DigitalOutput.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:20 CET 2004  DigitalOutput.hpp

                        DigitalOutput.hpp -  description
                           -------------------
    begin                : Mon January 19 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 General Public                   *
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 *   version 2 of the License.                                             *
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 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   License.  This exception does not however invalidate any other        *
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 *   Public License.                                                       *
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 *   Lesser General Public License for more details.                       *
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 ***************************************************************************/
#ifndef DIGITAL_OUTPUT_HPP
#define DIGITAL_OUTPUT_HPP


#include "DigitalOutInterface.hpp"

namespace RTT
{
    class RTT_API DigitalOutput
    {
    public:
        DigitalOutput( DigitalOutInterface* dig_out, unsigned int relay_nr, bool _invert=false )
            : board( dig_out ), relaynumber( relay_nr ), invert(_invert)
        {}

        DigitalOutput ( bool initial_state = false )
            : board( 0 ), relaynumber( 0 ), invert(initial_state)
        {}


        ~DigitalOutput()
        {}

        void setBit( bool on_off )
        {
            if(board)
                board->setBit( relaynumber, on_off != invert );
            else
                invert=on_off;
        }

        void switchOn()
        {
            if(board)
                board->setBit( relaynumber, !invert );
            else
                invert=true;
        }

        void switchOff()
        {
            if(board)
                board->setBit( relaynumber, invert );
            else
                invert=false;
        }

        bool isOn() const
        {
            if(board)
                return invert != board->checkBit( relaynumber );
            else
                return invert;
        }

    private:
        DigitalOutInterface *board;
        unsigned int relaynumber;
        bool invert;
    };
}

#endif