phidget.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 <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()");
}