phidget_manager.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#include <ros/ros.h>
#include <cob_phidgets/phidget_manager.h>
#include <stdlib.h>
#include <unistd.h>

PhidgetManager::PhidgetManager()
        : _manHandle(0)
{
        CPhidgetManager_create(&_manHandle);
        CPhidgetManager_open((CPhidgetManagerHandle) _manHandle);

        sleep(2);
}

PhidgetManager::~PhidgetManager()
{
        // Close the manager
        CPhidgetManager_close((CPhidgetManagerHandle) _manHandle);
        CPhidgetManager_delete((CPhidgetManagerHandle) _manHandle);

        usleep(500000); //0.5s
}

auto PhidgetManager::getAttachedDevices()-> std::vector<AttachedDevice>
{
        CPhidgetHandle* phidgetList;
        int count;
        ROS_INFO("getting attached Devices");
        CPhidgetManager_getAttachedDevices((CPhidgetManagerHandle) _manHandle, &phidgetList, &count);

        std::vector<AttachedDevice> attachedDevices;
        int serialNumber;
        const char *name;

        // Iterate over the returned Phidget data
        for (int i = 0; i < count; i++) {
                CPhidget_getDeviceName(phidgetList[i], &name);
                CPhidget_getSerialNumber(phidgetList[i], &serialNumber);
                ROS_INFO("Found %s, with serial: %d", name, serialNumber);
                // Store name and serial number into a persistent variable
                AttachedDevice device{serialNumber, name};
                attachedDevices.push_back(device);
        }

        // Use the Phidget API to free the memory in the phidgetList Array
        CPhidgetManager_freeAttachedDevicesArray(phidgetList);

        return attachedDevices;
}