// vrpn_Analog_USDigital_A2.C
//
// This is a driver for USDigital A2 Absolute Encoders.
// They can be daisy changed together, and utlimately, one or
// more plug into a serial port and communicate using RS-232.
// You can find out more at www.usdigital.com.
//
// To use this class, install the US Digital software, specifying
// the "SEI Explorer Demo Software" to install.
//
// Then uncomment the following line in vrpn_configure.h:
// #define VRPN_USE_USDIGITAL
//
// Note that because the 3rd party library is used, this class
// will only work under Windows.
//
// You must also include the following in your compilers include
// path for the 'vrpn' project:
// $(SYSTEMDRIVE)\Program Files\SEI Explorer
//
// Finally, the following must be included in vrpn.cfg to use
// the generic server:
//
// ################################################################################
// # US Digital A2 Absolute Encoder Analog Input server. This will open the COM
// # port specified, configure the number of channels specified, and report
// # Absolute Encoder values in tenths of a degree from 0 to 3599.
// #
// # Arguments:
// # char name_of_this_device[]
// # int COM_port. If 0, search for correct COM port.
// # int number_of_channels
// # int 0 to report always, 1 to report on change only (optional, default=0)
//
// vrpn_Analog_USDigital_A2 Analog0 0 2
//
// This code was written in October 2006 by Bill West, who
// used the vrpn_Analog_Server sample code written by
// Tom Hudson in March 1999 as a starting point. Bill also
// used some ideas from vrpn_Radamec_SPI.[Ch] written by
// Russ Taylor in August 2000.
#include "vrpn_Analog_USDigital_A2.h"
class VRPN_API vrpn_Connection;
#ifdef VRPN_USE_USDIGITAL
extern "C" {
#include <SEIDrv32.H>
}
#endif
#include <stdio.h> // for fprintf, stderr
// Constants used by this class
const vrpn_uint32 vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_CHANNEL_MAX =
// deallocate the list of device addresses.
(15<vrpn_CHANNEL_MAX) ? 15 : vrpn_CHANNEL_MAX ; // pick the least
const vrpn_uint32 vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_FIND_PORT = 0 ;
// Constructor initializes the USDigital's SEI communication, and prepares to read the A2
vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2 (const char * name,
vrpn_Connection * c,
vrpn_uint32 portNum,
vrpn_uint32 numChannels,
vrpn_int32 reportOnChangeOnly) :
vrpn_Analog (name, c),
_SEIopened(vrpn_false),
_numDevices(0),
_devAddr(NULL),
_reportChange(reportOnChangeOnly!=0)
{
#ifdef VRPN_USE_USDIGITAL
this->_devAddr = new long[vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_CHANNEL_MAX] ;
if (this->_devAddr == NULL) {
fprintf(stderr,"vrpn_Analog_USDigital_A2: Out of memory!\n");
return;
}
this->setNumChannels( numChannels );
// Check if we got a connection.
if (d_connection == NULL) {
fprintf(stderr,"vrpn_Analog_USDigital_A2: Can't get connection!\n");
return;
}
// Prepare to get data from the SEI bus
long err;
#ifdef VRPN_USE_USDIGITAL
err = InitializeSEI(portNum, AUTOASSIGN) ;
#else
fprintf(stderr,"vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2(): Not yet implemented for this architecture\n");
err = -1;
#endif
if (err) {
fprintf(stderr, "vrpn_Analog_USDigital_A2: Can't initialize SEI bus for port %d.\n",
#ifdef VRPN_USE_USDIGITAL
GetCommPort()
#else
0
#endif
);
return ;
} else {
_SEIopened = vrpn_true ;
}
// Check if the number of devices matches that expected
#ifdef VRPN_USE_USDIGITAL
_numDevices = GetNumberOfDevices() ;
#endif
if (_numDevices<0 || _numDevices>vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_CHANNEL_MAX) {
fprintf(stderr,
"vrpn_Analog_USDigital_A2: Error (%d) returned from GetNumberOfDevices call on SEI bus",
_numDevices) ;
_numDevices = 0 ;
}
if (_numDevices != numChannels)
fprintf(stderr,
"vrpn_Analog_USDigital_A2: Warning, number of requested devices (%d) is not the same as found (%d)\n",
numChannels, _numDevices) ;
// Initialize the addresses
for (int c=0 ; c<vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_CHANNEL_MAX ; c++)
_devAddr[c] = -1 ;
// Get the device addresses.
for (vrpn_uint32 d=0 ; d<_numDevices ; d++) {
long deviceInfoErr, model, serialnum, version, addr ;
#ifdef VRPN_USE_USDIGITAL
deviceInfoErr = GetDeviceInfo(d, &model, &serialnum, &version, &addr) ;
if (!deviceInfoErr)
_devAddr[d] = addr ;
#endif
#ifdef VERBOSE
// Dump out the device data
if (deviceInfoErr)
fprintf(stderr, "vrpn_Analog_USDigital_A2: could not get information on Device #%d!\n", d) ;
else
fprintf(stderr, "vrpn_Analog_USDigital_A2: Device #%d: model=%d, serialnum=%d, version=%d, addr=%d\n",
d, model, serialnum, version, addr) ;
#endif // VERBOSE
}
#else
fprintf(stderr,"vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2(): Not compiled in; define VRPN_USE_USDIGITAL in vrpn_Configure.h and recompile VRPN\n");
#endif
} // constructor
// This destructor closes out the SEI bus, and deallocates memory
vrpn_Analog_USDigital_A2::~vrpn_Analog_USDigital_A2()
{
#ifdef VRPN_USE_USDIGITAL
// close out the SEI bus
if (_SEIopened==vrpn_true) {
(void) CloseSEI() ;
}
// deallocate the list of device addresses.
delete _devAddr ;
_devAddr = 0 ;
#endif
} // destructor
/** This routine is called each time through the server's main loop. It will
take a course of action depending on the current status of the device,
either trying to reset it or trying to get a reading from it. It will
try to reset the device if no data has come from it for a couple of
seconds
*/
void vrpn_Analog_USDigital_A2::mainloop()
{
server_mainloop(); // let the server do its stuff
#ifdef VRPN_USE_USDIGITAL
long readErr, readVal ;
// Read the data from the available channels
for (vrpn_uint32 c=0 ; c<(vrpn_uint32) num_channel ; c++)
{
// see if there's really a readable device there.
if (c<_numDevices && _devAddr[c]>=0)
{
readErr = A2GetPosition(_devAddr[c], &readVal) ;
if (readErr)
{
fprintf(stderr,
"vrpn_Analog_USDigital_A2: Error code %d received while reading channel %d.\n",
readErr, c) ;
fprintf(stderr, "vrpn_Analog_USDigital_A2: Attempting to reinitialize SEI bus...") ;
readErr = ResetSEI() ;
if (readErr)
fprintf(stderr, "failed.") ;
fprintf(stderr, "failed.") ;
// don't flood the log, and give the reset time to work
vrpn_SleepMsecs(1000) ;
}
else
channel[c] = (vrpn_float64) readVal ;
}
else
channel[c] = 0 ; // default to 0 for unreadable/unavailable.
} // for
#endif
// Finally, the point of all this, deliver the data
if (_reportChange)
report_changes() ;
else
report() ;
} // mainloop
vrpn_int32 vrpn_Analog_USDigital_A2::setNumChannels (vrpn_int32 sizeRequested)
{
if (sizeRequested < 0)
num_channel = 0;
else if (static_cast<unsigned>(sizeRequested) > vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_CHANNEL_MAX)
num_channel = (vrpn_int32) vrpn_Analog_USDigital_A2::vrpn_Analog_USDigital_A2_CHANNEL_MAX;
else
num_channel = (vrpn_int32) sizeRequested;
return num_channel;
} // setNumChannels