forked from vrpn/vrpn
-
Notifications
You must be signed in to change notification settings - Fork 0
/
vrpn_BiosciencesTools.h
89 lines (72 loc) · 3.78 KB
/
vrpn_BiosciencesTools.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
#ifndef VRPN_BIOSCIENCES_H
#define VRPN_BIOSCIENCES_H
// XXX Need to have a VRPN boolean output device. Then we can set the
// temperature control to be on or off based on its value. For now, we're
// doing a horrible thing and packing it into an analog output channel.
#include "vrpn_Analog.h" // for vrpn_Serial_Analog
#include "vrpn_Analog_Output.h" // for vrpn_Analog_Output
#include "vrpn_Button.h" // for vrpn_Button_Filter
#include "vrpn_Configure.h" // for VRPN_CALLBACK, VRPN_API
#include "vrpn_Connection.h" // for vrpn_CONNECTION_RELIABLE, etc
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Types.h" // for vrpn_uint32, vrpn_float64
/*
# Analog channels: (read by client)
# 0 Reading from stage 1 in degrees Celcius
# 1 Reading from bath 1 in degrees Celcius
# 2 External 1 in degrees Celcius (or setpoint if ext not used)
# 3 Reading from stage 2 in degrees Celcius
# 4 Reading from bath 2 in degrees Celcius
# 5 External 1 in degrees Celcius (or setpoint if ext not used)
# Button channels: (read by client)
# 0 Temperature control is on or off
# Analog_Output channels: (set by client)
# 0 Reference temperature for channel 1
# 1 Reference temperature for channel 2
# 2 Turn temperature control on/off (0 = off, otherwise on)
*/
class VRPN_API vrpn_BiosciencesTools: public vrpn_Serial_Analog,
public vrpn_Analog_Output, public vrpn_Button_Filter
{
public:
// Tell it the temperature to use to set channels 1 and 2 to
// in Celcius and also whether to turn the temperature control on.
vrpn_BiosciencesTools (const char * name, vrpn_Connection * c,
const char * port, float temp1, float temp2,
bool control_on);
~vrpn_BiosciencesTools () {};
/// Called once through each main loop iteration to handle updates.
virtual void mainloop ();
protected:
char d_buffer[128]; //< Buffer of characters in report
unsigned d_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
// Channels are zero-referenced. Use 0 for channel 1.
bool set_reference_temperature(unsigned channel, float value);
bool set_control_status(bool on);
bool request_temperature(unsigned channel);
// Sets a specified channel based on a new value from the Analog_Output.
// Channels 0 and 1 are temperature settings, and channel 2 is our
// hack to turn on and off temperatur control.
bool set_specified_channel(unsigned channel, vrpn_float64 value);
// This lets us know which channel we're waiting for a reading on.
// It cycles; each time we hear from one, we ask for the next.
unsigned d_next_channel_to_read;
float convert_bytes_to_reading(const char *buf);
/// send report iff changed
virtual void report_changes
(vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE);
/// send report whether or not changed
virtual void report
(vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE);
/// Responds to a request to change one of the values by
/// setting the channel to that value.
static int VRPN_CALLBACK handle_request_message(void *userdata, vrpn_HANDLERPARAM p);
/// Responds to a request to change multiple channels at once.
static int VRPN_CALLBACK handle_request_channels_message(void *userdata, vrpn_HANDLERPARAM p);
/// Responds to a connection request with a report of the values
static int VRPN_CALLBACK handle_connect_message(void *userdata, vrpn_HANDLERPARAM p);
};
#endif