Orocos Real-Time Toolkit
2.5.0
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00001 // $Id: AnalogInInterface.hpp,v 1.10 2003/08/20 08:16:55 kgadeyne Exp $ 00002 /*************************************************************************** 00003 tag: Peter Soetens Thu Oct 10 16:16:56 CEST 2002 AnalogInInterface.hpp 00004 00005 AnalogInInterface.hpp - description 00006 ------------------- 00007 begin : Thu October 10 2002 00008 copyright : (C) 2002 Peter Soetens 00009 email : peter.soetens@mech.kuleuven.ac.be 00010 00011 *************************************************************************** 00012 * This library is free software; you can redistribute it and/or * 00013 * modify it under the terms of the GNU General Public * 00014 * License as published by the Free Software Foundation; * 00015 * version 2 of the License. * 00016 * * 00017 * As a special exception, you may use this file as part of a free * 00018 * software library without restriction. Specifically, if other files * 00019 * instantiate templates or use macros or inline functions from this * 00020 * file, or you compile this file and link it with other files to * 00021 * produce an executable, this file does not by itself cause the * 00022 * resulting executable to be covered by the GNU General Public * 00023 * License. This exception does not however invalidate any other * 00024 * reasons why the executable file might be covered by the GNU General * 00025 * Public License. * 00026 * * 00027 * This library is distributed in the hope that it will be useful, * 00028 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00029 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00030 * Lesser General Public License for more details. * 00031 * * 00032 * You should have received a copy of the GNU General Public * 00033 * License along with this library; if not, write to the Free Software * 00034 * Foundation, Inc., 59 Temple Place, * 00035 * Suite 330, Boston, MA 02111-1307 USA * 00036 * * 00037 ***************************************************************************/ 00038 /* Klaas Gadeyne, Mon August 11 2003 00039 - Added "channel" param to lowest(), highest(), resolution() calls (these 00040 are mostly configurable on a per channel basis. If not, there's 00041 no problem 00042 - In comedi, this is also done for their "binary"-counterpoles. I 00043 don't know if this is necessary 00044 00045 Klaas Gadeyne, Wed August 20 2003 00046 - Added rangeSet() and arefSet() methods, that allready existed in 00047 the comedi implementations of these interfaces 00048 */ 00049 00050 #ifndef ANALOGININTERFACE_HPP 00051 #define ANALOGININTERFACE_HPP 00052 00053 #include "NameServer.hpp" 00054 #include "NameServerRegistrator.hpp" 00055 #include "../../rtt-config.h" 00056 00057 namespace RTT 00058 { namespace dev { 00059 00068 class RTT_API AnalogInInterface 00069 : private NameServerRegistrator<AnalogInInterface*> 00070 { 00071 public: 00076 enum AnalogReference { Ground = 0, 00077 Common, 00078 Differential, 00079 Other 00080 }; 00081 00085 AnalogInInterface( ) 00086 {} 00087 00092 AnalogInInterface( const std::string& name ) 00093 : NameServerRegistrator<AnalogInInterface*>( nameserver, name, this ) 00094 {} 00095 00096 virtual ~AnalogInInterface() 00097 {} 00098 00106 virtual void rangeSet(unsigned int chan, 00107 unsigned int range) = 0; 00108 00116 virtual void arefSet(unsigned int chan, 00117 unsigned int aref) = 0; 00118 00123 virtual int rawRead( unsigned int chan, int& value ) = 0; 00124 00129 virtual int read( unsigned int chan, double& value ) = 0; 00130 00134 virtual unsigned int rawRange() const = 0; 00135 00140 virtual double lowest(unsigned int chan) const = 0; 00141 00146 virtual double highest(unsigned int chan) const = 0; 00147 00151 virtual double resolution(unsigned int chan) const = 0; 00152 00156 virtual unsigned int nbOfChannels() const = 0; 00157 00162 unsigned int binaryRange() const { return rawRange(); } 00163 00168 int binaryLowest() const { return 0; } 00169 00174 int binaryHighest() const { return rawRange(); } 00175 00180 static NameServer<AnalogInInterface*> nameserver; 00181 00182 private: 00183 00184 }; 00185 }}; 00186 00187 #endif