encoder.cpp

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#include "phidgets_api/encoder.h"

#include <cassert>

namespace phidgets {

Encoder::Encoder() : Phidget(), encoder_handle_(nullptr)
{
    // create the handle
    CPhidgetEncoder_create(&encoder_handle_);

    // pass handle to base class
    Phidget::init((CPhidgetHandle)encoder_handle_);

    // register base class callbacks
    Phidget::registerHandlers();

    // register encoder data callbacks
    CPhidgetEncoder_set_OnInputChange_Handler(encoder_handle_,
                                              InputChangeHandler, this);
    CPhidgetEncoder_set_OnPositionChange_Handler(encoder_handle_,
                                                 PositionChangeHandler, this);
}

Encoder::~Encoder()
{
}

int Encoder::getInputCount()
{
    int count;
    int ret = CPhidgetEncoder_getInputCount(encoder_handle_, &count);

    assert(ret == EPHIDGET_OK);

    return count;
}

bool Encoder::getInputState(int index)
{
    int state;
    int ret = CPhidgetEncoder_getInputState(encoder_handle_, index, &state);

    assert(ret == EPHIDGET_OK);

    return state == PTRUE;
}

int Encoder::getEncoderCount()
{
    int count;
    int ret = CPhidgetEncoder_getEncoderCount(encoder_handle_, &count);

    assert(ret == EPHIDGET_OK);

    return count;
}

int Encoder::getPosition(int index)
{
    int position;
    int ret = CPhidgetEncoder_getPosition(encoder_handle_, index, &position);

    assert(ret == EPHIDGET_OK);

    return position;
}

void Encoder::setPosition(int index, int position)
{
    int ret = CPhidgetEncoder_setPosition(encoder_handle_, index, position);

    assert(ret == EPHIDGET_OK);
}

int Encoder::getIndexPosition(int index)
{
    int position;
    int ret =
        CPhidgetEncoder_getIndexPosition(encoder_handle_, index, &position);

    // Encoder does not support indexing or index has not occured
    if (ret == EPHIDGET_UNKNOWNVAL) return 0;

    assert(ret == EPHIDGET_OK);

    return position;
}

bool Encoder::getEnabled(int index)
{
    int enabled;
    int ret = CPhidgetEncoder_getEnabled(encoder_handle_, index, &enabled);

    assert(ret == EPHIDGET_OK);

    return enabled == PTRUE;
}

void Encoder::setEnabled(int index, bool enabled)
{
    int ret = CPhidgetEncoder_setEnabled(encoder_handle_, index,
                                         enabled ? PTRUE : PFALSE);

    assert(ret == EPHIDGET_OK);
}

int Encoder::InputChangeHandler(CPhidgetEncoderHandle /* phid */, void *userPtr,
                                int index, int inputState)
{
    ((Encoder *)userPtr)->inputChangeHandler(index, inputState);
    return 0;
}

int Encoder::PositionChangeHandler(CPhidgetEncoderHandle /* phid */,
                                   void *userPtr, int index, int time,
                                   int positionChange)
{
    ((Encoder *)userPtr)->positionChangeHandler(index, time, positionChange);
    return 0;
}

void Encoder::inputChangeHandler(int /* index */, int /* inputState */)
{
    // This method can be overridden in a concrete subclass (e.g., ROS wrapper)
}

void Encoder::positionChangeHandler(int /* index */, int /* time */,
                                    int /* positionChange */)
{
    // This method can be overridden in a concrete subclass (e.g., ROS wrapper)
}

}  // namespace phidgets