ComediDevice.cpp

/***************************************************************************
  tag: Peter Soetens  Mon May 10 19:10:32 CEST 2004  ComediDevice.cxx

                        ComediDevice.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2002,2004 Peter Soetens
    copyright            : (C) 2003 Klaas Gadeyne
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


/* Klaas Gadeyne, August 14, 2003
   Major rewrite of original file by Peter Soetens
*/

#include "ComediDevice.hpp"
#include <rtt/os/fosi.h>

#include "comedi_internal.h"

extern "C"
{
#include <cerrno>
}

namespace OCL
{
  typedef unsigned int Data;

  ComediDevice::ComediDevice( unsigned int minor )
      : d( new DeviceInfo( minor ) )
  {
  }

  ComediDevice::~ComediDevice()
  {
  }

  // KG MaxData only depending on subdevice?
  // Always take channel 0;
  Data ComediDevice::getMaxData(unsigned int subd)
  {
    unsigned int channel = 0;
    if ( !d->it )
        return Data();
    return (Data) comedi_get_maxdata( d->it, subd, channel );
  }

  int ComediDevice::getSubDeviceType(unsigned int subd)
  {
      if ( !d->it )
          return -1;
      return comedi_get_subdevice_type( d->it, subd );
  }

  int ComediDevice::read( unsigned int subd, unsigned int chanNr,
              unsigned int range, unsigned int aref,
              ComediDevice::Data& value )
  {
    value = 0;
    if ( !d->it )
      return -1;

    comedi_data_read( d->it, subd, chanNr, range, aref,
              ( lsampl_t* ) & value );

    return 0;
  }

  int ComediDevice::write( unsigned int subd, unsigned int chanNr,
               unsigned int range, unsigned int aref,
               const ComediDevice::Data& value)
  {
    if ( !d->it )
      return -1;

    Data output = value;

    comedi_data_write( d->it, subd, chanNr, range, aref, output );

    return 0;
  }

    ComediDevice::DeviceInfo* ComediDevice::getDevice()
    {
        return d.get();
    }

}

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