dev8x.h
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00001 /*
00002  *  Copyright (C) 2005, 2007, 2009 Austin Robot Technology
00003  *
00004  *  License: Modified BSD Software License Agreement
00005  * 
00006  *  $Id: dev8x.h 2 2010-01-17 01:54:03Z jack.oquin $
00007  */
00008 
00016 #ifndef _DEV8X_H_
00017 #define _DEV8X_H_
00018 
00019 #define IOADR_MAX_INPUTS  8
00020 #define IOADR_MAX_OUTPUTS 8
00021 
00022 #include <stdio.h>
00023 #include <stdint.h>
00024 
00025 #define DBG(format,args...) ROS_DEBUG(format, ## args)
00026 
00027 #define BUFSIZE 8                       // dev8x port buffer size
00028 
00029 // One per IOADR8x hardware device.
00030 class dev8x
00031 {
00032 public:
00033 
00034   dev8x(const char *pn);
00035   ~dev8x() {};
00036 
00037   int   query_relays(uint8_t *relays);
00038   int   read_8bit_port(int ch, int *data);
00039   int   read_10bit_port(int ch, int *data);
00040   bool  relays_busy(void);
00041   int   set_relays(uint8_t bitmask);
00042   int   setup();
00043   int   shutdown();
00044   uint16_t sim_sawtooth(int ch, uint16_t limit);
00045 
00046 private:
00047   int   configure_port(int cflags, int iflags);
00048 
00049   // device state:
00050   enum {UNREADY, READY, RELAY_WAIT} state;
00051 
00052   double relay_wait_time;               // time we last set relays
00053   //#define  MIN_RELAY_WAIT 0.16        // minimum wait in seconds
00054   #define  MIN_RELAY_WAIT 0.08          // minimum wait in seconds
00055 
00056   // device I/O control
00057   char  port_name[FILENAME_MAX];        // serial port name
00058   bool  have_tty;                       // have real tty, not /dev/null
00059   uint8_t buffer[BUFSIZE];              // IOADR8x device buffer
00060   int   fd;                             // file descriptor
00061 
00062   // simulated analog ports and relays (when have_tty == false)
00063   uint16_t sim_port[IOADR_MAX_OUTPUTS];
00064   uint8_t  sim_relays;
00065 };
00066 
00067 #endif // _DEV8X_H_


art_servo
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:09:12