analogy_driver.cpp

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/*
 * Copyright (C) 2012 University of Bristol, UK
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as
 * published by the Free Software Foundation; either version 2 of the
 * License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 */

#include <analogy_device.h>
#include <analogy_driver.h>
#include <debug.h>
#include <sstream>

extern "C" Plugin::Object *createRTXIPlugin(void)
{
 return new AnalogyDriver();
}

AnalogyDriver::~AnalogyDriver(void)
{
 for(std::list<AnalogyDevice *>::iterator i = devices.begin(); i != devices.end(); ++i)
 delete *i;
}

DAQ::Device *AnalogyDriver::createDevice(const std::list<std::string> &args)
{
 int err = 0;
 a4l_desc_t dsc;
 a4l_sbinfo_t *sbinfo;
 std::string name = args.front();

 err = a4l_open(&dsc, name.c_str());
 if(err < 0)
 {
 ERROR_MSG("AnalogyDriver::createDevice : unable to open %s (err=%d).\n", name.c_str(), err);
 return 0;
 }

 // Allocate a buffer to get more info (subd, chan, rng)
 dsc.sbdata = malloc(dsc.sbsize);
 if (dsc.sbdata == NULL)
 {
 err = -ENOMEM;
 ERROR_MSG("AnalogyDriver: info buffer allocation failed\n");
 return 0;
 }

 // Get this data
 err = a4l_fill_desc(&dsc);
 if (err < 0)
 {
 ERROR_MSG("AnalogyDriver: a4l_fill_desc failed (err=%d)\nPlease run rtxi_load_analogy script in scripts directory.\n", err);
 return 0;
 }

 // We need to find each subdevice index manually since idx_*_subd often fails
 // Go over all subdevices and save the indexes of the first AI, AO and DIO
 int idx_ai = -1;
 int idx_ao = -1;
 int idx_dio = -1;
 for (int i=0; i < dsc.nb_subd; i++)
 {
 err = a4l_get_subdinfo(&dsc, i, &sbinfo);
 if(err != 0)
 {
 ERROR_MSG("AnalogyDriver: a4l_get_subd_info failed, wrong subdevice index %i (err=%d)\n",
 err, i);
 return 0;
 }
 // Assign index; save just the first device if many
 if (((sbinfo->flags & A4L_SUBD_TYPES )== A4L_SUBD_AI) && (idx_ai < 0))
 idx_ai = i;
 else if (((sbinfo->flags & A4L_SUBD_TYPES) == A4L_SUBD_AO) && (idx_ao < 0))
 idx_ao = i;
 else if (((sbinfo->flags & A4L_SUBD_TYPES) == A4L_SUBD_DIO) && (idx_dio < 0))
 idx_dio = i;
 }

 size_t count[5] = { 0, 0, 0, 0, 0,};
 err = a4l_get_subdinfo(&dsc, idx_ai, &sbinfo);
 if(err == 0)
 count[0] = sbinfo->nb_chan;
 err = a4l_get_subdinfo(&dsc, idx_ao, &sbinfo);
 if(err == 0)
 count[1] = sbinfo->nb_chan;
 err = a4l_get_subdinfo(&dsc, idx_dio, &sbinfo);
 if(err == 0)
 count[2] = sbinfo->nb_chan;

 if(!(count[0]+count[1]+count[2]+count[3]+count[4]))
 {
 ERROR_MSG("AnalogyDriver::createDevice : no Analogy device configured on %s.\n",name.c_str());
 a4l_close(&dsc);
 return 0;
 }

 IO::channel_t channel[count[0]+count[1]+2*count[2]];
 for(size_t i=0; i<count[0]; ++i)
 {
 std::ostringstream name;
 name << "Analog Input " << i;
 channel[i].name = name.str();
 channel[i].description = "";
 channel[i].flags = IO::OUTPUT;
 }
 for(size_t i=count[0]; i<count[0]+count[1]; ++i)
 {
 std::ostringstream name;
 name << "Analog Output " << i-count[0];
 channel[i].name = name.str();
 channel[i].description = "";
 channel[i].flags = IO::INPUT;
 }
 for(size_t i=count[0]+count[1]; i<count[0]+count[1]+count[2]; ++i)
 {
 std::ostringstream name;
 name << "Digital I/O " << i-count[0]-count[1];
 channel[i].name = name.str();
 channel[i].description = "";
 channel[i].flags = IO::OUTPUT;
 }
 for(size_t i=count[0]+count[1]+count[2]; i<count[0]+count[1]+2*count[2]; ++i)
 {
 std::ostringstream name;
 name << "Digital I/O " << i-count[0]-count[1]-count[2];
 channel[i].name = name.str();
 channel[i].description = "";
 channel[i].flags = IO::INPUT;
 }
 for(size_t i=count[0]+count[1]+2*count[2]; i<count[0]+count[1]+2*count[2]+count[3]; ++i)
 {
 std::ostringstream name;
 name << "Digital Input " << i-count[0]-count[1]-2*count[2];
 channel[i].name = name.str();
 channel[i].description = "";
 channel[i].flags = IO::OUTPUT;
 }
 for(size_t i=count[0]+count[1]+2*count[2]+count[3]; i<count[0]+count[1]+2*count[2]+count[3]+count[4]; ++i)
 {
 std::ostringstream name;
 name << "Digital Output " << i-count[0]-count[1]-2*count[2]-count[3];
 channel[i].name = name.str();
 channel[i].description = "";
 channel[i].flags = IO::INPUT;
 }

 AnalogyDevice *dev = new AnalogyDevice(&dsc,name,channel,count[0]+count[1]+2*count[2]);
 devices.push_back(dev);
 return dev;

 return 0;
}

void AnalogyDriver::doLoad(const Settings::Object::State &s)
{
 for(size_t i = 0, end = s.loadInteger("Num Devices"); i < end; ++i)
 {
 std::list<std::string> args;
 args.push_back(s.loadString(QString::number(i).toStdString()));
 DAQ::Device *device = createDevice(args);
 if(device)
 device->load(s.loadState(QString::number(i).toStdString()));
 }
}

void AnalogyDriver::doSave(Settings::Object::State &s) const
{
 s.saveInteger("Num Devices",devices.size());
 size_t n = 0;
 for(std::list<AnalogyDevice *>::const_iterator i = devices.begin(),end = devices.end(); i != end; ++i)
 {
 std::ostringstream str;
 str << n++;
 s.saveString(str.str(),(*i)->getName());
 s.saveState(str.str(),(*i)->save());
 }
}