00001 #ifndef DIGITALETHERCATINPUTDEVICE_HPP
00002 #define DIGITALETHERCATINPUTDEVICE_HPP
00003
00004 #include "rtt/dev/DigitalInInterface.hpp"
00005 #include <vector>
00006
00007 namespace RTT
00008 {
00012 class DigitalEtherCATInputDevice
00013 : public DigitalInInterface
00014 {
00015 public:
00016 std::vector<bool> mchannels;
00017 unsigned int nbofchannels;
00018 unsigned int startb;
00019 unsigned char* mstartaddress;
00020
00021 DigitalEtherCATInputDevice(unsigned char* startaddress, unsigned int start_bit, unsigned int channels=32)
00022 : DigitalInInterface("DigitalEtherCATInputDevice"),
00023 mchannels(channels,false),
00024 nbofchannels(channels),
00025 startb(start_bit),
00026 mstartaddress(startaddress)
00027 {}
00028
00029
00030 virtual unsigned int nbOfInputs() const
00031 {
00032 return nbofchannels;
00033 }
00034
00035 virtual bool isOn( unsigned int bit = 0) const
00036 {
00037 if ( bit < mchannels.size() )
00038 return readBit(0);
00039 return false;
00040 }
00041
00042 virtual bool isOff( unsigned int bit = 0) const
00043 {
00044 if ( bit < mchannels.size() )
00045 return !readBit(0);
00046 return true;
00047 }
00048
00049 virtual bool readBit( unsigned int bit = 0) const
00050 {
00051 if ( bit < nbofchannels ) {
00052 unsigned char tmp = *mstartaddress;
00053 tmp = tmp >> startb + bit;
00054 return tmp & 0x01;
00055 }
00056 return false;
00057 }
00058
00059 virtual unsigned int readSequence(unsigned int start_bit, unsigned int stop_bit) const
00060 {
00061 if ( start_bit < mchannels.size() && stop_bit < mchannels.size() )
00062 return 0;
00063 return 0;
00064 }
00065
00066 };
00067
00068
00069 }
00070
00071
00072 #endif
