DMUAccelerometer.h

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/************************************************************************************************/
/*! \file DMUAcclerometer.h
*  \brief The DMUAcclerometer class provides the interface for h/w DMU accelerometers.
*  \author $Author: bwilliam $
*  \version $Revision: 1.10 $
*  \date    $Date: 2007/01/12 20:23:28 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_DMUACCELEROMETER_H__
#define __SSSL_DMUACCELEROMETER_H__
#include <math.h>

#include <Sensors/DMU.h>
#include <Hardware/DAQCard.h>
#include <Sensors/Accelerometer.h>
#include <Utils/CfgParse.h>
#include "dsacssinterface.h"

using namespace std;

class DMUAccelerometer : public Accelerometer  
{
public:
        // Contructors/Deconstructors
        
        /** @brief Create an object of type DMUAccelerometer.
           */
         DMUAccelerometer() {};
         DMUAccelerometer(TiXmlHandle handle, string accString);
        
         // should change to not call initialize in constructor
         DMUAccelerometer(int _channel)
         { 
                m_channelID = _channel;
                Initialize();
         };

    ~DMUAccelerometer() {};

    int Initialize()
    {
        m_DMU = DMU::Instance(m_mode);
        if (m_mode == 2) // means analog mode, so need the daq card
        {
                m_DAQCard = DAQCard::Instance();
        };
        return 0;
    };
       
        // Facilitators
        
                // Inspectors
        
                        /*! Gets current measurement */
                        inline Measurement GetMeasurement() 
                        {
                                double accelData = 0.0;
                                timeval timeStamp;
                                switch(m_mode)
                                {
                                        case 1:
                                                // use digital mode of operation for the DMU
                                                m_DMU->GetDigitalReading(m_channelID, timeStamp, accelData);
                                                break;
                                        case 2:
                                                // use analog mode of operation for the DMU
                                                m_DMU->GetAnalogReading(m_channelID, m_DAQCard, timeStamp, accelData);

                                                // Correct raw voltage using scale factor and offset.
                                                // Note that (despite not being mentioned in the MoPak manual)
                                                // the negative sign is needed for Low Analog operation in order
                                                // to match the directions on the MoPak label.
                                                accelData = -(accelData - m_offset)/m_accelScaleFactor;
                                                // accelData is now in units of g
                                                break;
                                        default:
                                                break;
                                }
                                
                                // Measurement is given in g's without gravity.
                                // Restore to SI units and add in gravity.
                                //if ( m_channelID == 6 )  
                                //{
                                //      accelData += -1.0;  //  here's gravity
                                //}
                                
                                // convert from g's to m/s^2
                                accelData *= 9.81; 

                                /* NOTE!  This may not be the best (right?) way to 
                                 * re-include the effects of gravity.  I think it's
                                 * right, but if answers seem screwy than the above 
                                 * is a good place to look.
                                 * Also, declaring a new Vector each loop may be slow.
                                 * Make a private data member?
                                 */
                                
                                /* Set up measurement to return */
                                Measurement accelMeasurement(accelData);
                                // for now...
                                accelMeasurement.SetTime(timeStamp.tv_sec, timeStamp.tv_usec);
                                return accelMeasurement;
                                
                        };
                                
                        /*! Gets sensor to body quaternion */
                        inline Vector GetSensorToBodyQuaternion() {     return m_DMU->GetSensorToBodyQuaternion(m_channelID); };
                        
                        /*! Gets sensor location */
                        inline Vector GetLocation() { return m_DMU->GetLocation(); };

                        /*! Gets the operating mode, either digital (1) or analog (2) (mainly for debugging purposes) */
                        inline int GetMode() { return m_mode; };

protected:
        
private:

        DMU* m_DMU;      /*!< pointer to the instance of the DMU physical device */
        
        DAQCard* m_DAQCard; /*!< pointer to instance of the DAQ card */
        
        int  m_channelID; /*!< channel of sensor in DMU */
        int m_mode; /*!<  mode of operation for the sensor in the DMU, where 1 = digital and 2 = analog */
        float m_offset; /*!< calibration offset value in units of V */
        float m_accelScaleFactor; /*!< acceleration scale factor in units of V/g */

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: DMUAccelerometer.h,v $
*       Revision 1.10  2007/01/12 20:23:28  bwilliam
*       Modified to use XML parser.
*       
*       Revision 1.9  2005/03/16 18:08:16  cakinli
*       *** empty log message ***
*       
*       Revision 1.8  2004/05/27 19:07:28  shoemaker
*       Made changes corresponding to new daq card settings and calibration methods
*       
*       Revision 1.7  2004/03/29 16:43:11  shoemaker
*       Added code to work with analog DAQ card code
*       
*       Revision 1.6  2003/12/09 02:10:37  simpliciter
*       Changed rate --> accel in variable and function names.
*       
*       Revision 1.5  2003/08/18 19:14:17  mavandyk
*       Moved funciton bodies to implementation file
*       
*       Revision 1.4  2003/08/01 11:23:52  mavandyk
*       Fixed some bugs.
*       
*       Revision 1.4  2003/07/18 17:22:13  shoemaker
*       Now uses Measurement class.  Still has timing and data-wasting issues.
*       
*       Revision 1.3  2003/07/03 16:54:50  shoemaker
*       Added semi-working versions of DMU code
*       
*       Revision 1.2  2003/06/26 20:12:08  mavandyk
*       Added code to inline functions for the calls to the DMU class.
*       
*       Revision 1.1  2003/06/25 21:49:23  mavandyk
*       Alter architechture of class structure.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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