Orocos Real-Time Toolkit  2.6.0
DigitalOutput.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jan 19 14:11:20 CET 2004  DigitalOutput.hpp
00003 
00004                         DigitalOutput.hpp -  description
00005                            -------------------
00006     begin                : Mon January 19 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 #ifndef DIGITAL_OUTPUT_HPP
00038 #define DIGITAL_OUTPUT_HPP
00039 
00040 
00041 #include "DigitalOutInterface.hpp"
00042 
00043 namespace RTT
00044 { namespace dev {
00045 
00055     class RTT_API DigitalOutput
00056     {
00057     public:
00065         DigitalOutput( DigitalOutInterface* dig_out, unsigned int relay_nr, bool _invert=false )
00066             : board( dig_out ), relaynumber( relay_nr ), invert(_invert)
00067         {}
00068 
00073         DigitalOutput ( bool initial_state = false )
00074             : board( 0 ), relaynumber( 0 ), invert(initial_state)
00075         {}
00076 
00077 
00081         ~DigitalOutput()
00082         {}
00083 
00088         void setBit( bool on_off )
00089         {
00090             if(board)
00091                 board->setBit( relaynumber, on_off != invert );
00092             else
00093                 invert=on_off;
00094         }
00095 
00099         void switchOn()
00100         {
00101             if(board)
00102                 board->setBit( relaynumber, !invert );
00103             else
00104                 invert=true;
00105         }
00106 
00110         void switchOff()
00111         {
00112             if(board)
00113                 board->setBit( relaynumber, invert );
00114             else
00115                 invert=false;
00116         }
00117 
00123         bool isOn() const
00124         {
00125             if(board)
00126                 return invert != board->checkBit( relaynumber );
00127             else
00128                 return invert;
00129         }
00130 
00131     private:
00132         DigitalOutInterface *board;
00133         unsigned int relaynumber;
00134         bool invert;
00135     };
00136 }}
00137 
00138 #endif