DMU.h

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/************************************************************************************************/
/*! \file DMU.h
*  \brief The DMU class provides the interface for the DMU hardware device.
*  \author $Author: cakinli $
*  \version $Revision: 1.9 $
*  \date    $Date: 2005/04/26 17:20:38 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_DMU_H__
#define __SSSL_DMU_H__

#include <vector>
#include <string>
#include <sys/time.h>

#include <matrix/Matrix.h>
#include <rotation/Rotation.h>
#include <Utils/CfgParse.h>
#include <Hardware/DAQCard.h>

extern "C" {
#include <Hardware/satctl.h>
#include <Hardware/common.h>
#include <Hardware/dmu.h>
}


using namespace std;
using namespace O_SESSAME;

class DMU {

public:
        
        /*! Constructors */
        DMU(int _mode);
        //DMU(cfgBody&);

        /*! Deconstructors */
        ~DMU();

        /*! Facilitators */
                        /*! Gets the reading when the MoPak is used in digital operating mode */
                        void GetDigitalReading( int _channelID, timeval& _timeStamp, double& _rateData);
        
                        /*! Gets the reading when the MoPak is used in analog operating mode */
                        void GetAnalogReading( int _channelID, DAQCard* _mycard, timeval& _timeStamp, double& _rateData);

                        /*! Get the location of the MoPak */
                        Vector GetLocation();

                        /*! Get the quaternion from the Sensor frame to the body frame */
                        Vector GetSensorToBodyQuaternion( int id );
        
        /*! Mutators */                 
                        /*! Initialize the attitude sensor */
                        int Initialize(int _mode);

                        /*! Set the location of the physical DMU device. */
                        void SetLocation(const Vector& newDeviceLocation);

                        /*! Set the DMU to body quaternion, and from that the individual quaternions for each the sensors that comprise the DMU. */
                        void SetSensorToBodyQuaternions(const Vector& newDeviceQuaternion);

                        /*! Function to return an instance of a single DMU, to prevent the application from trying to create multiple physical DMUs */
                        static DMU* Instance(int _mode);
protected:

private:
        /*! A static instance of a DMU, declared here and defined elsewhere, to assure all separate rate gyros and accelerometers refer to the same single DMU */
        static DMU* s_instance;
        
        Vector m_location;
        Vector m_sensorToBodyQuaternion;

        Vector m_dmuXToBodyQuaternion;
        Vector m_dmuYToBodyQuaternion;
        Vector m_dmuZToBodyQuaternion;
        
        adat_t* m_ptrToReadData; /* pointer to type adat_t, will point to the temporary buffer of the read data */
        
        int m_prate; // poll rate
        int m_tempBuffSize; /* size of the temporary buffer of the read data */

        timeval m_initTime; /* time of DMU initialization.  For now, used as reference time for fakeDMU.cpp */

        timeval m_GetReadingTime;
        long m_delta_t; // actual time difference between current and previous calls to GetReading, in usecs. 
        long m_timeToler; // the desired time tolerance between current and previous cals to GetReading, in usecs.
        int m_firstCall; // 0=false 1=true
        int m_numread; // number of data sets read each time by dmuReadData call

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: DMU.h,v $
*       Revision 1.9  2005/04/26 17:20:38  cakinli
*       Updated Makefiles to build a single libdsacss.a in the src directory to alleviate linking issues with the multiple, per-directory libraries.
*       
*       Revision 1.8  2005/03/16 18:08:16  cakinli
*       *** empty log message ***
*       
*       Revision 1.7  2004/04/08 06:07:08  shoemaker
*       Added analog MoPak calibration routines
*       
*       Revision 1.6  2004/03/29 16:43:11  shoemaker
*       Added code to work with analog DAQ card code
*       
*       Revision 1.5  2003/08/08 16:52:19  shoemaker
*       Hopefully fixed issues with data wasting and efficiency.
*       
*       Revision 1.4  2003/07/18 17:21:10  shoemaker
*       Redefined GetReading to use timeval struct for time stamp
*       
*       Revision 1.3  2003/07/08 21:03:09  shoemaker
*       Cleaned up in accordance with fakeDMU.cpp and realDMU.cpp
*       
*       Revision 1.2  2003/07/03 16:54:50  shoemaker
*       Added semi-working versions of DMU code
*       
*       Revision 1.1  2003/06/24 01:05:39  mavandyk
*       The class for interfacing with the DMU.
*       
******************************************************************************/

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