ComediSubDeviceAOut.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Oct 10 16:22:44 CEST 2002  ComediSubDeviceAOut.hpp

                        ComediSubDeviceAOut.hpp -  description
                           -------------------
    begin                : Thu October 10 2002
    copyright            : (C) 2002 Peter Soetens
    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 2003: implemented some non/badly implemented
   stuff.
*/

#ifndef COMEDISUBDEVICEAOUT_HPP
#define COMEDISUBDEVICEAOUT_HPP

#include <rtt/dev/AnalogOutInterface.hpp>
#include "ComediDevice.hpp"

namespace OCL
{

  class ComediSubDeviceAOut
    : public RTT::AnalogOutInterface
  {

  public:
    ComediSubDeviceAOut( ComediDevice* cao, const std::string& name,
             unsigned int subdevice=1 );

    ComediSubDeviceAOut( ComediDevice* cao, unsigned int subdevice=1 );

    ~ComediSubDeviceAOut();

    void init();

    virtual void rangeSet(unsigned int chan, unsigned int range=0);

    virtual void arefSet(unsigned int chan, unsigned int aref=AnalogOutInterface::Ground);

    virtual int rawWrite( unsigned int chan, int value );

    virtual int rawRead( unsigned int chan, int& value );

    virtual unsigned int rawRange() const;

    virtual int write( unsigned int chan, double value );

    virtual int read( unsigned int chan, double& value );

    virtual double lowest(unsigned int chan) const;

    virtual double highest(unsigned int chan) const;

    virtual double resolution(unsigned int chan) const;

    virtual unsigned int nbOfChannels() const;

  protected:
    ComediDevice* myCard;

    unsigned int _subDevice;
    unsigned int * _sd_range;
    unsigned int * _aref;
    unsigned int channels;
    mutable unsigned int rrange;
    double *max, *min;
   };

};

#endif

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