PlusCivcoBrachyStepper.h

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/*=Plus=header=begin======================================================
  Program: Plus
  Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
  See License.txt for details.
=========================================================Plus=header=end*/

#ifndef _CIVCOBRACHYSTEPPER_H_
#define _CIVCOBRACHYSTEPPER_H_

#include "PlusConfigure.h"
#include "vtkPlusDataCollectionExport.h"

#include "PlusBrachyStepper.h"

class vtkPlusDataCollectionExport PlusCivcoBrachyStepper : public PlusBrachyStepper
{
public:
  PlusCivcoBrachyStepper(unsigned long COMPort = 1, unsigned long BaudRate = 9600);
  virtual ~PlusCivcoBrachyStepper();

  virtual PlusStatus Connect();

  virtual PlusStatus Disconnect();

  virtual PlusStatus GetEncoderValues(double& PPosition,
                                      double& GPosition, double& RPosition, unsigned long& PositionRequestNumber);

  virtual PlusStatus GetDeviceModelInfo(std::string& version, std::string& model, std::string& serial);

  virtual PlusStatus ResetStepper();

  virtual PlusStatus InitializeStepper(std::string& CalibMsg);

  virtual PlusStatus SetBaudRate(unsigned long BaudRate);

  virtual PlusStatus SetCOMPort(unsigned long COMPort);

  virtual PlusStatus IsStepperAlive();

protected:
  double ConvertFloatToDecimal(long floatPoint);

  long GetNumberOfSeiDevices();

  PlusStatus GetSeiDeviceInfo(long devnum, long& model, long& serialnum, long& version, long& addr);

  long m_COMPort;

  long m_BaudRate;

  long m_DeviceNumber;

  long m_DeviceAddress;

};

#endif