void WidgetsInterfaceKit::OnWtRatiometricStateChanged(Wt::WCheckBox* checkbox)
{
bool ratiometric = checkbox->isChecked();
CPhidgetInterfaceKit_setRatiometric(m_phidget->GetNativeHandle(), ratiometric ? PTRUE : PFALSE);
::GetApplicationManager()->OnWtRatiometricChanged(GetApplication(), GetSerial(), ratiometric);
UpdateSensorFunctionDropdowns(ratiometric);
GetApplication()->triggerUpdate();
}
int interfacekit_simple()
{
int result, numSensors, i;
const char *err;
//Declare an InterfaceKit handle
CPhidgetInterfaceKitHandle ifKit = 0;
//create the InterfaceKit object
CPhidgetInterfaceKit_create(&ifKit);
//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
CPhidget_set_OnAttach_Handler((CPhidgetHandle)ifKit, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
//Registers a callback that will run if an input changes.
//Requires the handle for the Phidget, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, InputChangeHandler, NULL);
//Registers a callback that will run if the sensor value changes by more than the OnSensorChange trig-ger.
//Requires the handle for the IntefaceKit, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, SensorChangeHandler, NULL);
//Registers a callback that will run if an output changes.
//Requires the handle for the Phidget, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetInterfaceKit_set_OnOutputChange_Handler (ifKit, OutputChangeHandler, NULL);
//open the interfacekit for device connections
CPhidget_open((CPhidgetHandle)ifKit, -1);
//get the program to wait for an interface kit device to be attached
printf("Waiting for interface kit to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached interface kit device
display_properties(ifKit);
//read interface kit event data
printf("Reading.....\n");
//keep displaying interface kit data until user input is read
printf("Press any key to go to next step\n");
getchar();
printf("Modifying sensor sensitivity triggers....\n");
//get the number of sensors available
CPhidgetInterfaceKit_getSensorCount(ifKit, &numSensors);
//Change the sensitivity trigger of the sensors
for(i = 0; i < numSensors; i++)
{
CPhidgetInterfaceKit_setSensorChangeTrigger(ifKit, i, 100); //we'll just use 10 for fun
}
//read interface kit event data
printf("Reading.....\n");
//keep displaying interface kit data until user input is read
printf("Press any key to go to next step\n");
getchar();
printf("Toggling Ratiometric....\n");
CPhidgetInterfaceKit_setRatiometric(ifKit, 0);
//read interface kit event data
printf("Reading.....\n");
//keep displaying interface kit data until user input is read
printf("Press any key to end\n");
getchar();
//since user input has been read, this is a signal to terminate the program so we will close the phidget and delete the object we created
printf("Closing...\n");
CPhidget_close((CPhidgetHandle)ifKit);
CPhidget_delete((CPhidgetHandle)ifKit);
//all done, exit
return 0;
}
int interfacekit_simple()
// initialize the phidget interface kit board and phidget spatial (imu)
{
int result, num_analog_inputs, num_digital_inputs;
const char *err;
ros::NodeHandle n;
//create the InterfaceKit object
CPhidgetInterfaceKit_create(&ifKit);
//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, DigitalInputHandler, NULL);
CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, AnalogInputHandler, NULL);
//open the interfacekit and spatial for device connections
CPhidget_open((CPhidgetHandle)ifKit, -1);
CPhidgetInterfaceKit_getInputCount(ifKit, &num_digital_inputs);
CPhidgetInterfaceKit_getSensorCount(ifKit, &num_analog_inputs);
printf("Waiting for interface kit to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 1000)))
{
CPhidget_getErrorDescription(result, &err);
ROS_ERROR("Phidget IK: Problem waiting for attachment: %s\n", err);
interfaceKitError = 1;
}
else
{
irData_pub = n.advertise<corobot_msgs::SensorMsg>("infrared_data", 100);
powerdata_pub = n.advertise<corobot_msgs::PowerMsg>("power_data", 100);
bumper_pub = n.advertise<corobot_msgs::SensorMsg>("bumper_data", 100);
// sensors connected to the phidget interface kit other than bumpers, voltage sensor, ir sensor and sonars.
other_pub = n.advertise<corobot_msgs::SensorMsg>("sensor_data", 100);
}
//Initialize the phidget spatial board, if any
if (imu)
{
CPhidgetSpatial_create(&spatial);
CPhidget_set_OnError_Handler((CPhidgetHandle)spatial, ErrorHandler, NULL);
CPhidgetSpatial_set_OnSpatialData_Handler(spatial, SpatialDataHandler, NULL);
CPhidget_open((CPhidgetHandle)spatial, -1);
// attach the devices
printf("Waiting for spatial to be attached.... \n");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)spatial, 1000)))
{
CPhidget_getErrorDescription(result, &err);
ROS_ERROR("Phidget Spatial: Problem waiting for attachment: %s\n", err);
spatialError = 1;
}
else
{
imu_pub = n.advertise<sensor_msgs::Imu>("imu_data",100);
mag_pub = n.advertise<sensor_msgs::MagneticField>("magnetic_data",100);
calibrate_gyroscope_service = n.advertiseService("calibrate_gyroscope",calibrate_gyroscope);
}
CPhidgetSpatial_setDataRate(spatial, 4);
}
CPhidgetInterfaceKit_setRatiometric(ifKit, 0);
//Initialize the sonars, if any are present
if(sonarsPresent)
{
CPhidgetInterfaceKit_setOutputState(ifKit, bwOutput, 1);
CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0);
// sleep for 250ms
ros::Duration(0.250).sleep();
CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 1);
// sleep for 2ms
ros::Duration(0.002).sleep();
CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0);
// sleep for 150ms
ros::Duration(0.150).sleep();
sonar_pub = n.advertise<corobot_msgs::SensorMsg>("sonar_data", 100);
}
return 0;
}
int interfacekit_simple()
{
int result, num_analog_inputs, num_digital_inputs;
const char *err;
//create the InterfaceKit object
CPhidgetInterfaceKit_create(&ifKit);
//Set the handlers to be run when the device is plugged in or opened from software, unplugged or closed from software, or generates an error.
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ifKit, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ifKit, ErrorHandler, NULL);
CPhidgetInterfaceKit_set_OnInputChange_Handler (ifKit, InputChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnSensorChange_Handler (ifKit, SensorChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnOutputChange_Handler (ifKit, OutputChangeHandler, NULL);
//For phidget spatial
//CPhidgetSpatialHandle spatial = 0;
CPhidgetSpatial_create(&spatial);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)spatial, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)spatial, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)spatial, ErrorHandler, NULL);
CPhidgetSpatial_set_OnSpatialData_Handler(spatial, SpatialDataHandler, NULL);
//open the interfacekit for device connections
CPhidget_open((CPhidgetHandle)ifKit, -1);
CPhidget_open((CPhidgetHandle)spatial, -1);
CPhidgetInterfaceKit_getInputCount(ifKit, &num_digital_inputs);
CPhidgetInterfaceKit_getSensorCount(ifKit, &num_analog_inputs);
printf("Waiting for spatial to be attached.... \n");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)spatial, 1000)))
{
CPhidget_getErrorDescription(result, &err);
ROS_ERROR("Phidget Spatial: Problem waiting for attachment: %s\n", err);
spatialError = 1;
}
printf("Waiting for interface kit to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ifKit, 1000)))
{
CPhidget_getErrorDescription(result, &err);
ROS_ERROR("Phidget IK: Problem waiting for attachment: %s\n", err);
phidget888_connected = false;
interfaceKitError = 1;
}
phidget888_connected = true;
CPhidgetInterfaceKit_setRatiometric(ifKit, 0);//
CPhidgetSpatial_setDataRate(spatial, 16);
CPhidgetEncoder_create(&m_leftEncoder);
CPhidget_set_OnAttach_Handler((CPhidgetHandle) m_leftEncoder,LeftEncoderAttach, NULL);
CPhidget_open((CPhidgetHandle) m_leftEncoder, -1);
if (m_encoder1Seen && m_encoder2Seen)
phidget_encoder_connected = true;
else phidget_encoder_connected = false;
//Initialize the sonars, if any are present
if(sonarsPresent)
{
CPhidgetInterfaceKit_setOutputState(ifKit, bwOutput, 1);
CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0);
ros::Duration(0.250).sleep(); // sleep for 250ms
CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 1);
ros::Duration(0.002).sleep(); // sleep for 2ms
CPhidgetInterfaceKit_setOutputState(ifKit, strobeOutput, 0);
ros::Duration(0.150).sleep(); // sleep for 150ms
}
return 0;
}
