actuators/labjack_ue9.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Author:      Chandan Uddaraju


#ifndef CAJUN_LABJACKUE9_H
#define CAJUN_LABJACKUE9_H


typedef struct ue9_calibration_information
{
        double unipolar_slope[4];
        double unipolar_offset[4];
        double bipolar_slope;
        double bipolar_offset;
        double dac_slope[2];
        double dac_offset[2];
        double temp_slope;
        double temp_slope_low;
        double cal_temp;
        double v_ref;
        double v_ref_div2;
        double vs_slope;
        double hi_res_unipolar_slope;
        double hi_res_unipolar_offset;
        double hi_res_bipolar_slope;
        double hi_res_bipolar_offset;
} calib_info_t;


typedef struct channel_parameters
{
        double max_voltage;
        double mid_voltage;
        double min_voltage;
        bool reverse;
} channel_parameters_t;

namespace cajun
{
        class labjack_ue9_t
        {
        public:

                labjack_ue9_t (void);

                bool initialize (void);

                bool set_limits (unsigned channel_number, double max_voltage, double mid_voltage, double min_voltage, bool reverse);

                int open_labjack_ue9_device (const char *ip_address, int tcp_port);

                bool set_position (unsigned steering_channel, double steering_position, 
                                        unsigned throttle_channel, double throttle_position);

                bool handle_response (void);
                int socket_status (void);
                void close_labjack_device (void);

                bool set_watchdogtimer (double timeout, double steering_position,
                                           unsigned steering_channel, double throttle_position,
                                           unsigned throttle_channel);
                bool get_watchdogtimer_settings (double timeout, double steering_position,
                                           unsigned steering_channel, double throttle_position,
                                           unsigned throttle_channel);


        protected:
                int m_socketfd;

                calib_info_t m_calib_info;

                channel_parameters_t channel[2];

                double no_of_analog_channels;

                double mapping_ratio; // Used to map the position of steering/throttle to corresponding voltage in the labjack's voltage range 
                void set_extended_checksum (unsigned char *sendbuff, int length);

                int check_recv_data_checksum (unsigned char *recvbuff, int length) const;

                int get_calib_info (void);

                double byte_array_to_double (unsigned char *buffer, int start_index);

        };
};


#endif

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