--- /dev/null
+/*
+ A C++ binding for comedilib. Requires the Boost C++ libraries.
+ Copyright (C) 2006-2007 Frank Mori Hess <fmhess@users.sourceforge.net>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU Lesser 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 Lesser General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef _COMEDILIB_WRAPPER_HPP
+#define _COMEDILIB_WRAPPER_HPP
+
+#include <boost/shared_ptr.hpp>
+#include <comedilib.h>
+#include <iostream>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+namespace comedi
+{
+ class subdevice;
+
+ class device {
+ public:
+ device() {}
+ device(const std::string &device_file)
+ {
+ this->open(device_file);
+ }
+ std::string board_name() const
+ {
+ const char *name = comedi_get_board_name(comedi_handle());
+ if(name == 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_board_name() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_board_name");
+ throw std::runtime_error(message.str());
+ }
+ return name;
+ }
+ int command_test(comedi_cmd *cmd) const
+ {
+ int retval = comedi_command_test(comedi_handle(), cmd);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_command_test() returned error.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_command_test");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ void command(comedi_cmd *cmd) const
+ {
+ int retval = comedi_command(comedi_handle(), cmd);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_command() failed, return value=" << retval << " .";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_command");
+ throw std::runtime_error(message.str());
+ }
+ }
+ std::string default_calibration_path() const
+ {
+ return comedi_get_default_calibration_path(comedi_handle());
+ }
+ void do_insn(comedi_insn *instruction) const
+ {
+ int retval = comedi_do_insn(comedi_handle(), instruction);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_do_insn() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_do_insn");
+ throw std::runtime_error(message.str());
+ }
+ }
+ std::string driver_name() const
+ {
+ const char *name = comedi_get_driver_name(comedi_handle());
+ if(name == 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_driver_name() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_driver_name");
+ throw std::runtime_error(message.str());
+ }
+ return name;
+ }
+ inline subdevice find_subdevice_by_type(int type, const subdevice *start_subdevice = 0) const;
+ int fileno() const
+ {
+ int fd = comedi_fileno(comedi_handle());
+ if(fd < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_fileno() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_fileno");
+ throw std::runtime_error(message.str());
+ }
+ return fd;
+ }
+ unsigned n_subdevices() const
+ {
+ int retval = comedi_get_n_subdevices(comedi_handle());
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_n_subdevices() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_n_subdevices");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ void open(const std::string &device_file)
+ {
+ comedi_t *dev = comedi_open(device_file.c_str());
+ if(dev == 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_open() failed, with device file name: \"" << device_file << "\".";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_open");
+ throw std::runtime_error(message.str().c_str());
+ }
+ _comedi_handle.reset(dev, &comedi_close);
+ }
+ private:
+ friend class subdevice;
+
+ comedi_t* comedi_handle() const
+ {
+ if(_comedi_handle == 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": device not open.";
+ std::cerr << message.str() << std::endl;
+ throw std::invalid_argument(message.str());
+ }
+ return _comedi_handle.get();
+ }
+
+ boost::shared_ptr<comedi_t> _comedi_handle;
+ };
+
+ class subdevice
+ {
+ public:
+ subdevice(const device &dev, unsigned subdevice_index):
+ _device(dev), _index(subdevice_index)
+ {
+ if(_index >= _device.n_subdevices())
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": invalid subdevice index.";
+ std::cerr << message.str() << std::endl;
+ throw std::invalid_argument(message.str());
+ }
+ }
+ unsigned buffer_size() const
+ {
+ int retval = comedi_get_buffer_size(comedi_handle(), index());
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_buffer_size() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_buffer_size");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ lsampl_t data_read(unsigned channel, unsigned range, unsigned aref) const
+ {
+ lsampl_t value;
+ int retval = comedi_data_read(comedi_handle(), index(), channel, range, aref, &value);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_data_read() failed, return value=" << retval << " .";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_data_read");
+ throw std::runtime_error(message.str());
+ }
+ return value;
+ }
+ std::vector<lsampl_t> data_read_n(unsigned channel, unsigned range, unsigned aref, unsigned num_samples) const
+ {
+ std::vector<lsampl_t> values(num_samples);
+ int retval = comedi_data_read_n(comedi_handle(), index(), channel, range, aref, &values.at(0), values.size());
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_data_read_n() failed, return value=" << retval << " .";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_data_read_n");
+ throw std::runtime_error(message.str());
+ }
+ return values;
+ }
+ void data_read_hint(unsigned channel, unsigned range, unsigned aref) const
+ {
+ int ret = comedi_data_read_hint(comedi_handle(), index(), channel, range, aref);
+ if(ret < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_data_read_hint() failed, return value = " << ret << " .";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_data_read_hint");
+ throw std::runtime_error(message.str());
+ }
+ }
+ void data_write(unsigned channel, unsigned range, unsigned aref, lsampl_t data) const
+ {
+ int retval = comedi_data_write(comedi_handle(), index(), channel, range, aref, data);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_data_write() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_data_write");
+ throw std::runtime_error(message.str());
+ }
+ }
+ device dev() const {return _device;}
+ unsigned flags() const
+ {
+ int retval = comedi_get_subdevice_flags(comedi_handle(), index());
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_subdevice_flags() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_subdevice_flags");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ unsigned index() const {return _index;};
+ unsigned max_buffer_size() const
+ {
+ int retval = comedi_get_max_buffer_size(comedi_handle(), index());
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_max_buffer_size() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_max_buffer_size");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ unsigned n_channels() const
+ {
+ int retval = comedi_get_n_channels(comedi_handle(), index());
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_n_channels() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_n_channels");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ unsigned n_ranges(unsigned channel = 0) const
+ {
+ int retval = comedi_get_n_ranges(comedi_handle(), index(), channel);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_n_ranges() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_n_ranges");
+ throw std::runtime_error(message.str());
+ }
+ return retval;
+ }
+ lsampl_t max_data(unsigned channel = 0) const
+ {
+ lsampl_t value = comedi_get_maxdata(comedi_handle(), index(), channel);
+ if(value == 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_maxdata() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_maxdata");
+ throw std::runtime_error(message.str());
+ }
+ return value;
+ }
+ const comedi_range* range(unsigned channel, unsigned range_index) const
+ {
+ comedi_range *cRange = comedi_get_range(comedi_handle(), index(), channel, range_index);
+ if(cRange == 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_get_range() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_get_range");
+ throw std::runtime_error(message.str());
+ }
+ return cRange;
+ }
+ void set_buffer_size(unsigned num_bytes) const
+ {
+ int retval = comedi_set_buffer_size(comedi_handle(), index(), num_bytes);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_set_buffer_size() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_set_buffer_size");
+ throw std::runtime_error(message.str());
+ }
+ }
+ void set_max_buffer_size(unsigned num_bytes) const
+ {
+ int retval = comedi_set_max_buffer_size(comedi_handle(), index(), num_bytes);
+ if(retval < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": comedi_set_max_buffer_size() failed.";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_set_max_buffer_size");
+ throw std::runtime_error(message.str());
+ }
+ }
+ private:
+ comedi_t* comedi_handle() const {return dev().comedi_handle();}
+
+ device _device;
+ unsigned _index;
+ };
+
+ subdevice device::find_subdevice_by_type(int type, const subdevice *start_subdevice) const
+ {
+ unsigned start_index;
+ if(start_subdevice) start_index = start_subdevice->index();
+ else start_index = 0;
+ int subdev = comedi_find_subdevice_by_type(comedi_handle(), type, start_index);
+ if(subdev < 0)
+ {
+ std::ostringstream message;
+ message << __PRETTY_FUNCTION__ << ": failed to find subdevice of type " << type << " .";
+ std::cerr << message.str() << std::endl;
+ comedi_perror("comedi_find_subdevice_by_type");
+ throw std::runtime_error(message.str());
+ }
+ return subdevice(*this, subdev);
+ }
+};
+
+#endif // _COMEDILIB_WRAPPER_HPP
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