Labjack.h

#ifndef GCP_UTIL_LABJACK_H
#define GCP_UTIL_LABJACK_H

#include "gcp/util/common/CondVar.h"
#include "gcp/util/common/SerialClient.h"
#include "gcp/util/common/SpawnableTask.h"
#include "gcp/util/common/GenericTaskMsg.h"
#include "gcp/util/common/TimeOut.h"

#include "gcp/util/common/LabjackMsg.h"
#include "gcp/util/common/LabjackU3.h"

#include <sstream>

namespace gcp {
  namespace util {

    class Labjack {
    public:

      Labjack(); //done

      ~Labjack();  //done


      bool connect(int serialNumber); //done

      void disconnect(); //done

      bool isConnected(); //done
     
    //function to update the calibration information of the U3
      long getCalibrationInfo(); 

      //and a function to configure the IO of the ADC
      int configAllIO();
      //function to read in the data from the Labjack
      int AllIO();
      int writeString(std::string message); //done

      LabjackMsg packCommand(LabjackMsg::Request req, int input); // done

      int serial_;

      void sendCommand(LabjackMsg& msg);  // done

      LabjackMsg issueCommand(LabjackMsg::Request req, int input); //done
      LabjackMsg issueCommand(LabjackMsg::Request req, int input, bool withQ); //done

      std::vector<float> queryAllVoltages();
      
      bool connected_;
    private:
      
      int fd_;
      uint8 numChannels_;
      uint8 quickSample_;
      uint8 longSettling_;
      /*this is a handle to the labjack device*/
      HANDLE hDevice_;
      
      //calibration info pointer for the U3 device
      u3CalibrationInfo caliInfo_;  
      gcp::util::FdSet fdSet_;
      
    public:
      int readPort(LabjackMsg& msg); //done
      int readPort(LabjackMsg& msg, bool withQ); //done
      
    private:
      void waitForResponse(); //done

      void parseResponse(LabjackMsg& msg);  //done
      void parseResponse(LabjackMsg& msg, bool withQ);  //done

      struct termios termioSave_;

      void print_bits(unsigned char feature);


    }; //End class DlpUsbThermal

  }; //End namespace util
}; // End namesapce gcp

#endif // End #ifndef