int manager_simple()
{
//Declare an Manager handle
CPhidgetManagerHandle man = 0;
CPhidget_enableLogging(PHIDGET_LOG_VERBOSE, NULL);
//create the Manager object
CPhidgetManager_create(&man);
//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.
CPhidgetManager_set_OnAttach_Handler(man, AttachHandler, man);
CPhidgetManager_set_OnDetach_Handler(man, DetachHandler, man);
CPhidgetManager_set_OnError_Handler(man, ErrorHandler, NULL);
//open the Manager for device connections
CPhidgetManager_open(man);
//end simulation
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");
CPhidgetManager_close(man);
CPhidgetManager_delete(man);
//all done, exit
return 0;
}
JNIEXPORT void JNICALL
Java_com_phidgets_Phidget_nativeEnableLogging(JNIEnv *env, jclass cls, jint level, jstring file)
{
int error;
jboolean iscopy;
const char *textString = file ? (*env)->GetStringUTFChars(
env, file, &iscopy) : NULL;
if ((error = CPhidget_enableLogging(level, (char *)textString)))
PH_THROW(error);
(*env)->ReleaseStringUTFChars(env, file, textString);
}
bool attach(
CPhidgetInterfaceKitHandle &phid,
int serial_number)
{
CPhidget_enableLogging(PHIDGET_LOG_VERBOSE, "/home/motters/Desktop/phidgets.log");
//create the object
CPhidgetInterfaceKit_create(&phid);
//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)phid, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)phid, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)phid, 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 (phid, 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 (phid, 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 (phid, OutputChangeHandler, NULL);
//open the device for connections
CPhidget_open((CPhidgetHandle)phid, serial_number);
//get the program to wait for an interface kit device to be attached
if (serial_number == -1) {
ROS_INFO("Waiting for Interface Kit Phidget to be attached....");
}
else {
ROS_INFO("Waiting for Interface Kit Phidget %d to be attached....", serial_number);
}
int result;
if((result = CPhidget_waitForAttachment((CPhidgetHandle)phid, 10000)))
{
const char *err;
CPhidget_getErrorDescription(result, &err);
ROS_ERROR("Problem waiting for attachment: %s", err);
return false;
}
else return true;
}
int test_interfacekit()
{
int numInputs, numOutputs, numSensors;
int err;
CPhidgetInterfaceKitHandle IFK = 0;
CPhidget_enableLogging(PHIDGET_LOG_VERBOSE, NULL);
CPhidgetInterfaceKit_create(&IFK);
CPhidgetInterfaceKit_set_OnInputChange_Handler(IFK, IFK_InputChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnOutputChange_Handler(IFK, IFK_OutputChangeHandler, NULL);
CPhidgetInterfaceKit_set_OnSensorChange_Handler(IFK, IFK_SensorChangeHandler, NULL);
CPhidget_set_OnAttach_Handler((CPhidgetHandle)IFK, IFK_AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)IFK, IFK_DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)IFK, IFK_ErrorHandler, NULL);
CPhidget_open((CPhidgetHandle)IFK, -1);
//wait 5 seconds for attachment
if((err = CPhidget_waitForAttachment((CPhidgetHandle)IFK, 0)) != EPHIDGET_OK )
{
const char *errStr;
CPhidget_getErrorDescription(err, &errStr);
printf("Error waiting for attachment: (%d): %s\n",err,errStr);
goto exit;
}
display_generic_properties((CPhidgetHandle)IFK);
CPhidgetInterfaceKit_getOutputCount((CPhidgetInterfaceKitHandle)IFK, &numOutputs);
CPhidgetInterfaceKit_getInputCount((CPhidgetInterfaceKitHandle)IFK, &numInputs);
CPhidgetInterfaceKit_getSensorCount((CPhidgetInterfaceKitHandle)IFK, &numSensors);
CPhidgetInterfaceKit_setOutputState((CPhidgetInterfaceKitHandle)IFK, 0, 1);
printf("Sensors:%d Inputs:%d Outputs:%d\n", numSensors, numInputs, numOutputs);
//err = CPhidget_setDeviceLabel((CPhidgetHandle)IFK, "test");
while(1)
{
sleep(1);
}
while(1)
{
CPhidgetInterfaceKit_setOutputState(IFK, 7, 1);
CPhidgetInterfaceKit_setOutputState(IFK, 7, 0);
}
CPhidgetInterfaceKit_setOutputState(IFK, 0, 1);
sleep(1);
CPhidgetInterfaceKit_setOutputState(IFK, 0, 0);
sleep(1);
CPhidgetInterfaceKit_setOutputState(IFK, 0, 1);
sleep(1);
CPhidgetInterfaceKit_setOutputState(IFK, 0, 0);
sleep(5);
exit:
CPhidget_close((CPhidgetHandle)IFK);
CPhidget_delete((CPhidgetHandle)IFK);
return 0;
}
