gyroscope.cpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */
 
#include <functional>
#include <memory>
#include <stdexcept>
#include <string>
 
#include <libphidget22/phidget22.h>
 
#include "phidgets_api/gyroscope.h"
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
Gyroscope::Gyroscope(int32_t serial_number, int hub_port,
                     bool is_hub_port_device,
                     std::function<void(const double[3], double)> data_handler)
    : data_handler_(data_handler)
{
    PhidgetReturnCode ret = PhidgetGyroscope_create(&gyro_handle_);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to create Gyroscope handle", ret);
    }
 
    helpers::openWaitForAttachment(
        reinterpret_cast<PhidgetHandle>(gyro_handle_), serial_number, hub_port,
        is_hub_port_device, 0);
 
    ret = PhidgetGyroscope_setOnAngularRateUpdateHandler(gyro_handle_,
                                                         DataHandler, this);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to set Gyroscope update handler", ret);
    }
}
 
Gyroscope::~Gyroscope()
{
    PhidgetHandle handle = reinterpret_cast<PhidgetHandle>(gyro_handle_);
    helpers::closeAndDelete(&handle);
}
 
void Gyroscope::zero() const
{
    PhidgetReturnCode ret = PhidgetGyroscope_zero(gyro_handle_);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to calibrate Gyroscope", ret);
    }
}
 
void Gyroscope::getAngularRate(double &x, double &y, double &z,
                               double &timestamp) const
{
    double angular_rate[3];
    PhidgetReturnCode ret =
        PhidgetGyroscope_getAngularRate(gyro_handle_, &angular_rate);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to get angular rate from gyroscope", ret);
    }
 
    x = angular_rate[0];
    y = angular_rate[1];
    z = angular_rate[2];
 
    double ts;
    ret = PhidgetGyroscope_getTimestamp(gyro_handle_, &ts);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to get timestamp from gyroscope", ret);
    }
 
    timestamp = ts;
}
 
void Gyroscope::setDataInterval(uint32_t interval_ms) const
{
    PhidgetReturnCode ret =
        PhidgetGyroscope_setDataInterval(gyro_handle_, interval_ms);
    if (ret != EPHIDGET_OK)
    {
        throw Phidget22Error("Failed to set data interval", ret);
    }
}
 
void Gyroscope::dataHandler(const double angular_rate[3],
                            double timestamp) const
{
    data_handler_(angular_rate, timestamp);
}
 
void Gyroscope::DataHandler(PhidgetGyroscopeHandle /* input_handle */,
                            void *ctx, const double angular_rate[3],
                            double timestamp)
{
    ((Gyroscope *)ctx)->dataHandler(angular_rate, timestamp);
}
 
}  // namespace phidgets