ComediSubDeviceDIn.cpp

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  ComediSubDeviceDIn.cxx

                        ComediSubDeviceDIn.cxx -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library 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     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/



#include "ComediSubDeviceDIn.hpp"
#include <rtt/os/fosi.h>
#include "comedi_internal.h"

namespace OCL
{




    ComediSubDeviceDIn::ComediSubDeviceDIn( ComediDevice* cd, const std::string& name, unsigned int subdevice, bool all_bits)
      : DigitalInInterface( name ),
        myCard( cd ), _subDevice( subdevice )
    {
        init(all_bits);
    }

    ComediSubDeviceDIn::ComediSubDeviceDIn( ComediDevice* cd, unsigned int subdevice, bool all_bits )
        : myCard( cd ), _subDevice( subdevice )
    {
        init(all_bits);
    }

    void ComediSubDeviceDIn::init(bool all_bits)
    {
        Logger::In in( nameserver.getName( this ).c_str() );
        if (!myCard) {
            log(Error) << "Error creating ComediSubDeviceDIn: null ComediDevice given." <<endlog();
            return;
        }
        if ( ( myCard->getSubDeviceType( _subDevice ) != COMEDI_SUBD_DI ) &&
             ( myCard->getSubDeviceType( _subDevice ) != COMEDI_SUBD_DIO) )
            {
                Logger::In in("ComediSubDeviceDIn");
                log(Error) << "SubDevice "<< _subDevice <<" is not a digital input: ";
                log() << "type = " << myCard->getSubDeviceType( _subDevice ) << endlog();
                myCard = 0;
                return;
            }

        unsigned int channels = this->nbOfInputs();
        if ( ( myCard->getSubDeviceType( _subDevice ) == COMEDI_SUBD_DIO) && all_bits ) {
            log(Info) << "Configuring first "<<channels<<" dio channels on subdevice "<<_subDevice<<" as input type." << endlog();

            for (unsigned int i=0; i<channels; ++i)
                comedi_dio_config(myCard->getDevice()->it, _subDevice, i, COMEDI_INPUT);
        } else {
            log(Info) << "Subdevice "<<_subDevice<<" is digital input with "<<channels << " channels." << endlog();
        }
    }

    bool ComediSubDeviceDIn::useBit( unsigned int bit )
    {
        return comedi_dio_config(myCard->getDevice()->it, _subDevice, bit, COMEDI_INPUT) == 0;
    }

  bool ComediSubDeviceDIn::isOn( unsigned int bit /*= 0*/) const
  {
      unsigned int tmp;
      if (!myCard) return false;
      comedi_dio_read( myCard->getDevice()->it,_subDevice,bit, &tmp );
      return (tmp == 1);
    }

  bool ComediSubDeviceDIn::isOff( unsigned int bit /*= 0*/) const
    {
      return !isOn(bit);
    }

  bool ComediSubDeviceDIn::readBit( unsigned int bit /*= 0*/) const
    {
      return isOn(bit);
    }

    unsigned int ComediSubDeviceDIn::nbOfInputs() const
    {
      if (!myCard) return 0;
      return comedi_get_n_channels(myCard->getDevice()->it, _subDevice);
    }

    unsigned int ComediSubDeviceDIn::readSequence(unsigned int start_bit, unsigned int stop_bit) const
    {
      unsigned int value = 0;
      if (!myCard) return 0;
      if ((start_bit > stop_bit) || (stop_bit >= this->nbOfInputs()))
          {
              Logger::In in("ComediSubDeviceDIn");
              log(Error) << "start_bit should be less than stop_bit" << endlog();
          }
      else
    {
      // Read all channels
      comedi_dio_bitfield(myCard->getDevice()->it, _subDevice, 0x0, &value);
      // Filter data from these channels
      unsigned int write_mask = 0;
      // Can somebody check this cumbersome line please?
      for (unsigned int i = start_bit; i <= stop_bit ; i++)
        {
          write_mask = write_mask | (0x1 << i);
        }
      // Erase other bits that we read
      value = value & write_mask ;
      // Shift value "start_bit" bits to the right
      value = value >> start_bit;
      // Everything is in read mode, so we don't have to call
      // dio_config here (as in ComediSubDeviceOut.hpp)
    }

      return value;

    }

}

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