vrpn_NationalInstruments.h

// vrpn_NationalInstruments.h
// Russell Taylor, May 2004
//
 
#ifndef VRPN_NATIONALINSTRUMENTS_H
#define VRPN_NATIONALINSTRUMENTS_H
 
#ifdef  VRPN_USE_NATIONAL_INSTRUMENTS_MX
#include <NIDAQmx.h>
#endif
 
#include "vrpn_Analog.h" // for vrpn_CHANNEL_MAX, etc
#include "vrpn_Analog_Output.h" // for vrpn_Analog_Output
#include "vrpn_Configure.h" // for VRPN_CALLBACK, VRPN_API
#include "vrpn_Connection.h"
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Types.h" // for vrpn_int32, vrpn_uint32, etc
 
#define vrpn_NI_INPUT_MODE_DIFFERENTIAL (0)
#define vrpn_NI_INPUT_MODE_REF_SINGLE_ENDED (1)
#define vrpn_NI_INPUT_MODE_NON_REF_SINGLE_ENDED (2)
#define vrpn_NI_INPUT_RANGE_5V (5)
#define vrpn_NI_INPUT_RANGE_10V (10)
#define vrpn_NI_INPUT_RANGE_20V (20)
 
// An Analog and/or Analog_Output server that uses National Instruments cards
// to do its input and output.  It supercedes the vrpn_Analog_Output_Server_NI,
// which is now depracated.
 
class VRPN_API vrpn_National_Instruments_Server : public vrpn_Analog, public vrpn_Analog_Output {
public:
    vrpn_National_Instruments_Server(const char* name, vrpn_Connection* c, 
 const char *boardName = "PCI-6713",
 int numInChannels = vrpn_CHANNEL_MAX,
 int numOutChannels = vrpn_CHANNEL_MAX,
 double minInputReportDelaySecs = 0.0,
 bool inBipolar = false,
 int inputMode = vrpn_NI_INPUT_MODE_DIFFERENTIAL, // Input parameters (A/D)
 int inputRange = vrpn_NI_INPUT_RANGE_10V,
 bool driveAIS = false,
 int inputGain = 1,
 bool outBipolar = false,      // Output parameters (D/A)
 double minOutVoltage = 0.0,
 double maxOutVoltage = 10.0);
 virtual ~vrpn_National_Instruments_Server();
 
 virtual void mainloop();
 
protected:
 //  Addresses of the devices
#ifdef VRPN_USE_NATIONAL_INSTRUMENTS_MX
    TaskHandle    d_analog_task_handle;
    TaskHandle    d_analog_out_task_handle;
 bool setValues();   // Transfer our internal values to the D/A
 void reportError(int32 errnumber, vrpn_bool exitProgram = vrpn_false);
#else
 short   d_device_number;          //< National Instruments device to use
#endif
 short   d_in_polarity;        //< Polarity (1 = unipolar, 0 = bipolar)
 int     d_in_gain;                //< Input gain
 double  d_in_min_delay;           //< Minimum delay between two readings
 double  d_out_min_voltage;        //< Minimum voltage allowed on a channel
 double  d_out_max_voltage;        //< Maximum voltate allowed on a channel
 short   d_out_polarity;       //< Polarity (1 = unipolar, 0 = bipolar)
 struct timeval d_last_report_time;//< When was the last analog tracker report sent?
 
    /// Sets the size of the array;  returns the size actually set.
    /// (May be clamped to vrpn_CHANNEL_MAX)
    /// This should be used before mainloop is ever called.
 int setNumInChannels (int sizeRequested);
 
    /// Sets the size of the array;  returns the size actually set.
    /// (May be clamped to vrpn_CHANNEL_MAX)
    /// This should be used before mainloop is ever called.
 int setNumOutChannels (int sizeRequested);
 
    /// Responds to a request to the AnalogOutput to change one of the values by
    /// setting the channel to that value.  Derived class must
    /// either install handlers for this routine or else make
    /// its own routines to handle the request message.
 static int VRPN_CALLBACK handle_request_message( void *userdata,
 vrpn_HANDLERPARAM p );
 
    /// Responds to a request to change a number of channels
    /// Derived class must either install handlers for this
    /// routine or else make its own routines to handle the
    /// multi-channel request message.
 static int VRPN_CALLBACK handle_request_channels_message( void* userdata,
 vrpn_HANDLERPARAM p);
 
    /// Used to notify us when a new connection is requested, so that
    /// we can let the client know how many channels are active
 static int VRPN_CALLBACK handle_got_connection( void* userdata, vrpn_HANDLERPARAM p );
 
 virtual bool report_num_channels( vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE );
 virtual vrpn_int32 encode_num_channels_to( char* buf, vrpn_int32 num );
};
 
// An Analog output server that uses National Instruments cards to do its
// output.  It is superceded by vrpn_National_Instruments_Server, and is
// now deprecated.  It only works with the NIDAQ traditional.
 
class VRPN_API vrpn_Analog_Output_Server_NI : public vrpn_Analog_Output {
public:
    vrpn_Analog_Output_Server_NI(const char* name, vrpn_Connection* c, 
 const char *boardName = "PCI-6713",
                 vrpn_int16 numChannels = vrpn_CHANNEL_MAX,
 bool bipolar = false,
 double minVoltage = 0.0,
 double maxVoltage = 10.0);
 virtual ~vrpn_Analog_Output_Server_NI(void);
 
 virtual void mainloop();
 
protected:
 short   NI_device_number;   //< National Instruments device to use
 short   NI_num_channels;    //< Number of channels on the board
 double  min_voltage;    //< Minimum voltage allowed on a channel
 double  max_voltage;    //< Maximum voltate allowed on a channel
 short   polarity;       //< Polarity (1 = unipolar, 0 = bipolar)
 
    /// Sets the size of the array;  returns the size actually set.
    /// (May be clamped to vrpn_CHANNEL_MAX)
    /// This should be used before mainloop is ever called.
    vrpn_int32 setNumChannels (vrpn_int32 sizeRequested);
 
    /// Responds to a request to change one of the values by
    /// setting the channel to that value.  Derived class must
    /// either install handlers for this routine or else make
    /// its own routines to handle the request message.
 static int VRPN_CALLBACK handle_request_message( void *userdata,
 vrpn_HANDLERPARAM p );
 
    /// Responds to a request to change a number of channels
    /// Derived class must either install handlers for this
    /// routine or else make its own routines to handle the
    /// multi-channel request message.
 static int VRPN_CALLBACK handle_request_channels_message( void* userdata,
 vrpn_HANDLERPARAM p);
 
    /// Used to notify us when a new connection is requested, so that
    /// we can let the client know how many channels are active
 static int VRPN_CALLBACK handle_got_connection( void* userdata, vrpn_HANDLERPARAM p );
 
 virtual bool report_num_channels( vrpn_uint32 class_of_service = vrpn_CONNECTION_RELIABLE );
 virtual vrpn_int32 encode_num_channels_to( char* buf, vrpn_int32 num );
};
 
#endif