00001 #ifndef IP_ENCODER_6_ENCINTERFACE_HPP
00002 #define IP_ENCODER_6_ENCINTERFACE_HPP
00003
00004
00005 #include <rtt/PeriodicActivity.hpp>
00006 #include <rtt/DataObjectInterfaces.hpp>
00007 #include <rtt/dev/EncoderInterface.hpp>
00008 #include <vector>
00009
00010
00011 class IP_Encoder_6_Task : public RTT::PeriodicActivity
00012 {
00013 public:
00014 IP_Encoder_6_Task( RTT::Seconds period );
00015 virtual ~IP_Encoder_6_Task() {};
00016
00017 virtual bool initialize();
00018 virtual void step();
00019
00020 virtual void positionSet(unsigned int encoderNr, int p);
00021 virtual void turnSet(unsigned int encoderNr, int t );
00022 const int positionGet(unsigned int encoderNr) const;
00023 const int turnGet(unsigned int encoderNr) const;
00024
00025 private:
00026 long _virtualEncoder[6];
00027 unsigned short _prevEncoderValue[6];
00028 RTT::DataObjectLockFree<long> _virtual_encoder_1, _virtual_encoder_2, _virtual_encoder_3,
00029 _virtual_encoder_4, _virtual_encoder_5, _virtual_encoder_6;
00030 };
00031
00032
00033 class IP_Encoder_6_EncInterface : public RTT::EncoderInterface
00034 {
00035 public:
00036 IP_Encoder_6_EncInterface( IP_Encoder_6_Task& IP_encoder_task, const unsigned int& encoder_nr, const std::string& name );
00037 IP_Encoder_6_EncInterface( IP_Encoder_6_Task& IP_encoder_task, const unsigned int& encoder_nr );
00038 virtual ~IP_Encoder_6_EncInterface() {};
00039
00040
00041 virtual int positionGet() const { return _encoder_task->positionGet( _encoder_nr ); }
00042 virtual int turnGet() const { return _encoder_task->turnGet( _encoder_nr ); }
00043 virtual void positionSet( int p) { _encoder_task->positionSet( _encoder_nr, p ); }
00044 virtual void turnSet( int t ) { _encoder_task->turnSet( _encoder_nr, t ); }
00045 virtual int resolution() const { return 2000; }
00046 virtual bool upcounting() const { return true; }
00047
00048 private:
00049 unsigned int _encoder_nr;
00050 IP_Encoder_6_Task* _encoder_task;
00051 };
00052
00053 #endif
