vrpn_Atmel.h

// -*- Mode:C++ -*-
/***************************************************************************************************/
/*                                                                                                 */
/* Copyright (C) 2004 Bauhaus University Weimar                                                    */
/* Released into the public domain on 6/23/2007 as part of the VRPN project                        */
/* by Jan P. Springer.                                                                             */
/*                                                                                                 */
/***************************************************************************************************/
/*                                                                                                 */
/*  module     :  vrpn_Atmel.h                                                                     */
/*  project    :  vrpn_Avango                                                                      */
/*  description:  server for microcontroller board based on Atmel's ATMEGA32                       */
/*                hardware developed by Albotronic: www.albotronic.de                              */
/*                                                                                                 */
/***************************************************************************************************/
 
#ifndef VRPN_ATMEL
#define VRPN_ATMEL
 
/***************************************************************************************************/
/* compiler flags */
 
/* serial lib
   default is atmellib 
   can be changed to vrpn_Serial (problems when dropping connection from client side,
     read blocks for unknown reason
*/
//#define VRPN_ATMEL_SERIAL_VRPN
 
/* debug flags */
#define VRPN_ATMEL_VERBOSE
//#define VRPN_ATMEL_TIME_MEASURE
 
 
/***************************************************************************************************/
/* vrpn atmellib error values -> reported to the client */
 
#define VRPN_ATMEL_ERROR_READING_IN               -21
#define VRPN_ATMEL_ERROR_WRITING_DOWN             -22
#define VRPN_ATMEL_ERROR_OUT_OF_RANGE             -23
#define VRPN_ATMEL_ERROR_NOT_WRITABLE             -24
 
#define VRPN_ATMEL_MODE_RO                        101
#define VRPN_ATMEL_MODE_RW                        102
#define VRPN_ATMEL_MODE_WO                        103
#define VRPN_ATMEL_MODE_NA                        104
 
#define VRPN_ATMEL_STATUS_WAITING_FOR_CONNECTION  201
#define VRPN_ATMEL_STATUS_RUNNING                 202
#define VRPN_ATMEL_STATUS_ERROR                  -200
 
#define VRPN_ATMEL_CHANNEL_NOT_VALID                -1
 
#define VRPN_ATMEL_ALIVE_TIME_LOOK_SEC               3 
#define VRPN_ATMEL_ALIVE_TIME_LOOK_USEC              0
#define VRPN_ATMEL_ALIVE_INTERVAL_SEC                1
 
/***************************************************************************************************/
/* system includes */
#include <stddef.h> // for NULL
 
/***************************************************************************************************/
/* project includes */
#include "vrpn_Analog.h" // for vrpn_Analog_Server
#include "vrpn_Analog_Output.h" // for vrpn_Analog_Output_Server
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Shared.h" // for timeval
 
class VRPN_API vrpn_Connection;
 
#ifdef VRPN_ATMEL_SERIAL_VRPN
#  include "vrpn_Serial.h"
#endif
 
/***************************************************************************************************/
class VRPN_API vrpn_Atmel : public vrpn_Analog_Server, vrpn_Analog_Output_Server {
 
public:
 
 static vrpn_Atmel *
  Create(char* name, vrpn_Connection *c,
 const char *port="/dev/ttyS0/", long baud=9600,
 int channel_count=0,
 int * channel_mode=NULL);
 
 ~vrpn_Atmel();
 
 void mainloop();  
 
private:
 
 // constructor
 vrpn_Atmel(char* name, vrpn_Connection *c,  int fd);
 
private:
 
 void init_channel_mode(int * channel_mode);
 
 // do the serial communication in mainloop
 bool mainloop_serial_io();
 
 // things which have to be done when a new connection has been established
 bool handle_new_connection();
 
 // enable connection reliability checking by additional select
 bool Check_Serial_Alive();
 
private:
 
 // indicator for current status of server
 // one of the predefined value: VRPN_ATMEL_STATUS_*
 int _status;
 
 // time of report
 struct timeval timestamp;
 
 int serial_fd;
 
 // indicator for io-mode of the channels
 // one of the predefined values: VRPN_ATMEL_MODE_* 
 vrpn_vector<int> _channel_mode;
 
 // helper for Serial_Alive: do the stuff not in every mainloop -> _time_alive
 struct timeval _time_alive;
};
 
#endif // #ifndef VRPN_ATMEL