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#ifndef VRPN_RADAMEC_SPI_H
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#define VRPN_RADAMEC_SPI_H
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#include "vrpn_Connection.h"
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#include "vrpn_Analog.h"
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class VRPN_API vrpn_Radamec_SPI: public vrpn_Serial_Analog
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vrpn_Radamec_SPI (const char * name, vrpn_Connection * c,
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const char * port, int baud = 38400);
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~vrpn_Radamec_SPI () {};
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/// Called once through each main loop iteration to handle updates.
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virtual void mainloop ();
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int _status; //< Reset, Syncing, or Reading
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int _camera_id; //< What is our camera ID, queried from device
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int _numchannels; //< How many analog channels to open
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unsigned _expected_chars; //< How many characters to expect in the report
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unsigned char _buffer[512]; //< Buffer of characters in report
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unsigned _bufcount; //< How many characters we have so far
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struct timeval timestamp; //< Time of the last report from the device
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virtual int reset(void); //< Set device back to starting config
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virtual int get_report(void); //< Try to read a report from the device
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virtual void clear_values(void); //< Clears all channels to 0
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/// Compute the CRC for the message or report starting at head with length len.
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unsigned char compute_crc(const unsigned char *head, int len);
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/// Convert a 24-bit value from a buffer into an unsigned integer value
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vrpn_uint32 convert_24bit_unsigned(const unsigned char *buf);
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/// Convert a 16-bit unsigned value from a buffer into an integer
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vrpn_int32 convert_16bit_unsigned(const unsigned char *buf);
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double int_to_pan(vrpn_uint32 val); //< Returns pan in degrees
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double int_to_tilt(vrpn_uint32 val) //< Returns tilt in degrees
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{ return int_to_pan(val); };
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double int_to_zoom(vrpn_uint32 val); //< Returns zoom in meters
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double int_to_focus(vrpn_uint32 val); //< Returns focal length in meters
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double int_to_height(vrpn_uint32 val); //< Returns height in meters
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double int_to_X(vrpn_uint32 mm, vrpn_uint32 frac); //< Returns X location in meters
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double int_to_Y(vrpn_uint32 mm, vrpn_uint32 frac) //< Returns Y location in meters
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{ return int_to_X(mm, frac); };
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double int_to_orientation(vrpn_uint32 val); //< Returns orientation in degrees
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/// Compute the CRC for the message, append it, and send message.
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/// Returns 0 on success, -1 on failure.
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int send_command(const unsigned char *cmd, int len);
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/// send report iff changed
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virtual void report_changes
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(vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
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/// send report whether or not changed
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(vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
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os/win/include/vrpn_Analog_Radamec_SPI.h
