ir_ros_i.cpp
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00001 #include "phidgets_ir/ir_ros_i.h"
00002 
00003 namespace phidgets {
00004 
00005 IRRosI::IRRosI(ros::NodeHandle nh, ros::NodeHandle nh_private):
00006   IR(),
00007   nh_(nh), 
00008   nh_private_(nh_private)
00009 {
00010   ROS_INFO ("Starting Phidgets IR");
00011 
00012   initDevice();
00013 }
00014 
00015 void IRRosI::initDevice()
00016 {
00017         ROS_INFO("Opening device");
00018         open(-1);
00019 
00020         ROS_INFO("Waiting for IR to be attached...");
00021         int result = waitForAttachment(10000);
00022         if(result)
00023         {
00024           const char *err;
00025                 CPhidget_getErrorDescription(result, &err);
00026                 ROS_FATAL("Problem waiting for IR attachment: %s", err);
00027         }
00028 }
00029 
00030 void IRRosI::codeHandler(unsigned char *data, int dataLength, int bitCount, int repeat)
00031 {
00032   // do nothing - just refer to base class callbalck, which prints the values
00033         IR::codeHandler(data, dataLength, bitCount, repeat);
00034 }
00035 
00036 } // namespace phidgets
00037 


phidgets_ir
Author(s): Ivan Dryanovski
autogenerated on Sat Dec 28 2013 17:19:29