ljacklm_wrapper.h

Go to the documentation of this file.

#ifndef __LJACKLM_WRAPPER_H__
#define __LJACKLM_WRAPPER_H__

#include <ros/ros.h>
#include <ljacklm.h>
#include "labjack_driver_interface.h"

// set the I/O lines
// 0=input, 1=output

// D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
// 0   0   0   0   0   1   0  0  0  0  0  0  0  0  0  1  = 0x401
#define CONFIG_D    0x401

// IO3 IO2 IO1 IO0
// 1   1   1   0   = 0xE
#define CONFIG_IO   0xE

// default values
#define DEMO_MODE   0
#define GAIN        0

// identify the labjack (-1 => first found)
#define ID_LJ       -1

// error code because a wrong parameter
#define ERROR_PARAM -1

class LjacklmWrapper : public LabjackDriverInterface {
    public:
        long config();

        long reset();

        long readIO(long channel, long * state);

        long writeIO(long channel, long state);

        long readDIOs(long * stateD, long * stateIO);

        long writeDIOs(long * direcD, long * direcIO, long * stateD, long * stateIO);

        long writeDIOsCONFIG(long * stateD, long * stateIO);

        long readD(long channel, long * state);

        long writeD(long channel, long state);

        long writeDCONFIG(long channel, long state);

        long readAI(long channel, float * voltage);

        long readAIs(long num_channels, long * channels, float * voltages);

        long readDifferentialAI(long channel, float * voltage);

        long writeAO(int channel, float voltage);

        long writeAOs(float voltageAO0, float voltageAO1);

        long enableWatchdog(long timeout, int activeD, long state);

        long disableWatchdog(int activeD);

        long writePulse(long pulse_level, long line, long pulse_time, long line_type);

        long readDirectionDs(long * directions);
};

#endif