AnalogEtherCATInputDevice.hpp

#ifndef ANALOGDETHERCATINPUTDEVICE_HPP
#define ANALOGDETHERCATOUTPUTDEVICE_HPP

#include "rtt/dev/AnalogInInterface.hpp"

namespace RTT
{
    struct AnalogEtherCATInputDevice :
             public AnalogInInterface
             {
                 unsigned char* mstartaddress;
                 unsigned int nbofchans;
                 unsigned int mbin_range;
                 double mlowest, mhighest;

                 AnalogEtherCATInputDevice(unsigned char* startaddress, unsigned int channels=2, unsigned int bin_range=4096, double lowest = -5.0, double highest = +5.0)
                     : AnalogInInterface("AnalogInDevice"),
                 mstartaddress(startaddress),
                 nbofchans(channels),
                 mbin_range( bin_range),
                 mlowest( lowest),
                 mhighest( highest)
                 {}

                 ~AnalogEtherCATInputDevice() {}

                 virtual void rangeSet(unsigned int /*chan*/,
                                              unsigned int /*range*/) {}

                 virtual void arefSet(unsigned int /*chan*/,
                                             unsigned int /*aref*/) {}

                 virtual unsigned int nbOfChannels() const {
                     return nbofchans;
                 }

                 virtual int rawRead( unsigned int chan, unsigned int& value ) {
                     if (chan < nbofchans) {
                         unsigned int tmp = mstartaddress[(chan * 3) + 2];
                         tmp = tmp<<8;
                         tmp = tmp | mstartaddress[(chan * 3) + 1];
                         value = tmp;
                         return 0;
                     }
                     return -1;
                 }

                 virtual int read( unsigned int chan, double& value ) {
                     if (chan < nbofchans) {
                         unsigned int tmp;
                         read(chan, tmp);
                         value = 1.0 * tmp * (mhighest - mlowest) / mbin_range + mlowest;
                         return 0;
                     }
                     return -1;
                 }

                 virtual unsigned int binaryRange() const
                 {
                     return mbin_range;
                 }

                 virtual unsigned int binaryLowest() const
                 {
                     return 0;
                 }

                 virtual unsigned int binaryHighest() const
                 {
                     return mbin_range;
                 }

                 virtual double lowest(unsigned int /*chan*/) const
                 {
                     return mlowest;
                 }

                 virtual double highest(unsigned int /*chan*/) const
                 {
                     return mhighest;
                 }

                 virtual double resolution(unsigned int /*chan*/) const
                 {
                     return mbin_range/(mhighest-mlowest);
                 }

             };

}

#endif

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