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vrpn_Analog_Radamec_SPI.h

This is the verbatim text of the vrpn_Analog_Radamec_SPI.h include file.

#ifndef VRPN_RADAMEC_SPI_H
#define VRPN_RADAMEC_SPI_H

#include "vrpn_Connection.h"
#include "vrpn_Analog.h"

class vrpn_Radamec_SPI: public vrpn_Serial_Analog
{
public:
        vrpn_Radamec_SPI (const char * name, vrpn_Connection * c,
                        const char * port, int baud = 38400);

        ~vrpn_Radamec_SPI () {};

        virtual void mainloop ();

  protected:
        int _status;                //< Reset, Syncing, or Reading
        int _camera_id;             //< What is our camera ID, queried from device
        int _numchannels;           //< How many analog channels to open

        int _expected_chars;        //< How many characters to expect in the report
        unsigned char _buffer[512]; //< Buffer of characters in report
        int _bufcount;              //< How many characters we have so far

        struct timeval timestamp;   //< Time of the last report from the device

        virtual int reset(void);                //< Set device back to starting config
        virtual int get_report(void);           //< Try to read a report from the device

        virtual void clear_values(void);        //< Clears all channels to 0

        unsigned char compute_crc(const unsigned char *head, int len);

        vrpn_uint32 convert_24bit_unsigned(const unsigned char *buf);

        vrpn_int32  convert_16bit_unsigned(const unsigned char *buf);

        double  int_to_pan(vrpn_uint32 val);    //< Returns pan in degrees
        double  int_to_tilt(vrpn_uint32 val)    //< Returns tilt in degrees
                    { return int_to_pan(val); };
        double  int_to_zoom(vrpn_uint32 val);   //< Returns zoom in meters
        double  int_to_focus(vrpn_uint32 val);  //< Returns focal length in meters
        double  int_to_height(vrpn_uint32 val); //< Returns height in meters
        double  int_to_X(vrpn_uint32 mm, vrpn_uint32 frac);   //< Returns X location in meters
        double  int_to_Y(vrpn_uint32 mm, vrpn_uint32 frac)    //< Returns Y location in meters
                    { return int_to_X(mm, frac); };
        double  int_to_orientation(vrpn_uint32 val); //< Returns orientation in degrees

        int send_command(const unsigned char *cmd, int len);

        virtual void report_changes
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
        virtual void report
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
};

#endif

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