mtsNovintHDL.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): Gorkem Sevinc, Anton Deguet
  Created on: 2009-09-04

  (C) Copyright 2009-2010 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 _mtsNovintHDL_h
#define _mtsNovintHDL_h

#include <cisstMultiTask/mtsTaskFromCallback.h>
#include <cisstParameterTypes/prmPositionCartesianGet.h>
#include <cisstParameterTypes/prmForceCartesianSet.h>

// Always include last
#include <sawNovintFalcon/sawNovintFalconExport.h>

// forward declaration for private data
struct mtsNovintHDLDriverData;
struct mtsNovintHDLHandle;

class CISST_EXPORT mtsNovintHDL: public mtsTaskFromCallbackAdapter {
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);

public:
    enum {NB_JOINTS = 3};
    int DeviceCount;

protected:
    // internal data using Novint data types
    struct DeviceData {
        bool DeviceEnabled;

        // local copy of the buttons state as defined by Sensable
        mtsInt Buttons;

        // local copy of the position and velocities
        prmPositionCartesianGet PositionCartesian;

        // mtsFunction called to broadcast the event
        mtsFunctionWrite Button1Event, Button2Event, Button3Event, Button4Event;

        prmForceCartesianSet ForceCartesian;

        bool Clutch;

        std::string Name;

        int DeviceNumber;
    };

    vctDynamicVector<DeviceData *> DevicesVector;
    vctDynamicVector<mtsNovintHDLHandle *> DevicesHandleVector;
    mtsNovintHDLDriverData * Driver;

    void SetInterfaces(const std::string & firstDeviceName,
                       const std::string & secondDeviceName);

    void SetupInterfaces(void);

private:
    mtsNovintHDL(const std::string & taskName);

public:
    mtsNovintHDL(const std::string & taskName,
                 const std::string & firstDeviceName);

    mtsNovintHDL(const std::string & taskName,
                  const std::string & firstDeviceName,
                  const std::string & secondDeviceName);

    mtsNovintHDL(const char * taskName,
                  const char * firstDeviceName,
                  const char * secondDeviceName);

    ~mtsNovintHDL();
    void Configure(const std::string & CMN_UNUSED(filename) = "") {};
    void Create(void *data = 0);
    void Run();
    void Start(void);
    void Kill(void);
    void Cleanup(void) {};
    virtual void UserControl(void) {};
};


CMN_DECLARE_SERVICES_INSTANTIATION(mtsNovintHDL);


#endif // _mtsNovintHDL_h