phidgetik.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#ifndef _PHIDGETIK_H_
#define _PHIDGETIK_H_

#include <cob_phidgets/phidget.h>

class PhidgetIK: public Phidget
{
public:
        PhidgetIK(SensingMode mode);
        ~PhidgetIK();

        auto init(int serial_number) -> int;

        auto getInputCount() -> int;
        auto getOutputCount() -> int;
        auto getSensorCount() -> int;

        auto getInputState(int index) -> int;

        auto getOutputState(int index) -> int;
        auto setOutputState(int index, int state) -> int;

        auto getSensorValue(int index) -> int;
        auto getSensorRawValue(int index) -> int;

        auto getSensorChangeTrigger(int index) -> int;
        auto setSensorChangeTrigger(int index, int trigger) -> int;

        auto getRatiometric() -> int;
        auto setRatiometric(int ratiometric) -> int;

        auto getDataRate(int index) -> int;
        auto setDataRate(int index, int datarate) -> int;

        auto getDataRateMax(int index) -> int;
        auto getDataRateMin(int index) -> int;

        auto getError() -> int;

        virtual auto update() -> void;

protected:
        CPhidgetInterfaceKitHandle _iKitHandle;

        virtual int attachHandler();
        virtual int detachHandler();

        virtual int inputChangeHandler(int index, int inputState);
        virtual int outputChangeHandler(int index, int outputState);
        virtual int sensorChangeHandler(int index, int sensorValue);

private:
        static auto attachDelegate(CPhidgetHandle phid, void *userptr) -> int;

        static auto inputChangeDelegate(CPhidgetInterfaceKitHandle phid,
                        void *userPtr, int index, int inputState) -> int;
        static auto outputChangeDelegate(CPhidgetInterfaceKitHandle phid,
                        void *userPtr, int index, int outputState) -> int;
        static auto sensorChangeDelegate(CPhidgetInterfaceKitHandle phid,
                        void *userPtr, int index, int sensorValue) -> int;
};
#endif //_PHIDGETIK_H_