ArVersalogicIO.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARVERSALOGICIO_H
#define ARVERSALOGICIO_H

#ifndef SWIG

#include "ariaTypedefs.h"
#include "ArRobot.h"

class ArVersalogicIO
{
public:

  enum Direction
  {
    DIGITAL_INPUT,
    DIGITAL_OUTPUT
  };

  AREXPORT ArVersalogicIO(const char * dev = "/dev/amrio");
  AREXPORT virtual ~ArVersalogicIO(void);

  AREXPORT bool closeIO(void);

  AREXPORT bool isEnabled(void) { return myEnabled; }

  AREXPORT bool isAnalogSupported(void) { return myAnalogEnabled; }

  AREXPORT bool getAnalogValue(int port, double *val);

  AREXPORT bool getAnalogValueRaw(int port, int *val);

  AREXPORT Direction getDigitalBankDirection(int bank);

  AREXPORT bool setDigitalBankDirection(int bank, Direction dir);

  AREXPORT bool getDigitalBankInputs(int bank, unsigned char *val);

  AREXPORT bool getDigitalBankOutputs(int bank, unsigned char *val);

  AREXPORT bool setDigitalBankOutputs(int bank, unsigned char val);

  AREXPORT bool getSpecialControlRegister(unsigned char *val);

  AREXPORT int lock(void){ return(myMutex.lock()); }
  AREXPORT int unlock(void){ return(myMutex.unlock()); }

  AREXPORT int tryLock() {return(myMutex.tryLock());}

protected:

  static ArMutex myMutex;
  int myFD;

  bool myEnabled;
  bool myAnalogEnabled;

  int myNumBanks;

  unsigned char myDigitalBank0;
  unsigned char myDigitalBank1;
  unsigned char myDigitalBank2;
  unsigned char myDigitalBank3;

  ArRetFunctorC<bool, ArVersalogicIO> myDisconnectCB;
};

#endif // SWIG

#endif // ARVERSALOGICIO_H

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