Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
Comedi.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of the Technische Universitaet Muenchen nor the names of
14 // its contributors may be used to endorse or promote products derived from
15 // this software without specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 
30 #ifndef _RL_HAL_COMEDI_H_
31 #define _RL_HAL_COMEDI_H_
32 
33 #include "Com.h"
34 
35 #include <comedilib.h>
36 #include <string>
37 
38 namespace rl
39 {
40  namespace hal
41  {
42  class Comedi : public Com
43  {
44  public:
45  Comedi(const ::std::string& filename = "/dev/comedi0");
46 
47  virtual ~Comedi();
48 
49  void close();
50 
51  unsigned int getAref() const;
52 
53  ::std::string getBoardName() const;
54 
55  comedi_t* getDevice() const;
56 
57  ::std::string getDriverName() const;
58 
59  int getFileno() const;
60 
61  lsampl_t getMax(const ::std::size_t& subdevice, const ::std::size_t& channel) const;
62 
63  ::std::size_t getNumChannels(const ::std::size_t& subdevice) const;
64 
65  ::std::size_t getNumRanges(const ::std::size_t& subdevice, const ::std::size_t& channel) const;
66 
67  ::std::size_t getNumSubdevices() const;
68 
69  unsigned int getRange() const;
70 
71  ::std::size_t getSubdeviceFlags(const ::std::size_t& subdevice) const;
72 
73  void open();
74 
75  void read(const ::std::size_t& subdevice, const ::std::size_t& channel, double& data);
76 
77  void read(const ::std::size_t& subdevice, const ::std::size_t& channel, float& data);
78 
79  void setAref(const unsigned int& aref);
80 
81  void setRange(const unsigned int& range);
82 
83  void write(const ::std::size_t& subdevice, const ::std::size_t& channel, const double& data);
84 
85  void write(const ::std::size_t& subdevice, const ::std::size_t& channel, const float& data);
86 
87  protected:
88 
89  private:
90  unsigned int aref;
91 
92  comedi_t* device;
93 
94  ::std::string filename;
95 
96  unsigned int range;
97  };
98  }
99 }
100 
101 #endif // _RL_HAL_COMEDI_H_