phidget.cpp

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#include <cob_phidgets/phidget.h>
#include <iostream>
#include <algorithm>
#include <string>
#include <cstring>

Phidget::Phidget(CPhidgetHandle* handle, SensingMode mode)
        : _phiHandle(handle), _serialNumber(-1), _last_error(-1), _sensMode(mode)
{
}

Phidget::~Phidget() 
{
        CPhidget_close(*_phiHandle);
        CPhidget_delete(*_phiHandle);
}

auto Phidget::open(int serial_number) -> int
{
        return CPhidget_open(*_phiHandle, serial_number);
}

auto Phidget::close(int serial_number) -> int 
{
        return CPhidget_close(*_phiHandle);
}

auto Phidget::waitForAttachment(int timeout) -> int
{
        return CPhidget_waitForAttachment(*_phiHandle, timeout);
}

auto Phidget::getDeviceType() -> std::string
{
        char a[256];
        const char * deviceptr = a;
        CPhidget_getDeviceType(*_phiHandle, &deviceptr);
        return std::string(deviceptr);
}

auto Phidget::getDeviceName() -> std::string
{
        char a[256];
        const char * deviceptr = a;
        CPhidget_getDeviceName(*_phiHandle, &deviceptr);
        return std::string(deviceptr);
}

auto Phidget::getDeviceLabel() -> std::string
{
        char a[256];
        const char * deviceptr = a;
        CPhidget_getDeviceType(*_phiHandle, &deviceptr);
        return std::string(deviceptr);
}

auto Phidget::getLibraryVersion() -> std::string
{
        char a[256];
        const char * deviceptr = a;
        CPhidget_getLibraryVersion(&deviceptr);
        return std::string(deviceptr);
}

auto Phidget::getDeviceSerialNumber() -> int
{
        int sernum;
        CPhidget_getSerialNumber(*_phiHandle, &sernum);
        _serialNumber = sernum;
        return sernum;
}

auto Phidget::getDeviceVersion() -> int
{
        int version;
        CPhidget_getDeviceVersion(*_phiHandle, &version);
        return version;
}

auto Phidget::getErrorDescription(int errorCode) -> std::string
{
        char a[256];
        const char * errorPtr = a;
        CPhidget_getErrorDescription(errorCode, &errorPtr);
        return std::string(errorPtr);
}

auto Phidget::attachHandler() -> int
{
        printf("attachHandler()");
        return 0;
}

auto Phidget::detachHandler() -> int
{
        printf("detachHandler()");
        return 0;
}

auto Phidget::update() -> void
{
        printf("Phidget::update()");
}