[Libphidget-cvs-commits] CVS: libphidget/src/libphidget phidget.c,1.26,1.27 phidget.h,1.20,1.21

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Update of /cvsroot/libphidget/libphidget/src/libphidget
In directory sc8-pr-cvs1:/tmp/cvs-serv25634/libphidget

Modified Files:
	phidget.c phidget.h 
Log Message:
Lot's of changes with how servo controller classes work.  Now added seperate classes for servo controllers (uni and quad).

Index: phidget.c
===================================================================
RCS file: /cvsroot/libphidget/libphidget/src/libphidget/phidget.c,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** phidget.c	16 Dec 2002 22:23:31 -0000	1.26
--- phidget.c	23 Dec 2002 04:38:40 -0000	1.27
***************
*** 95,98 ****
--- 95,104 ----
  	void *defaultData;    

+ 	/** Size of extra data */
+ 	int extraDataSize;
+ 	
+ 	/** Extra data used to store any configuration info for a phidget */
+ 	void *extraData;
+ 
  	/** Virtual state of the device, this keeps the state of the device even when it is detached. */
  	enum
***************
*** 561,565 ****
--- 567,574 ----
  	temp->attached = 0;
  	temp->openedState = WAS_CLOSED;
+ 	temp->defaultDataSize = 0;
  	temp->defaultData = NULL;
+ 	temp->extraDataSize = 0;
+ 	temp->extraData = NULL;

  	/**
***************
*** 899,904 ****
  	_clearDeviceTypes();

! 	_registerDeviceType("QuadServo .1 Degree", 0x06C2, 0x0038, LP_SERVO_CONTROLLER);
! 	_registerDeviceType("UniServo .1 Degree", 0x06C2, 0x0039, LP_SERVO_CONTROLLER);
  	_registerDeviceType("Interface Kit 4/8/8", 0x0925, 0x8201, LP_INTERFACE_KIT_488);
  	_registerDeviceType("Interface Kit 4/8/8", 0x06C2, 0x0040, LP_INTERFACE_KIT_488);
--- 908,913 ----
  	_clearDeviceTypes();

! 	_registerDeviceType("QuadServo .1 Degree", 0x06C2, 0x0038, LP_QUAD_SERVO);
! 	_registerDeviceType("UniServo .1 Degree", 0x06C2, 0x0039, LP_UNI_SERVO);
  	_registerDeviceType("Interface Kit 4/8/8", 0x0925, 0x8201, LP_INTERFACE_KIT_488);
  	_registerDeviceType("Interface Kit 4/8/8", 0x06C2, 0x0040, LP_INTERFACE_KIT_488);
***************
*** 907,911 ****
  	_registerDeviceType("PhidgetTextLCD ECMA1010 Ver 1.0", 0x06C2, 0x0050,LP_TEXT_LCD);
  	//_registerDeviceType("RFID VID/PID", 0x06C2, 0x0030, LP_OTHER);
! 	//_registerDeviceType("8-AdvancedServo", 0x06C2, 0x003B, LP_SERVO_CONTROLLER);
  	//_registerDeviceType("Interface Kit 32-32-0", 0x06C2, 0x0042, LP_INTERFACE_KIT);
  	//_registerDeviceType("Interface Kit 0-256-0", 0x06C2, 0x0043, LP_INTERFACE_KIT);
--- 916,920 ----
  	_registerDeviceType("PhidgetTextLCD ECMA1010 Ver 1.0", 0x06C2, 0x0050,LP_TEXT_LCD);
  	//_registerDeviceType("RFID VID/PID", 0x06C2, 0x0030, LP_OTHER);
! 	//_registerDeviceType("8-AdvancedServo", 0x06C2, 0x003B, LP_8WAY_SERVO);
  	//_registerDeviceType("Interface Kit 32-32-0", 0x06C2, 0x0042, LP_INTERFACE_KIT);
  	//_registerDeviceType("Interface Kit 0-256-0", 0x06C2, 0x0043, LP_INTERFACE_KIT);
***************
*** 1128,1132 ****
  	if (phidgetDevice->handle) 
  	{
! 		if (phidgetDevice->type->deviceClass == LP_SERVO_CONTROLLER) 
  		{
  			if (phidgetDevice->defaultData == NULL) 
--- 1137,1144 ----
  	if (phidgetDevice->handle) 
  	{
! 		if (
! 			phidgetDevice->type->deviceClass == LP_UNI_SERVO ||
! 			phidgetDevice->type->deviceClass == LP_QUAD_SERVO 
! 			) 
  		{
  			if (phidgetDevice->defaultData == NULL) 
***************
*** 1212,1234 ****
  enum ELPError phidgetSingleServo(struct phidget *phidgetDevice, float percent)
  {
!     int pulse;
!     char buffer[6] = { 0 };

!     DBG("phidgetSingleServo");

!     if (phidgetDevice == NULL)
! 	return (_error(LPE_INVALID_PHIDGET));
!     if (phidgetDevice->type == NULL)
! 	return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));
!     // Not a servo
!     if (phidgetDevice->type->deviceClass != LP_SERVO_CONTROLLER)
! 	return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

!     pulse = (int) (((percent) * 180) * 10.6f + 230);

!     buffer[0] = pulse % 256;
!     buffer[1] = (pulse / 256);

!     return (phidgetWrite(phidgetDevice, buffer, sizeof(buffer)));
  }

--- 1224,1287 ----
  enum ELPError phidgetSingleServo(struct phidget *phidgetDevice, float percent)
  {
! 	int _min=230,_max=(int) (180 * 10.6f + 230)+_min;
! 	int pulse;
! 	char buffer[6] = { 0 };

! 	DBG("phidgetSingleServo");

! 	if (phidgetDevice == NULL)
! 		return (_error(LPE_INVALID_PHIDGET));
! 	if (phidgetDevice->type == NULL)
! 		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

! 	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_UNI_SERVO)
! 		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

! 	//pulse = (int) (((percent) * 180) * 10.6f + 230);

! 	if (phidgetDevice->extraData!=NULL)
! 	{
! 		int *temp=(int *)phidgetDevice->extraData;
! 		_min=temp[0];
! 		_max=temp[1];
! 	}
! 	//pulse = (int) (((percent) * 180) * 10.6f + 230);
! 	pulse=(percent*(_max-_min))+_min;
! 
! 	buffer[0] = pulse % 256;
! 	buffer[1] = (pulse / 256);
! 
! 	return (phidgetWrite(phidgetDevice, buffer, sizeof(buffer)));
! }
! 
! /**
!  * Helper function to set the minimum and maximum pulse values for a servo on a phidget
!  */
! enum ELPError phidgetSingleServoSetMinMaxPulse(struct phidget *phidgetDevice, int minimum, int maximum)
! {
! 	int buffer[2];
! 
! 	DBG("phidgetSingleServoSetMinMaxPulse");
! 
! 	if (phidgetDevice == NULL)
! 		return (_error(LPE_INVALID_PHIDGET));
! 	if (phidgetDevice->type == NULL)
! 		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));
! 
! 	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_UNI_SERVO)
! 		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));
! 
! 	// Free any defaults that have already been set
! 	if (phidgetDevice->extraData != NULL)
! 		free(phidgetDevice);
! 
! 	buffer[0]=minimum;
! 	buffer[1]=maximum;
! 
! 	phidgetDevice->extraDataSize = sizeof(buffer);
! 	phidgetDevice->extraData = malloc(phidgetDevice->extraDataSize);
! 	memcpy(phidgetDevice->extraData, buffer, phidgetDevice->extraDataSize);
  }

***************
*** 1250,1254 ****

  	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_SERVO_CONTROLLER)
  		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

--- 1303,1307 ----

  	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_UNI_SERVO)
  		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

***************
*** 1276,1279 ****
--- 1329,1336 ----
  	int pulse1, pulse2, pulse3, pulse4;
  	char buffer[6] = { 0 };
+ 	int _min1=230,_max1=(int) (180 * 10.6f + 230)+_min1;
+ 	int _min2=230,_max2=(int) (180 * 10.6f + 230)+_min2;
+ 	int _min3=230,_max3=(int) (180 * 10.6f + 230)+_min3;
+ 	int _min4=230,_max4=(int) (180 * 10.6f + 230)+_min4;

  	DBG("phidgetQuadServo");
***************
*** 1286,1297 ****

  	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_SERVO_CONTROLLER)
  		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

! 	pulse1 = (int) (((percent1) * 180) * 10.6f + 230);
! 	pulse2 = (int) (((percent2) * 180) * 10.6f + 230);
! 	pulse3 = (int) (((percent3) * 180) * 10.6f + 230);
! 	pulse4 = (int) (((percent4) * 180) * 10.6f + 230);

  	buffer[0] = pulse1 % 256;
--- 1343,1371 ----

  	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_QUAD_SERVO)
  		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

! 	//pulse1 = (int) (((percent1) * 180) * 10.6f + 230);
! 	//pulse2 = (int) (((percent2) * 180) * 10.6f + 230);
! 	//pulse3 = (int) (((percent3) * 180) * 10.6f + 230);
! 	//pulse4 = (int) (((percent4) * 180) * 10.6f + 230);
! 
! 	if (phidgetDevice->extraData!=NULL)
! 	{
! 		int *temp=(int *)phidgetDevice->extraData;
! 		_min1=temp[0];
! 		_max1=temp[1];
! 		_min2=temp[2];
! 		_min2=temp[3];
! 		_min3=temp[4];
! 		_max3=temp[5];
! 		_max4=temp[6];
! 		_max4=temp[7];
! 	}
! 	pulse1=(percent1*(_max1-_min1))+_min1;
! 	pulse2=(percent2*(_max2-_min2))+_min2;
! 	pulse3=(percent3*(_max3-_min3))+_min3;
! 	pulse4=(percent4*(_max4-_min4))+_min4;

  	buffer[0] = pulse1 % 256;
***************
*** 1324,1328 ****

  	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_SERVO_CONTROLLER)
  		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

--- 1398,1402 ----

  	// Not a servo
! 	if (phidgetDevice->type->deviceClass != LP_QUAD_SERVO)
  		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));

***************
*** 1351,1354 ****
--- 1425,1469 ----

  	return (_error(LPE_NONE));
+ }
+ 
+ /**
+  * Helper function to set the minimum and maximum pulse values for a quad servo on a phidget
+  */
+ enum ELPError phidgetQuadServoSetMinMaxPulse(struct phidget *phidgetDevice, 
+ 	int minimum0, int maximum0,
+ 	int minimum1, int maximum1,
+ 	int minimum2, int maximum2,
+ 	int minimum3, int maximum3
+ 	)
+ {
+ 	int buffer[8];
+ 
+ 	DBG("phidgetSingleServoSetMinMaxPulse");
+ 
+ 	if (phidgetDevice == NULL)
+ 		return (_error(LPE_INVALID_PHIDGET));
+ 	if (phidgetDevice->type == NULL)
+ 		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));
+ 
+ 	// Not a servo
+ 	if (phidgetDevice->type->deviceClass != LP_QUAD_SERVO)
+ 		return (_error(LPE_WRONG_PHIDGET_CLASS_TYPE));
+ 
+ 	// Free any defaults that have already been set
+ 	if (phidgetDevice->extraData != NULL)
+ 		free(phidgetDevice);
+ 
+ 	buffer[0]=minimum0;
+ 	buffer[1]=maximum0;
+ 	buffer[2]=minimum1;
+ 	buffer[3]=maximum1;
+ 	buffer[4]=minimum2;
+ 	buffer[5]=maximum2;
+ 	buffer[6]=minimum3;
+ 	buffer[7]=maximum3;
+ 
+ 	phidgetDevice->extraDataSize = sizeof(buffer);
+ 	phidgetDevice->extraData = malloc(phidgetDevice->extraDataSize);
+ 	memcpy(phidgetDevice->extraData, buffer, phidgetDevice->extraDataSize);
  }

Index: phidget.h
===================================================================
RCS file: /cvsroot/libphidget/libphidget/src/libphidget/phidget.h,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** phidget.h	21 Dec 2002 02:55:07 -0000	1.20
--- phidget.h	23 Dec 2002 04:38:40 -0000	1.21
***************
*** 71,107 ****
  enum EDeviceClass
  {
!     LP_ALL = 1,			 /**< All devices match this */

      // Actual phidget types
!     LP_PHIDGET = 100,		 /**< Generic phidget, not used in this library */
! 
!     LP_SERVO_CONTROLLER = 200,	 /**< Identifies all servo controller phidgets */
! 
!     LP_INTERFACE_KIT = 300,	 /**< Identifies all interface kit phidgets, support being added now */
!     LP_INTERFACE_KIT_880 = 301,	 /**< 880 interface kit */
!     LP_INTERFACE_KIT_488 = 302,	 /**< 488 interface kit */
! 
!     LP_ENCODER = 400,		 /**< Currently unsupported */
! 
!     LP_POWER = 500,		 /**< Currently unsupported */
! 
!     LP_RFID = 600,		 /**< Currently unsupported */
! 
!     LP_LED = 700,		 /**< Currently unsupported */
! 
!     LP_TEXT_LCD = 800,		 /**< Text LCD */

      // Phidget subdevices, a phidget subdevice is something a phidget controls
!     LP_SUB_DEVICE = 101,         /**< A SubDevice of a phidget, not used in this library */
!     LP_SERVO = 201,		 /**< Sero sub-device, any servo that a servo controller controls */
!     LP_DIGITAL_IN = 394,	 /**< Digital in sub-device, any digital input that an interface kit controls */
!     LP_DIGITAL_OUT = 395,	 /**< Digltal out sub-device, any digital output that an interface kit controls */
!     LP_ANALOG_IN = 396,		 /**< Analog in sub-device, any analog input that an interface kit controls */
!     LP_ANALOG_OUT = 397,         /**< Analog out sub-device, any analog input that an interface kit controls, currently phidget currently handles analog output */
!     LP_IN = 398,                 /**< Input sub-device, Any input that an interface kit controls */
!     LP_OUT = 399,                /**< Output sub-device, Any output that an interface kit controls */
! 
!     LP_OTHER = 0,		 /**< Identifies all unknown phidgets, this shouldn't exist */
!     LP_INVALID = -2,		 /**< Invalid device class, any negative device class is an error. */

  };
--- 71,102 ----
  enum EDeviceClass
  {
!     LP_ALL = 1,			 //!< All devices match this 

      // Actual phidget types
!     LP_PHIDGET = 100,		 //!< Generic phidget, not used in this library 
!     LP_SERVO_CONTROLLER = 200,	 //!< Identifies all servo controller phidgets 
!     LP_UNI_SERVO = 201,           //!< Single servo controller
!     LP_QUAD_SERVO = 202,         //!< Quad servo controller
!     LP_8WAY_SERVO = 203,         //!< 8 Way servo controller
!     LP_INTERFACE_KIT = 300,	 //!< Identifies all interface kit phidgets, support being added now
!     LP_INTERFACE_KIT_880 = 301,	 //!< 880 interface kit 
!     LP_INTERFACE_KIT_488 = 302,	 //!< 488 interface kit 
!     LP_ENCODER = 400,		 //!< Currently unsupported 
!     LP_POWER = 500,		 //!< Currently unsupported 
!     LP_RFID = 600,		 //!< Currently unsupported 
!     LP_LED = 700,		 //!< Currently unsupported 
!     LP_TEXT_LCD = 800,		 //!< Text LCD 

      // Phidget subdevices, a phidget subdevice is something a phidget controls
!     LP_SUB_DEVICE = 101,         //!< A SubDevice of a phidget, not used in this library 
!     LP_SERVO = 201,		 //!< Sero sub-device, any servo that a servo controller controls 
!     LP_DIGITAL_IN = 394,	 //!< Digital in sub-device, any digital input that an interface kit controls 
!     LP_DIGITAL_OUT = 395,	 //!< Digltal out sub-device, any digital output that an interface kit controls 
!     LP_ANALOG_IN = 396,		 //!< Analog in sub-device, any analog input that an interface kit controls 
!     LP_ANALOG_OUT = 397,         //!< Analog out sub-device, any analog input that an interface kit controls, currently phidget currently handles analog output 
!     LP_IN = 398,                 //!< Input sub-device, Any input that an interface kit controls 
!     LP_OUT = 399,                //!< Output sub-device, Any output that an interface kit controls 
!     LP_OTHER = 0,		 //!< Identifies all unknown phidgets, this shouldn't exist 
!     LP_INVALID = -2,		 //!< Invalid device class, any negative device class is an error. 

  };
***************
*** 215,218 ****
--- 210,222 ----
  		);

+ 	/**
+ 	 * Helper function to set the minimum and maximum pulse values for a servo on a phidget
+ 	 */
+ 	enum ELPError phidgetSingleServoSetMinMaxPulse(
+ 		struct phidget *phidgetDevice,  //<! The phidget whoses pulse values we want to set
+ 		int minimum,  //<! The minimum pulse value (when percent=0)
+ 		int maximum //<! The maximum pulse value (when percent=1)
+ 		);
+ 
  	/** 
  	 * Send an angle (0.0 to 1.0) to four servos.  The phidget servo controllers
***************
*** 240,243 ****
--- 244,262 ----
  		float percent3,	//!< Percentage to move servo 3
  		float percent4	//!< Percentage to move servo 4
+ 		);
+ 
+ 	/**
+ 	 * Helper function to set the minimum and maximum pulse values for a quad servo on a phidget
+ 	 */
+ 	enum ELPError phidgetQuadServoSetMinMaxPulse(
+ 		struct phidget *phidgetDevice,  //<! The phidget whoses pulse values we want to set
+ 		int minimum0, //<! The minium pulse value for servo 0 (when percent=0)
+ 		int maximum0, //<! The minium pulse value for servo 0 (when percent=1)
+ 		int minimum1, //<! The minium pulse value for servo 1 (when percent=0)
+ 		int maximum1, //<! The minium pulse value for servo 1 (when percent=1)
+ 		int minimum2, //<! The minium pulse value for servo 2 (when percent=0)
+ 		int maximum2, //<! The minium pulse value for servo 2 (when percent=1)
+ 		int minimum3, //<! The minium pulse value for servo 3 (when percent=0)
+ 		int maximum3 //<! The minium pulse value for servo 3 (when percent=1)
  		);