bool attach(
CPhidgetPHSensorHandle &phid,
int serial_number)
{
int result;
const char *err;
//create the PH Sensor object
CPhidgetPHSensor_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 the PH changes by more than the PH trigger.
//Requires the handle for the PHSensor, the function that will be called, and a arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetPHSensor_set_OnPHChange_Handler(phid, PHChangeHandler, NULL);
//open the PH Sensor for device connections
CPhidget_open((CPhidgetHandle)phid, -1);
//get the program to wait for an PH Sensor device to be attached
ROS_INFO("Waiting for PH Sensor to be attached....");
if ((result = CPhidget_waitForAttachment((CPhidgetHandle)phid, 10000))) {
CPhidget_getErrorDescription(result, &err);
ROS_INFO("Problem waiting for PH Sensor attachment: %s\n", err);
return false;
}
else return true;
}
int ph_simple()
{
int result;
const char *err;
//Declare an PH Sensor handle
CPhidgetPHSensorHandle ph = 0;
//create the PH Sensor object
CPhidgetPHSensor_create(&ph);
//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)ph, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)ph, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)ph, ErrorHandler, NULL);
//Registers a callback that will run if the PH changes by more than the PH trigger.
//Requires the handle for the PHSensor, the function that will be called, and a arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetPHSensor_set_OnPHChange_Handler(ph, PHChangeHandler, NULL);
//open the PH Sensor for device connections
CPhidget_open((CPhidgetHandle)ph, -1);
//get the program to wait for an PH Sensor device to be attached
printf("Waiting for PH Sensor to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)ph, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached textlcd device
display_properties(ph);
//read led event data
printf("Reading.....\n");
//increase the sensitivity
printf("Increasing sensitivity to 10.00, Press any key to continue\n");
getchar();
CPhidgetPHSensor_setPHChangeTrigger (ph, 10.00);
//end
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)ph);
CPhidget_delete((CPhidgetHandle)ph);
//all done, exit
return 0;
}