00001 // 00002 // begin license header 00003 // 00004 // This file is part of Terk and TerkOS. 00005 // 00006 // All Terk and TerkOS source code is provided under the terms of the 00007 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html). 00008 // Those wishing to use Terk and TerkOS source code, software and/or 00009 // technologies under different licensing terms should contact us at 00010 // [email protected]. Such licensing terms are available for 00011 // all portions of the Terk and TerkOS codebase presented here. 00012 // 00013 // end license header 00014 // 00015 00016 #ifndef _QEMOTORREC_H 00017 #define _QEMOTORREC_H 00018 00019 #include <pthread.h> 00020 #include "qemotor.h" 00021 00022 enum ERBState 00023 { 00024 STATE_STANDBY, 00025 STATE_TRANSITION_RECORD, 00026 STATE_RECORD, 00027 STATE_TRANSITION_PLAY, 00028 STATE_PLAY 00029 }; 00030 00035 class CQEMotorRec 00036 { 00037 public: 00038 CQEMotorRec(unsigned long size=0, unsigned char axes=0, pthread_mutex_t *pMutex=NULL); 00039 virtual ~CQEMotorRec(); 00040 00041 void Init(unsigned long size, unsigned char axes, pthread_mutex_t *pMutex); 00042 00049 virtual void Record(); 00050 00055 virtual void Play(); 00056 00060 void RStop(); 00061 00066 bool Playing(); 00067 00072 bool Recording(); 00073 00074 protected: 00075 bool UpdatePosition(); // returns true if RecordUpdate needs updated position 00076 00077 short *m_pdata; 00078 unsigned long m_readIndex; 00079 unsigned long m_writeIndex; 00080 unsigned long m_size; 00081 unsigned char m_axes; 00082 00083 00084 bool RecordActive(); 00085 bool RecordServo(); 00086 void RecordUpdate(Axis_position position[], Axis_position desiredPosition[]); 00087 short *SetPlay(); 00088 short *GetRecord(); 00089 00090 Axis_position m_recIntegral[QEMOT_NUM_MOTORS]; 00091 ERBState m_state; 00092 bool m_servo; 00093 00094 pthread_mutex_t *m_pMutex; 00095 }; 00096 00097 00098 #endif
1.7.1