LaserDistance.hpp

// Copyright (C) 2006 Ruben Smits <ruben dot smits at mech dot kuleuven dot 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 __LASERDISTANCE_HARDWARE__
#define __LASERDISTANCE_HARDWARE__

#include <rtt/RTT.hpp>

#include <rtt/RTT.hpp>
#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Event.hpp>
#include <rtt/Properties.hpp>

#define OROPKG_DEVICE_DRIVERS_COMEDI 1

#if defined (OROPKG_DEVICE_DRIVERS_COMEDI)

#include "dev/ComediDevice.hpp"
#include "dev/ComediSubDeviceAIn.hpp"
#include <rtt/dev/AnalogInput.hpp>
#endif

#include <ocl/OCL.hpp>

namespace OCL {
    class LaserDistance : public RTT::TaskContext {
    public:
        LaserDistance(std::string name,unsigned int nr_chan,std::string propertyfilename="cpf/LaserDistance.cpf");
        virtual~LaserDistance();

        virtual bool startup();
        virtual void update();
        virtual void shutdown();

        //double getDistance(int channel);

    private:
#if defined (OROPKG_DEVICE_DRIVERS_COMEDI)
        ComediDevice* _comediDev_NI6024; //NI-6024 for analog in
        ComediSubDeviceAIn* _comediSubdevAIn;
        std::vector<RTT::AnalogInput*> _LaserInput;
#endif

        unsigned int _nr_chan;
    protected:
        RTT::Property<std::vector<double> > _simulation_values;
        RTT::Property<std::vector<double> > _volt2m;
        RTT::Property<std::vector<double> > _offsets;
        RTT::Property<std::vector<double> > _lowerLimits;
        RTT::Property<std::vector<double> > _upperLimits;
        RTT::WriteDataPort<std::vector<double> > _distances;
        RTT::Event< void(int,double)>  _distanceOutOfRange;
    private:
        std::vector<double> _measurement, _distances_local;
        std::string _propertyfile;
    }; // class
} // namespace

#endif

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