DigitalEtherCATOutputDevice.hpp

#ifndef DIGITALETHERCATOUTPUTDEVICE_HPP
#define DIGITALETHERCATOUTPUTDEVICE_HPP

#include "rtt/dev/DigitalOutInterface.hpp"
#include <vector>

namespace RTT
{
    class DigitalEtherCATOutputDevice
        :   public DigitalOutInterface
    {
        public:
            std::vector<bool> mchannels;
            unsigned char* mstartaddress;
            unsigned int startb;
            unsigned int nbofchannels;

            DigitalEtherCATOutputDevice(unsigned char* startaddress, unsigned int start_bit,unsigned int channels=32)
            :       DigitalOutInterface("DigitalEtherCATOutputDevice"),
                    mchannels(channels,false),
                    mstartaddress(startaddress),
                    startb(start_bit),
                    nbofchannels(channels)
            {}

            virtual void switchOn( unsigned int n )
            {
                if ( n < nbofchannels ) {
                    unsigned char tmp = 1 << n+startb;
                    *mstartaddress = *mstartaddress | tmp;
                }
            }

            virtual void switchOff( unsigned int n )
            {
                if ( n < nbofchannels ) {
                    unsigned char tmp = (1 << n+startb) ^ 0xff;
                    *mstartaddress = *mstartaddress & tmp;
                }
            }

            virtual void setBit( unsigned int bit, bool value )
            {
                if(value)
                    switchOn(bit);
                else
                    switchOff(bit);
            }

            virtual void setSequence(unsigned int start_bit, unsigned int stop_bit, unsigned int value)
            {
                if ( start_bit < nbofchannels && stop_bit < nbofchannels ) {
                    //unsigned int tmp = 0xffffffff << startb + nbofchannels;
                    for (unsigned int i = start_bit; i <= stop_bit; i++)
                        mchannels[i] = value & ( 1<<( i - start_bit ) );
                }

            }

            virtual bool checkBit(unsigned int n) const
            {
                if ( n < nbofchannels )
                    return mchannels[n];
                return false;
            }


            virtual unsigned int checkSequence( unsigned int start_bit, unsigned int stop_bit ) const
            {
                unsigned int result = 0;
                if ( start_bit < nbofchannels && stop_bit < nbofchannels )
                    for (unsigned int i = start_bit; i <= stop_bit; ++i)
                        result += (mchannels[i] & 1)<<i;
                return result;
            }

            virtual unsigned int nbOfOutputs() const
            {
                return nbofchannels;
            }

    };


}


#endif

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