Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpComedi.h
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30  *
31  * Description:
32  * ATI Force torque interface.
33  *
34 *****************************************************************************/
35 #ifndef _vpComedi_h_
36 #define _vpComedi_h_
37 
38 #include <visp3/core/vpConfig.h>
39 
40 #ifdef VISP_HAVE_COMEDI
41 
42 #include <string>
43 
44 #include <comedilib.h>
45 
46 #include <visp3/core/vpColVector.h>
47 
106 class VISP_EXPORT vpComedi
107 {
108 public:
109  vpComedi();
110  virtual ~vpComedi();
111 
113 
114  void close();
116  comedi_t *getHandler() const { return m_handler; }
119  std::vector<lsampl_t> getMaxData() const { return m_maxdata; }
121  unsigned int getNChannel() const { return m_nchannel; }
122 
123  vpColVector getPhyData() const;
124  std::string getPhyDataUnits() const;
125 
128  std::vector<comedi_range *> getRangeInfo() const { return m_range_info; }
130  unsigned int getSubDevice() const { return m_subdevice; }
131 
132  void open();
133 
139  void setAnalogReference(const unsigned int &aref) { m_aref = aref; }
140 
145  void setChannelNumbers(const unsigned int &nchannel) { m_nchannel = nchannel; }
146 
148  void setDevice(const std::string &device) { m_device = device; }
149 
155  void setRange(const unsigned int &range) { m_range = range; }
157  void setSubDevice(const unsigned int &subdevice) { m_subdevice = subdevice; }
159 
160 protected:
161  std::vector<lsampl_t> getRawData() const;
162 
163 protected:
165 
166  std::string m_device;
167  comedi_t *m_handler;
168  unsigned int m_subdevice;
169  unsigned int m_range;
170  unsigned int m_aref;
171  unsigned int m_nchannel;
172  std::vector<comedi_range *> m_range_info;
173  std::vector<lsampl_t> m_maxdata;
174  std::vector<unsigned int> m_chanlist;
176 };
177 
178 #endif
179 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
void setChannelNumbers(const unsigned int &nchannel)
Definition: vpComedi.h:145
unsigned int m_aref
Definition: vpComedi.h:170
std::vector< lsampl_t > m_maxdata
Definition: vpComedi.h:173
void setDevice(const std::string &device)
Set comedi device name. Default value is /dev/comedi0.
Definition: vpComedi.h:148
void setSubDevice(const unsigned int &subdevice)
Set comedi analog input subdevice.
Definition: vpComedi.h:157
std::vector< lsampl_t > getMaxData() const
Definition: vpComedi.h:119
std::string m_device
Definition: vpComedi.h:166
unsigned int getNChannel() const
Get number of channels.
Definition: vpComedi.h:121
unsigned int m_range
Definition: vpComedi.h:169
std::vector< comedi_range * > getRangeInfo() const
Definition: vpComedi.h:128
std::vector< comedi_range * > m_range_info
Definition: vpComedi.h:172
unsigned int getSubDevice() const
Get comedi subdevice.
Definition: vpComedi.h:130
unsigned int m_subdevice
Definition: vpComedi.h:168
comedi_t * m_handler
Definition: vpComedi.h:167
void setAnalogReference(const unsigned int &aref)
Definition: vpComedi.h:139
void setRange(const unsigned int &range)
Definition: vpComedi.h:155
unsigned int m_nchannel
Definition: vpComedi.h:171
comedi_t * getHandler() const
Get native Comedi handler.
Definition: vpComedi.h:116
std::vector< unsigned int > m_chanlist
Definition: vpComedi.h:174