EncoderSSIapci1710.hpp

// Copyright (C) 2003 Johan Rutgeerts <johan.rutgeerts@mech.kuleuven.ac.be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//


#ifndef _EncoderSSI_apci1710_HPP
#define _EncoderSSI_apci1710_HPP

#include <rtt/os/MutexLock.hpp>
#include <rtt/PeriodicActivity.hpp>
#include "rtt/dev/EncoderInterface.hpp"
#include <string>

namespace RTT
{


class EncoderSSI_apci1710_board : public PeriodicActivity
{
public:
    EncoderSSI_apci1710_board( unsigned int mNr1 );
    EncoderSSI_apci1710_board( unsigned int mNr1, unsigned int mNr2 );
    EncoderSSI_apci1710_board( unsigned int mNr1, unsigned int mNr2, unsigned int mNr3 );
    EncoderSSI_apci1710_board( unsigned int mNr1, unsigned int mNr2, unsigned int mNr3, unsigned int mNr4 );
    virtual ~EncoderSSI_apci1710_board();

    unsigned int read( unsigned int encNr );

protected:
    virtual void step();
    void readCard( unsigned int* );
    void switchBuffers();

    unsigned int nr_of_modules;
    unsigned int moduleNr1;
    unsigned int moduleNr2;
    unsigned int moduleNr3;
    unsigned int moduleNr4;

    void* dev;

    unsigned int* readbuffer;
    unsigned int* writebuffer;
    unsigned int* buffer1;
    unsigned int* buffer2;

    OS::Mutex readLock;
};




class EncoderSSI_apci1710 : public EncoderInterface
{
public:
    EncoderSSI_apci1710( unsigned int encNr, EncoderSSI_apci1710_board* board )
    {
        _board = board;
        _encNr = encNr;
    }

    virtual ~EncoderSSI_apci1710() {};


    // implementations of EncoderInterface methods:
    virtual int positionGet() const { return (int) _board->read( _encNr ); }

    virtual int turnGet() const { return 0; }   // absolute encoder without turns

    virtual void positionSet( int p ) {};

    virtual void turnSet( int t ) {};

    virtual int resolution() const {return 0;};

    virtual bool upcounting() const {return true;};


private:
    EncoderSSI_apci1710_board* _board;
    unsigned int _encNr;
};

}; // Namespace RTT

#endif // _EncoderSSI_apci1710_HPP

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