analogoutinterface.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Thu Oct 10 16:16:56 CEST 2002  AnalogOutInterface.hpp 

                        AnalogOutInterface.hpp -  description
                           -------------------
    begin                : Thu October 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   resulting executable to be covered by the GNU General Public          *
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/* Klaas Gadeyne, Mon August 11 2003
   - Added "channel" param to lowest(), highest(), resolution() calls (these
   are mostly configurable on a per channel basis.  If not, there's
   no problem
   - In comedi, this is also done for their "binary"-counterpoles.  I
   don't know if this is necessary

   Klaas Gadeyne, Wed August 20 2003
   - Added rangeSet() and arefSet() methods, that allready existed in
   the comedi implementations of these interfaces
*/ 

#ifndef ANALOGOUTINTERFACE_HPP
#define ANALOGOUTINTERFACE_HPP

#include "../NameServer.hpp"
#include "../NameServerRegistrator.hpp"

namespace RTT
{

    /**
     * An interface for writing analog output, like
     * for addressing a whole subdevice in comedi
     * 
     * Measurement Unit (MU) : Unit of what is actually read on the analog channel (e.g. Volt)
     * 
     * @ingroup DeviceInterface
     */
    template < class T>
    class AnalogOutInterface
        : private NameServerRegistrator<AnalogOutInterface<T>*>
    {
    public:

      /**
       * This enum can be used to configure the \a arefSet() function.
       * @see http://www.comedi.org
       */
      enum AnalogReference { Ground = 0, /** Reference to ground */
			     Common, /** Common reference */
			     Differential, /** Differential reference */
			     Other /** Undefined */
      };

            /**
             * Create a not nameserved AnalogOutInterface instance.
             */
            AnalogOutInterface()
            {}

            /**
             * Create a nameserved AnalogOutInterface. When \a name is not "" and
             * unique, it can be retrieved using the AnalogOutInterface::nameserver.
             */
            AnalogOutInterface( const std::string& name )
                : NameServerRegistrator<AnalogOutInterface<T>*>( nameserver, name, this )
            {}

            virtual ~AnalogOutInterface()
            {}

            /** 
	      * Set the range of a particular channel.  We took (for
	      * now) the comedi API for this, where every range
	      * (eg. -5/+5 V) corresponds to an unsigned int.  You
	      * should provide a mapping from that int to a particular
	      * range in your driver documentation
	      */
            virtual void rangeSet(unsigned int chan, 
				  unsigned int range) = 0;

            /** 
	      * Set the analog reference of a particular channel.  We took (for
	      * now) the comedi API for this, where every aref
	      * (eg. Analog reference set to ground (aka AREF_GROUND)
	      * corresponds to an unsigned int.
	      * @see AnalogReference.
	      */
	    virtual void arefSet(unsigned int chan, 
				 unsigned int aref) = 0;

            /**
             * Write \a value to channel \a chan
             */
            virtual void write( unsigned int chan, T value ) = 0;

            /**
             * Returns the binary range (e.g. 12bits DA -> 4096)
             */
            virtual T binaryRange() const = 0;

            /**
             * Returns the binary lowest value.
             */
            virtual T binaryLowest() const = 0;

            /**
             * Returns the binary highest value
             */
            virtual T binaryHighest() const = 0;

            /**
             * Returns the current lowest measurable input expressed
             * in MU's for a given channel
             */
            virtual double lowest(unsigned int chan) const = 0;

            /**
             * Returns the highest measurable input expressed in MU's
             * for a given channel
             */
            virtual double highest(unsigned int chan) const = 0;

            /**
             * Resolution is expressed in bits / MU
             */
            virtual double resolution(unsigned int chan) const = 0;
            
            /**
             * Returns the total number of channels.
             */
            virtual unsigned int nbOfChannels() const = 0;

            /**
             * The NameServer for this interface.
             * @see NameServer
             */
            static NameServer<AnalogOutInterface<T> *> nameserver;

    };

    template <class T>
    NameServer<AnalogOutInterface<T> *> AnalogOutInterface<T>::nameserver;
}

#endif