HomePositionDetector.hpp

/***************************************************************************
  tag: Peter Soetens  Tue May 4 16:49:13 CEST 2004  HomePositionDetector.hpp

                        HomePositionDetector.hpp -  description
                           -------------------
    begin                : Tue May 04 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.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                                *
 *                                                                         *
 ***************************************************************************/

#ifndef HOME_POSITION_DETECTOR_HPP
#define HOME_POSITION_DETECTOR_HPP

#include "rtt/dev/DigitalInInterface.hpp"
#include "rtt/dev/SensorInterface.hpp"
#include "rtt/dev/EncoderInterface.hpp"

namespace OCL
{

    class HomePositionDetector
        : public DigitalInInterface
    {
        SensorInterface<double>* sens;
        EncoderInterface* enc;
    public :
        HomePositionDetector( SensorInterface<double>* _sensor,
                              EncoderInterface* _encoder = 0)
            : sens(_sensor), enc(_encoder) {}

        virtual bool isOn( unsigned int bit = 0) const
        {
            if ( bit == 0)
                return sens->readSensor() == 0.0;
            if ( bit == 1)
                return enc != 0 && enc->positionGet() == 0;
            if ( bit == 2)
                return enc != 0 && enc->turnGet() == 0;
            return false;
        }
        virtual bool isOff( unsigned int bit = 0) const
        {
            return !isOn(bit);
        }
        virtual bool readBit( unsigned int bit = 0) const
        {
            return isOn(bit);
        }
        virtual unsigned int readSequence(unsigned int start_bit, unsigned int stop_bit) const
        {
            if (start_bit > 2 || stop_bit > 2 )
                return 0;
            // first form the total sequence, then shift + mask
            return (( isOn(0) + isOn(1)*2 + isOn(2)*4 ) >> start_bit ) & (1 << (stop_bit+1)-1) ;
        }
        virtual unsigned int nbOfInputs() const
        { return enc != 0 ? 3 : 1; }
    };

}

#endif

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