // Checks actual vs. expected positions of the control surfaces
    bool ctrlSurfaceCheckPos( double elevExpect, double ruddExpect, double massExpect );

    // indicates whether things are ok to run
    bool ok_;

    bool sbitPass_;

    // slate entry to let others know that SBIT is running
    DataWriter* sbitRunningStateWriter_;

    DataWriter* elevatorAngleCmdWriter_;
    DataWriter* verticalModeWriter_;
    DataWriter* horizontalModeWriter_;
    DataWriter* rudderAngleCmdWriter_;
    DataWriter* massPosCmdWriter_;

    UniversalDataReader *elevatorAngleReader_;
    UniversalDataReader *rudderAngleReader_;
    UniversalDataReader *massPosReader_;

    ConfigReader* kernelReleaseCfgReader_;
    ConfigReader* kernelVersionCfgReader_;
    ConfigReader* elevatorLimitCfgReader_;
    ConfigReader* massLimitFwdCfgReader_;
    ConfigReader* massLimitAftCfgReader_;
    ConfigReader* massDefaultCfgReader_;
    ConfigReader* rudderLimitCfgReader_;

    ConfigReader* elevDeviationCfgReader_;
    ConfigReader* massDeviationCfgReader_;
    ConfigReader* ruddDeviationCfgReader_;



    double elevatorLimit_;
    double massLimitFwd_;
    double massLimitAft_;
    double massDefault_;
    double rudderLimit_;
    double elevDeviation_;
    double massDeviation_;
    double ruddDeviation_;


    Timespan ctrlTimeout_;
    Timespan startDelay_;
    Timestamp startTime_;

    // Used to save state since there are long potential waiting periods for this device to respond
    enum SBITState
    {
        PRESTART,
        START,
        CTRLHI,
        SETLO,
        CTRLLO,
        SETCTR,
        CTRLCTR,
        DONE,
        IDLE
    };

    // To hold our state
    SBITState sbitState_;

};

#endif /*SBIT_H_*/