osaDigitalInput1394.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  Author(s):  Zihan Chen, Peter Kazanzides, Jonathan Bohren
  Created on: 2011-06-10

  (C) Copyright 2011-2014 Johns Hopkins University (JHU), All Rights Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/

#ifndef _osaDigitalInput1394_h
#define _osaDigitalInput1394_h

#include <sawRobotIO1394/osaConfiguration1394.h>
#include "AmpIO.h"

namespace sawRobotIO1394 {

    class osaDigitalInput1394 {
    public:
        osaDigitalInput1394(const osaDigitalInput1394Configuration & config);

        void Configure(const osaDigitalInput1394Configuration & config);
        void SetBoard(AmpIO * board);

        void PollState(void);

        const osaDigitalInput1394Configuration & Configuration(void) const;

        const std::string & Name(void) const;
        const bool & Value(void) const;
        const bool & PreviousValue(void) const;

    protected:
        AmpIO * mBoard;              // Board Assignment

        osaDigitalInput1394Configuration mConfiguration;
        std::string mName;
        int mBitID;                  // Board assigned bitID for this Digital Input
        AmpIO_UInt32 mBitMask;       // BitMask for this input. From DigitalInput Stream.
        bool mPressedValue;          // Boolean Flag for Active High(true)/Active Low(false)
        bool mTriggerPress;          // Boolean Flag for Press Trigger Setting
        bool mTriggerRelease;        // Boolean Flag for Release Trigger Setting
        double mDebounceThreshold;   // 0, no debounce required otherwise time in seconds

        // ZC: hysteresis
        double mTestConfidence;
        double mTestLow;
        double mTestHigh;
        double mTestWeight;

        // State data
        AmpIO_UInt32 mDigitalInputBits; // BitMask for this input. From DigitalInput Stream.
        bool mValue;                    // Current read value
        bool mTransitionValue;          // For debouncing
        bool mPreviousValue;            // Saved value from the previous read
        double mDebounceCounter;        // time in seconds with constant value
    };

}

#endif // _osaDigitalInput1394_h