00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jan 19 14:11:20 CET 2004 DigitalOutput.hpp 00003 00004 DigitalOutput.hpp - description 00005 ------------------- 00006 begin : Mon January 19 2004 00007 copyright : (C) 2004 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 #ifndef DIGITAL_OUTPUT_HPP 00038 #define DIGITAL_OUTPUT_HPP 00039 00040 00041 #include "DigitalOutInterface.hpp" 00042 00043 namespace RTT 00044 { namespace dev { 00045 00055 class RTT_API DigitalOutput 00056 { 00057 public: 00065 DigitalOutput( DigitalOutInterface* dig_out, unsigned int relay_nr, bool _invert=false ) 00066 : board( dig_out ), relaynumber( relay_nr ), invert(_invert) 00067 {} 00068 00073 DigitalOutput ( bool initial_state = false ) 00074 : board( 0 ), relaynumber( 0 ), invert(initial_state) 00075 {} 00076 00077 00081 ~DigitalOutput() 00082 {} 00083 00088 void setBit( bool on_off ) 00089 { 00090 if(board) 00091 board->setBit( relaynumber, on_off != invert ); 00092 else 00093 invert=on_off; 00094 } 00095 00099 void switchOn() 00100 { 00101 if(board) 00102 board->setBit( relaynumber, !invert ); 00103 else 00104 invert=true; 00105 } 00106 00110 void switchOff() 00111 { 00112 if(board) 00113 board->setBit( relaynumber, invert ); 00114 else 00115 invert=false; 00116 } 00117 00123 bool isOn() const 00124 { 00125 if(board) 00126 return invert != board->checkBit( relaynumber ); 00127 else 00128 return invert; 00129 } 00130 00131 private: 00132 DigitalOutInterface *board; 00133 unsigned int relaynumber; 00134 bool invert; 00135 }; 00136 }} 00137 00138 #endif