phidgetik.cpp

Go to the documentation of this file.

/*
 * 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 <cob_phidgets/phidgetik.h>

PhidgetIK::PhidgetIK(SensingMode mode)  : Phidget((CPhidgetHandle*) &_iKitHandle, mode), _iKitHandle(0)
{
        _last_error = CPhidgetInterfaceKit_create(&_iKitHandle);

        if (!_last_error) {
                CPhidget_set_OnAttach_Handler((CPhidgetHandle) _iKitHandle,
                                PhidgetIK::attachDelegate, this);
                CPhidgetInterfaceKit_set_OnOutputChange_Handler(_iKitHandle,
                                PhidgetIK::outputChangeDelegate, this);

                if(_sensMode == SensingMode::EVENT)
                {
                        CPhidgetInterfaceKit_set_OnInputChange_Handler(_iKitHandle,
                                        PhidgetIK::inputChangeDelegate, this);
                        _last_error = CPhidgetInterfaceKit_set_OnSensorChange_Handler(
                                        _iKitHandle, PhidgetIK::sensorChangeDelegate, this);
                }
        }
}

PhidgetIK::~PhidgetIK()
{
}

auto PhidgetIK::init(int serial_number) -> int
{
        return (_last_error = open(serial_number));
}

auto PhidgetIK::getInputCount() -> int
{
        int count = -1;

        _last_error = CPhidgetInterfaceKit_getInputCount(_iKitHandle, &count);

        return count;
}

auto PhidgetIK::getInputState(int index) -> int
{
        int state = -1;

         _last_error = CPhidgetInterfaceKit_getInputState(_iKitHandle, index,
                        &state);

        return state;
}

auto PhidgetIK::getOutputCount() -> int
{
        int count = -1;

        _last_error = CPhidgetInterfaceKit_getOutputCount(_iKitHandle, &count);

        return count;
}

auto PhidgetIK::getOutputState(int index) -> int
{
        int state = -1;

         _last_error = CPhidgetInterfaceKit_getOutputState(_iKitHandle, index,
                        &state);

        return state;
}

auto PhidgetIK::setOutputState(int index, int state) -> int
{
        return (_last_error = CPhidgetInterfaceKit_setOutputState(_iKitHandle,
                        index, state));
}

auto PhidgetIK::getSensorCount() -> int
{
        int count = -1;

        _last_error = CPhidgetInterfaceKit_getSensorCount(_iKitHandle, &count);

        return count;
}

auto PhidgetIK::getSensorValue(int index) -> int
{
        int value = -1;

         _last_error = CPhidgetInterfaceKit_getSensorValue(_iKitHandle, index, &value);

        return value;
}

auto PhidgetIK::getSensorRawValue(int index) -> int
{
        int value = -1;

         _last_error = CPhidgetInterfaceKit_getSensorRawValue(_iKitHandle, index, &value);

        return value;
}

auto PhidgetIK::getSensorChangeTrigger(int index) -> int
{
        int trigger = -1;

         _last_error = CPhidgetInterfaceKit_getSensorChangeTrigger(_iKitHandle, index, &trigger);

        return trigger;
}

auto PhidgetIK::setSensorChangeTrigger(int index, int trigger) -> int
{
        return (_last_error = CPhidgetInterfaceKit_setSensorChangeTrigger(_iKitHandle, index, trigger));
}

auto PhidgetIK::getRatiometric() -> int
{
        int ratiometric = -1;

        _last_error = CPhidgetInterfaceKit_getRatiometric(_iKitHandle,
                        &ratiometric);

        return ratiometric;
}

auto PhidgetIK::setRatiometric(int ratiometric) -> int
{
        return (_last_error = CPhidgetInterfaceKit_setRatiometric(_iKitHandle,
                        ratiometric));
}

auto PhidgetIK::getDataRate(int index) -> int
{
        int datarate = -1;

        _last_error = CPhidgetInterfaceKit_getDataRate(_iKitHandle, index, &datarate);

        return datarate;
}

auto PhidgetIK::setDataRate(int index, int datarate) -> int
{
        return (_last_error = CPhidgetInterfaceKit_setDataRate(_iKitHandle,     index, datarate));
}

auto PhidgetIK::getDataRateMax(int index) -> int
{
        int max = -1;

        _last_error = CPhidgetInterfaceKit_getDataRateMax(_iKitHandle, index, &max);

        return max;
}

auto PhidgetIK::getDataRateMin(int index) -> int
{
        int min = -1;

        _last_error = CPhidgetInterfaceKit_getDataRateMin(_iKitHandle, index, &min);

        return min;
}

auto PhidgetIK::getError() -> int
{
        return _last_error;
}

auto PhidgetIK::attachHandler() -> int
{
        int serialNo, version, numInputs, numOutputs;
        int numSensors, triggerVal, ratiometric, i;
        const char *ptr, *name;

        CPhidget_getDeviceName((CPhidgetHandle)_iKitHandle, &name);
        CPhidget_getDeviceType((CPhidgetHandle)_iKitHandle, &ptr);
        CPhidget_getSerialNumber((CPhidgetHandle)_iKitHandle, &serialNo);
        CPhidget_getDeviceVersion((CPhidgetHandle)_iKitHandle, &version);

        CPhidgetInterfaceKit_getInputCount(_iKitHandle, &numInputs);
        CPhidgetInterfaceKit_getOutputCount(_iKitHandle, &numOutputs);
        CPhidgetInterfaceKit_getSensorCount(_iKitHandle, &numSensors);
        CPhidgetInterfaceKit_getRatiometric(_iKitHandle, &ratiometric);

        printf("%s %d attached!\n", name, serialNo);

        printf("%s", ptr);
        printf("Serial Number: %d\tVersion: %d\n", serialNo, version);
        printf("Num Digital Inputs: %d\tNum Digital Outputs: %d\n", numInputs, numOutputs);
        printf("Num Sensors: %d\n", numSensors);
        printf("Ratiometric: %d\n", ratiometric);

        for(i = 0; i < numSensors; i++)
        {
                CPhidgetInterfaceKit_getSensorChangeTrigger (_iKitHandle, i, &triggerVal);

                printf("Sensor#: %d > Sensitivity Trigger: %d\n", i, triggerVal);
        }

        return 0;
}

auto PhidgetIK::detachHandler() -> int
{
        int serial_number;
    const char *device_name;

    CPhidget_getDeviceName ((CPhidgetHandle)_iKitHandle, &device_name);
    CPhidget_getSerialNumber((CPhidgetHandle)_iKitHandle, &serial_number);
    printf("%s Serial number %d detached!\n", device_name, serial_number);
    return 0;
}

auto PhidgetIK::inputChangeHandler(int index, int inputState) -> int
{
        return 0;
}

auto PhidgetIK::outputChangeHandler(int index, int outputState) -> int
{
        return 0;
}

auto PhidgetIK::sensorChangeHandler(int index, int sensorValue) -> int
{
        return 0;
}

auto PhidgetIK::attachDelegate(CPhidgetHandle phid, void *userptr) -> int
{
        return ((PhidgetIK*) userptr)->attachHandler();
}

auto PhidgetIK::inputChangeDelegate(CPhidgetInterfaceKitHandle phid,
                void *userPtr, int index, int inputState) -> int
{
        return ((PhidgetIK*) userPtr)->inputChangeHandler(index, inputState);
}

auto PhidgetIK::outputChangeDelegate(CPhidgetInterfaceKitHandle phid,
                void *userPtr, int index, int outputState) -> int
{
        return ((PhidgetIK*) userPtr)->outputChangeHandler(index, outputState);
}

auto PhidgetIK::sensorChangeDelegate(CPhidgetInterfaceKitHandle phid,
                void *userPtr, int index, int sensorValue) -> int
{
        return ((PhidgetIK*) userPtr)->sensorChangeHandler(index, sensorValue);
}

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