AnalogOutInterface.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Oct 10 16:16:56 CEST 2002  AnalogOutInterface.hpp

                        AnalogOutInterface.hpp -  description
                           -------------------
    begin                : Thu October 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 *   Lesser General Public License for more details.                       *
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 ***************************************************************************/
/* Klaas Gadeyne, Mon August 11 2003
   - Added "channel" param to lowest(), highest(), resolution() calls (these
   are mostly configurable on a per channel basis.  If not, there's
   no problem
   - In comedi, this is also done for their "binary"-counterpoles.  I
   don't know if this is necessary

   Klaas Gadeyne, Wed August 20 2003
   - Added rangeSet() and arefSet() methods, that allready existed in
   the comedi implementations of these interfaces
*/

#ifndef ANALOGOUTINTERFACE_HPP
#define ANALOGOUTINTERFACE_HPP

#include "NameServer.hpp"
#include "NameServerRegistrator.hpp"
#include "../../rtt-config.h"

namespace RTT
{ namespace dev {


    class RTT_API AnalogOutInterface
        : private NameServerRegistrator<AnalogOutInterface*>
    {
    public:

        enum AnalogReference { Ground = 0, 
                               Common, 
                               Differential, 
                               Other 
        };

        AnalogOutInterface()
        {}

        AnalogOutInterface( const std::string& name )
            : NameServerRegistrator<AnalogOutInterface*>( nameserver, name, this )
        {}

        virtual ~AnalogOutInterface()
        {}

        virtual void rangeSet(unsigned int chan,
                              unsigned int range) = 0;

        virtual void arefSet(unsigned int chan,
                             unsigned int aref) = 0;

        virtual int rawWrite( unsigned int chan, int value ) = 0;

        virtual int rawRead( unsigned int chan, int& value ) = 0;

        virtual unsigned int rawRange() const = 0;

        virtual int write( unsigned int chan, double value ) = 0;

        virtual int read( unsigned int chan, double& value ) = 0;

        virtual double lowest(unsigned int chan) const = 0;

        virtual double highest(unsigned int chan) const = 0;

        virtual double resolution(unsigned int chan) const = 0;

        virtual unsigned int nbOfChannels() const = 0;

        unsigned int binaryRange() const { return rawRange(); }

        int binaryLowest() const { return 0; }

        int binaryHighest() const { return rawRange(); }

        static NameServer<AnalogOutInterface*> nameserver;
    };
}}

#endif