ir_ros_i.cpp

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#include "phidgets_ir/ir_ros_i.h"

namespace phidgets {

IRRosI::IRRosI(ros::NodeHandle nh, ros::NodeHandle nh_private):
  IR(),
  nh_(nh), 
  nh_private_(nh_private)
{
  ROS_INFO ("Starting Phidgets IR");

  initDevice();
}

void IRRosI::initDevice()
{
        ROS_INFO("Opening device");
        open(-1);

        ROS_INFO("Waiting for IR to be attached...");
        int result = waitForAttachment(10000);
        if(result)
        {
          const char *err;
                CPhidget_getErrorDescription(result, &err);
                ROS_FATAL("Problem waiting for IR attachment: %s", err);
        }
}

void IRRosI::codeHandler(unsigned char *data, int dataLength, int bitCount, int repeat)
{
  // do nothing - just refer to base class callbalck, which prints the values
        IR::codeHandler(data, dataLength, bitCount, repeat);
}

} // namespace phidgets