vrpn_Analog_Radamec_SPI.h

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#ifndef VRPN_RADAMEC_SPI_H
#define VRPN_RADAMEC_SPI_H
 
#include "vrpn_Analog.h"                // for vrpn_Serial_Analog
#include "vrpn_Configure.h"             // for VRPN_API
#include "vrpn_Connection.h"            // for vrpn_CONNECTION_LOW_LATENCY, etc
#include "vrpn_Shared.h"                // for timeval
#include "vrpn_Types.h"                 // for vrpn_uint32, vrpn_int32
 
class VRPN_API vrpn_Radamec_SPI: public vrpn_Serial_Analog
{
public:
    vrpn_Radamec_SPI (const char * name, vrpn_Connection * c,
            const char * port, int baud = 38400);
 
    ~vrpn_Radamec_SPI () {};

    virtual void mainloop ();
 
  protected:
    int _status;            //< Reset, Syncing, or Reading
    int _camera_id;         //< What is our camera ID, queried from device
    int _numchannels;       //< How many analog channels to open
 
    unsigned _expected_chars;       //< How many characters to expect in the report
    unsigned char _buffer[512]; //< Buffer of characters in report
    unsigned _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
 
    virtual void clear_values(void);    //< Clears all channels to 0

    unsigned char compute_crc(const unsigned char *head, int len);

    vrpn_uint32 convert_24bit_unsigned(const unsigned char *buf);

    vrpn_int32  convert_16bit_unsigned(const unsigned char *buf);
 
    double  int_to_pan(vrpn_uint32 val);    //< Returns pan in degrees
    double  int_to_tilt(vrpn_uint32 val)    //< Returns tilt in degrees
            { return int_to_pan(val); };
    double  int_to_zoom(vrpn_uint32 val);   //< Returns zoom in meters
    double  int_to_focus(vrpn_uint32 val);  //< Returns focal length in meters
    double  int_to_height(vrpn_uint32 val); //< Returns height in meters
    double  int_to_X(vrpn_uint32 mm, vrpn_uint32 frac);   //< Returns X location in meters
    double  int_to_Y(vrpn_uint32 mm, vrpn_uint32 frac)    //< Returns Y location in meters
            { return int_to_X(mm, frac); };
    double  int_to_orientation(vrpn_uint32 val); //< Returns orientation in degrees

    int send_command(const unsigned char *cmd, int len);

        virtual void report_changes
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
        virtual void report
                   (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
};
 
#endif