vpComedi.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * ATI Force torque interface.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef __vpComedi_
#define __vpComedi_

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_COMEDI

#include <string>

#include <comedilib.h>

#include <visp3/core/vpColVector.h>

class VISP_EXPORT vpComedi
{
public:
  vpComedi();
  virtual ~vpComedi();


  void close();
  comedi_t * getHandler() const
  {
    return m_handler;
  }
  std::vector<lsampl_t> getMaxData() const
  {
    return m_maxdata;
  }
  unsigned int getNChannel() const
  {
    return m_nchannel;
  }

  vpColVector getPhyData() const;
  std::string getPhyDataUnits() const;

  std::vector<comedi_range *> getRangeInfo() const
  {
    return m_range_info;
  }
  unsigned int getSubDevice() const {
    return m_subdevice;
  }

  void open();

  void setAnalogReference(const unsigned int &aref) {
    m_aref = aref;
  }

  void setChannelNumbers(const unsigned int &nchannel) {
    m_nchannel = nchannel;
  }

  void setDevice(const std::string &device) {
    m_device = device;
  }

  void setRange(const unsigned int &range) {
    m_range = range;
  }
  void setSubDevice(const unsigned int &subdevice) {
    m_subdevice = subdevice;
  }

protected:
  std::vector<lsampl_t> getRawData() const;

protected:

  std::string m_device;     
  comedi_t *m_handler;      
  unsigned int m_subdevice; 
  unsigned int m_range;     
  unsigned int m_aref;      
  unsigned int m_nchannel;  
  std::vector<comedi_range *>m_range_info; 
  std::vector<lsampl_t> m_maxdata;         
  std::vector<unsigned int> m_chanlist;    
};

#endif
#endif