sutra_rtc_brahma.h

// -----------------------------------------------------------------------------
//  This file is part of COMPASS <https://anr-compass.github.io/compass/>
//
//  Copyright (C) 2011-2023 COMPASS Team <https://github.com/ANR-COMPASS>
//  All rights reserved.
 
// -----------------------------------------------------------------------------
 
 
#ifndef SUTRA_RTC_BRAHMA_H_
#define SUTRA_RTC_BRAHMA_H_
 
#include <BRAHMA_context.h>
#include <sutra_rtc.h>
#include <SutraRtcBrahmaListenerImpl.h>
#include <sutra_target.h>
#include <sutra_wfs.h>
 
template <typename T>
class SutraRtcBrahma : public SutraRtc<float, T, float> {
 private:
  DDS::Subscriber_var sub;
  DDS::Publisher_var pub;
 
  DDS::DataReaderListener_var cmd_listener;
  SutraRtcBrahmaListenerImpl<T> *cmd_listener_servant;
  DDS::DataReader_var cmd_dr;
 
  DDS::DataWriter_var superframe_base_dw;
  BRAHMA::SuperFrameDataWriter_var superframe_dw;
  DDS::InstanceHandle_t superframe_handle;
 
  DDS::DataWriter_var megaframe_base_dw;
  BRAHMA::MegaFrameDataWriter_var megaframe_dw;
  DDS::InstanceHandle_t megaframe_handle;
 
  CORBA::Octet *buff_wfs;
  CORBA::Octet *buff_wfs_phase;
  CORBA::Octet *buff_intensities;
  CORBA::Octet *buff_slopes;
  CORBA::Octet *buff_commands;
  CORBA::Octet *buff_target;
  CORBA::Octet *buff_target_phase;
 
  CORBA::ULong *dims_wfs;
  CORBA::ULong *dims_wfs_phase;
  CORBA::ULong *dims_intensities;
  CORBA::ULong *dims_slopes;
  CORBA::ULong *dims_commands;
  CORBA::ULong *dims_target;
  CORBA::ULong *dims_target_phase;
 
  long framecounter;
  ACE_Mutex lock_;
 
  int wfs_size;
  int wfs_phase_size;
  SutraSensors *wfs;
  int target_size;
  int target_phase_size;
  SutraTarget *target;
 
  int nslp;
  int ncmd;
  int nvalid;
 
  int is_initialised;
 
 public:
  SutraRtcBrahma(CarmaContext *context, SutraSensors *wfs,
                   SutraTarget *target, ACE_TCHAR *name);
  ~SutraRtcBrahma();
 
  void publish();
 
 private:
  void allocate_buffers();
};
 
#endif /* SUTRA_RTC_BRAHMA_H_ */