camera/XPort.h

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#ifndef __XPORT_H__
#define __XPORT_H__

/****************************************************************************/
/* Copyright (c) 2008 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : XPort.h                                                       */
/* Author   : K Headley                                                     */
/* Project  : Benthic Imaging AUV                                           */
/* Created  : 04/01/2008                                                    */
/****************************************************************************/
/* Modification History:                                                    */
/*  $Id: XPort.h,v 1.1 2008/07/15 18:39:29 headley Exp $   */
/*  $Name:  $ */
/****************************************************************************/

#include <sys/param.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <netdb.h>
// unix.h must be included AFTER
// socket.h, else gethostname()
// doesn't work
#ifdef _QNX
#include <iostream.h>
#include <iomanip.h>
#include <strstream.h>
#include <unix.h>
#else
#include <iostream>
#include <iomanip>
#include <sstream>
#include <ctime>
#endif
#include <errno.h>
#include "Utils.h"
#include "qnx_port.h"
#include "BicamConsts.h" /* for boolean */
#ifndef _QNX
using namespace std;
#endif

#define SERVER_PORT 1500

#define MAX_MSG 100

#define GPIO_IP_PORT          0x77F0  /* port for controlling GPIO pins */

#define SERIAL_IP_PORT        10001   /* port for sending serial data (0x2711) */

/* XPort GPIO commands */
#define XPCMD_GET_FUNCTIONS      0x10 

#define XPCMD_GET_DIRECTIONS     0x11

#define XPCMD_GET_ACTIVE_LEVELS  0x12

#define XPCMD_GET_CURRENT_STATES 0x13

#define XPCMD_SET_DIRECTIONS     0x19

#define XPCMD_SET_ACTIVE_LEVELS  0x1A

#define XPCMD_SET_CURRENT_STATES 0x1B

/* Common GPIO masks 
   (note: these are intended for the XPort eval board)
*/
#define XPMASK_GPIO_SEL_ALL  0x07

#define XPMASK_GPIO_SEL_NONE 0x00

#define XPMASK_GPIO_SET_ALL  0x07

#define XPMASK_GPIO_CLR_ALL  0x00

#define XP_GPIO_0    0x1

#define XP_GPIO_1    0x2

#define XP_GPIO_2    0x4

#define XP_GPIO_ALL  0x7

#define XP_GPIO_NONE 0x0

#define XP_GPIO_IN   0x0

#define XP_GPIO_OUT  0x7

#define XP_GPIO_LO   0x0

#define XP_GPIO_HI   0x7

/* Function return values */
#define ERR_NULL -1

#define ERR_BADCMD -2

#define ERR_BADPAR1 -3

#define ERR_BADPAR2 -4

#define TEST_FAILED -5

#define TEST_OK 0

#define IS_VALID 0

#define XPCMD_SEND_MESSAGE       0x7F

#define XPORT_COMMAND_LEN  9

#define XPORT_RESPONSE_LEN 5

#define MAX_XPORT_COMMANDS 32

typedef short unsigned int t_TCP_PORT;

#define XP_CMD_LEN (sizeof(unsigned char))

#define XP_PARAM_LEN (sizeof(unsigned int))

enum ConnectionID{XPCON_SERIAL=0,XPCON_GPIO,XPCON_ALL};

class XPortCommand{
  friend ostream& operator<<(ostream& output, const XPortCommand& n);
 protected:
 private:
  unsigned char command;
  unsigned int param1;
  unsigned int param2;

 public:
  XPortCommand();
  XPortCommand(unsigned char cmd,unsigned int p1,unsigned int p2);
  void set(unsigned char cmd,unsigned int param1,unsigned int param2);
  int validate();
  int parse(const char *command);
  void show();
  unsigned char getCommand();
  unsigned int getP1();
  unsigned int getP2();
  char *toBytes(char *buf);
};

class XPortResponse{
  friend ostream& operator<<(ostream& output, const XPortResponse& n);

 protected:
 private:
  unsigned char command;
  unsigned int param1;
 public:
  XPortResponse();
  XPortResponse(unsigned char cmd,unsigned int p1);
  void set(unsigned char cmd,unsigned int param1);
  int validate();
  int parse(char *response);
  void show();
  unsigned char getCommand();
  unsigned int getP1();
  char *toBytes(char *buf);
};

class XPortConnection{
  friend ostream& operator<<(ostream& output, const XPortConnection& n);
 protected:
 private:
  char *host;
  int gpioPort;
  int serialPort;
  unsigned int dirMask;
  unsigned int levelMask;
  unsigned int dirValues;
  unsigned int levelValues;
  int sdGPIO;
  int sdSERIAL;
 public:
  XPortConnection();
  XPortConnection(char *host, 
                  unsigned int gPort, 
                  unsigned int sPort,
                  unsigned int dMask,
                  unsigned int dValues,
                  unsigned int lMask,
                  unsigned int lValues);
  int configAll( char *host,
                 unsigned int serialIPPort,
                 unsigned int gpioIPPort, 
                 unsigned int dirMask,
                 unsigned int dirValues,
                 unsigned int levelMask,
                 unsigned int levelValues);
  int configHost( char *hostName);
  int configGPIO( int gpioIPPort, 
                 unsigned int dirMask,
                 unsigned int dirValues,
                 unsigned int levelMask,
                 unsigned int levelValues);
  int configSerial( int serialIPPort);
  void setsdGPIO(int sd);
  void setsdSerial(int sd);
  char *getHost();
  unsigned int getpGPIO();
  unsigned int getpSerial();
  int getsdGPIO();
  int getsdSerial();
  unsigned int getDirMask();
  unsigned int getDirValues();
  unsigned int getLevelMask();
  unsigned int getLevelValues();

};
class XPort{
  friend ostream& operator<<(ostream& output, const XPort& n);
 protected:
 private:
  XPortConnection xpConnection;

  int connectSocket(char *host, int port);
 public:
  XPort();
  XPort(char *host, 
        unsigned int gpioPort, 
        unsigned int serialPort,
        unsigned int dirMask,
        unsigned int dirValues,
        unsigned int levelMask,
        unsigned int levelValues);
  XPortConnection *getConnection();
  int configure( char *host, 
                unsigned int gpioIPPort, 
                unsigned int serialIPPort,
                unsigned int dMask,
                unsigned int dValues,
                unsigned int lMask,
                unsigned int lValues);
  int connectxp(ConnectionID select,boolean doConfig);
  int connectxp(ConnectionID select);
  int disconnectxp(ConnectionID select);
  int writeBytes(int sd, char *buf, int len);
  int readBytes(int sd, char *buf, int len);
  int writeCommand(XPortCommand *xpCommand);
  int readResponse(XPortResponse *xpResponse);
  int writeRead(XPortCommand *xpCommand, XPortResponse *xpResponse);
  int writeSerial(const char *msg, unsigned int len, unsigned int offset);
  char *getHost();
  unsigned int getpGPIO();
  unsigned int getpSerial();
  int getsdGPIO();
  int getsdSerial();

};

#endif /* _XPORT_H_*/

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