vrpn_BiosciencesTools.h

#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 () {};
 
 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);
 
 virtual void report_changes
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE);
 virtual void report
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE);
 
 static int VRPN_CALLBACK handle_request_message(void *userdata, vrpn_HANDLERPARAM p);
 
 static int VRPN_CALLBACK handle_request_channels_message(void *userdata, vrpn_HANDLERPARAM p);
 
 static int VRPN_CALLBACK handle_connect_message(void *userdata, vrpn_HANDLERPARAM p);
};
 
#endif