JanzDio.h

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#ifndef CARMA_CANBUS_JANZDIO_H
#define CARMA_CANBUS_JANZDIO_H

#include "carma/canbus/Dio.h"

#include <boost/thread/mutex.hpp>
#include <string>
#include <vector>

namespace carma {
namespace canbus {

    class JanzDio : public carma::canbus::Dio {
    public:

        JanzDio( );

        JanzDio( const std::string & dev,
                 bool resetOnStart = false );

        JanzDio( const std::string & dev0,
                 const std::string & dev1,
                 bool resetOnStart = false );

        JanzDio( const ::std::vector< ::std::string > & devs,
                 bool resetOnStart = false );

        ~JanzDio();

        void powerOn();

        void powerOff();

        void resetHi();

        void resetLo();

        void reservedHi();

        void reservedLo();

        void clear();

    private:

        struct DeviceInfo {
            int fd;                                // File descriptor.
            std::string name;      // Name of ttl device.
            unsigned char state;   // Bit state.
        };

        // Common initialization
        void initializeDevice( const std::string & deviceName,
                               int flags,
                               bool resetOnStart );
        // Emulation hook.
        void mttlWrite(int fd, int data);

        // Twiddle bits.
        void set( int bit );
        void unset( int bit );

        // Member data
        std::vector< DeviceInfo > devs_; // List of our janz devices
        const bool emulate_;             // Emulate Janz Dio card?
        boost::mutex mutex_;             // Coarse lock

    }; // End class JanzDio
}}  // namespace carma::canbus
#endif // CARMA_CANBUS_JANZDIO_H