vrpn_Zaber.h

#ifndef VRPN_ZABER_H
#define VRPN_ZABER_H
 
#include "vrpn_Analog.h" // for vrpn_Serial_Analog
#include "vrpn_Analog_Output.h" // for vrpn_Analog_Output
#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_int32, vrpn_uint32
 
class VRPN_API vrpn_Zaber: public vrpn_Serial_Analog, public vrpn_Analog_Output
{
public:
 vrpn_Zaber (const char * name, vrpn_Connection * c,
 const char * port);
 ~vrpn_Zaber () {};
 
 virtual void mainloop ();
 
 protected:
 unsigned d_expected_chars;        //< How many characters to expect in the report
 unsigned char d_buffer[512];  //< 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
 struct timeval d_last_poll; //< Time of last poll of 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
 
 bool  send_command(unsigned char devicenum, unsigned char cmd, vrpn_int32 data);
 bool  send_command(unsigned char devnum, unsigned char cmd, unsigned char d0,
 unsigned char d1, unsigned char d2, unsigned char d3);
    vrpn_int32  convert_bytes_to_reading(const unsigned 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