Diff: linact.hpp

Revision:

0:de88dc2515d3

diff -r 000000000000 -r de88dc2515d3 linact.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/linact.hpp	Mon Feb 24 05:54:34 2014 +0000
@@ -0,0 +1,65 @@
+#ifndef LINACT_H
+#define LINACT_H
+
+#include <linactregdefs.h>
+#include <linactbuf.h>
+#include <cstdio>
+#include <cstring>
+
+
+#if DBGLINACTBUF
+#define LINACTDBG(x, ...) std::printf("[LinAct:DBG]"x"\r\n", ##__VA_ARGS__);
+#define LINACTWARN(x, ...) std::printf("[LinAct:WARN]"x"\r\n", ##__VA_ARGS__);
+#define LINACTERR(x, ...) std::printf("[LinAct:ERR]"x"\r\n", ##__VA_ARGS__);
+#else
+#define LINACTDBG(x, ...)
+#define LINACTWARN(x, ...)
+#define LINACTERR(x, ...)
+#endif
+
+#define LINACTINFO(x, ...) std::printf("[LinAct:INFO]"x"\r\n", ##__VA_ARGS__);
+
+
+
+namespace IAI {
+
+  const float NOTPOSMSGERR = -999999.0;
+
+  class LinearActuator {
+
+    public:
+        LinActBuf buffer;
+        LinearActuator();
+        ~LinearActuator();
+        unsigned short getAxisReadAddress(unsigned int axisid);
+        unsigned short getAxisWriteAddress(unsigned int axisid);
+        LinActBuf * getGwStatusStr();
+        LinActBuf * getGwStartStr();
+        LinActBuf * getAxisStatus(unsigned int axisid);
+        LinActBuf * getAxisPos(unsigned int axisid);
+        LinActBuf * getSetAxisPos(unsigned int axisid,
+                unsigned int position);
+        LinActBuf * getAxisStart(unsigned int axisid);
+        LinActBuf * getAxisPause(unsigned int axisid);
+        LinActBuf * getAxisReset(unsigned int axisid);
+        LinActBuf * getAxisHome(unsigned int axisid);
+        LinActBuf * getAxisOn(unsigned int axisid);
+        LinActBuf * getAxisBrakeRelease(unsigned int axisid);
+
+
+        float getPosition();
+
+        LinActBuf * getBuffer();
+
+        void send();
+        LinActBuf * receiveStdin(int len);
+
+        LinActBuf * pushByteRxBuffer(char c);
+
+        int checkChecksum();
+
+  };
+
+}
+
+#endif /* LINACT_H */