current_input.cpp

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/*
 * Copyright (c) 2025, Open Source Robotics Foundation
 * All rights reserved.
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 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
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 *       notice, this list of conditions and the following disclaimer in the
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 *       this software without specific prior written permission.
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#include <functional>
#include <memory>
#include <stdexcept>
#include <string>
 
#include <libphidget22/phidget22.h>
 
#include "phidgets_api/current_input.h"
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
CurrentInput::CurrentInput(int32_t serial_number, int hub_port,
                           bool is_hub_port_device, int channel,
                           std::function<void(int, double)> input_handler)
    : channel_(channel), input_handler_(input_handler)
{
    PhidgetReturnCode ret = PhidgetCurrentInput_create(&ci_handle_);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error(
            "Failed to create CurrentInput handle for channel " +
                std::to_string(channel),
            ret);
    }
 
    helpers::openWaitForAttachment(reinterpret_cast<PhidgetHandle>(ci_handle_),
                                   serial_number, hub_port, is_hub_port_device,
                                   channel);
 
    ret = PhidgetCurrentInput_setOnCurrentChangeHandler(
        ci_handle_, CurrentChangeHandler, this);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error(
            "Failed to set change handler for CurrentInput channel " +
                std::to_string(channel),
            ret);
    }
}
 
CurrentInput::~CurrentInput()
{
    PhidgetHandle handle = reinterpret_cast<PhidgetHandle>(ci_handle_);
    helpers::closeAndDelete(&handle);
}
 
double CurrentInput::getSensorValue() const
{
    double sensor_value;
    PhidgetReturnCode ret =
        PhidgetCurrentInput_getCurrent(ci_handle_, &sensor_value);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to get current sensor value", ret);
    }
 
    return sensor_value;
}
 
void CurrentInput::setDataInterval(uint32_t data_interval_ms) const
{
    PhidgetReturnCode ret =
        PhidgetCurrentInput_setDataInterval(ci_handle_, data_interval_ms);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to set current data interval", ret);
    }
}
 
void CurrentInput::currentChangeHandler(double sensorValue) const
{
    input_handler_(channel_, sensorValue);
}
 
void CurrentInput::CurrentChangeHandler(
    PhidgetCurrentInputHandle /* input_handle */, void *ctx, double sensorValue)
{
    ((CurrentInput *)ctx)->currentChangeHandler(sensorValue);
}
 
}  // namespace phidgets