vpComedi.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software 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.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * ATI Force torque interface.
 */
#ifndef _vpComedi_h_
#define _vpComedi_h_
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_COMEDI
 
#include <string>
 
#include <comedilib.h>
 
#include <visp3/core/vpColVector.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpComedi
{
public:
  vpComedi();
  virtual ~vpComedi();


  void close();
  comedi_t *getHandler() const { return m_handler; }
  std::vector<lsampl_t> getMaxData() const { return m_maxdata; }
  unsigned int getNChannel() const { return m_nchannel; }
 
  vpColVector getPhyData() const;
  std::string getPhyDataUnits() const;

  std::vector<comedi_range *> getRangeInfo() const { return m_range_info; }
  unsigned int getSubDevice() const { return m_subdevice; }
 
  void open();

  void setAnalogReference(const unsigned int &aref) { m_aref = aref; }

  void setChannelNumbers(const unsigned int &nchannel) { m_nchannel = nchannel; }

  void setDevice(const std::string &device) { m_device = device; }

  void setRange(const unsigned int &range) { m_range = range; }
  void setSubDevice(const unsigned int &subdevice) { m_subdevice = subdevice; }
 
protected:
  std::vector<lsampl_t> getRawData() const;
 
protected:

  std::string m_device;                     
  comedi_t *m_handler;                      
  unsigned int m_subdevice;                 
  unsigned int m_range;                     
  unsigned int m_aref;                      
  unsigned int m_nchannel;                  
  std::vector<comedi_range *> m_range_info; 
  std::vector<lsampl_t> m_maxdata;          
  std::vector<unsigned int> m_chanlist;     
};
END_VISP_NAMESPACE
#endif
#endif