bool attach(
CPhidgetRFIDHandle &phid,
int serial_number)
{
int result;
const char *err;
//Declare an RFID handle
CPhidgetRFIDHandle rfid = 0;
//create the RFID object
CPhidgetRFID_create(&rfid);
//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)rfid, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)rfid, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)rfid, ErrorHandler, 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).
CPhidgetRFID_set_OnOutputChange_Handler(rfid, OutputChangeHandler, NULL);
//Registers a callback that will run when a Tag is read.
//Requires the handle for the PhidgetRFID, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetRFID_set_OnTag_Handler(rfid, TagHandler, NULL);
//Registers a callback that will run when a Tag is lost (removed from antenna read range).
//Requires the handle for the PhidgetRFID, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetRFID_set_OnTagLost_Handler(rfid, TagLostHandler, NULL);
//open the RFID for device connections
CPhidget_open((CPhidgetHandle)rfid, -1);
//get the program to wait for an RFID device to be attached
ROS_INFO("Waiting for RFID sensor to be attached....");
if ((result = CPhidget_waitForAttachment((CPhidgetHandle)rfid, 10000))) {
CPhidget_getErrorDescription(result, &err);
ROS_INFO("Problem waiting for RFID sensor attachment: %s\n", err);
return false;
}
else return true;
}
void RFIDreader::setup()
{
#if ENABLE_RFID
if(cfg().test){
int result;
const char *err;
tagAvailable=false;
CPhidgetRFID_create(&rfid);
//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)rfid, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)rfid, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)rfid, ErrorHandler, 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).
CPhidgetRFID_set_OnOutputChange_Handler(rfid, OutputChangeHandler, NULL);
//Registers a callback that will run when a Tag is read.
//Requires the handle for the PhidgetRFID, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetRFID_set_OnTag_Handler(rfid, TagHandler, NULL);
//Registers a callback that will run when a Tag is lost (removed from antenna read range).
//Requires the handle for the PhidgetRFID, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetRFID_set_OnTagLost_Handler(rfid, TagLostHandler, NULL);
//open the RFID for device connections
CPhidget_open((CPhidgetHandle)rfid, -1);
//get the program to wait for an RFID device to be attached
printf("Waiting for RFID to be attached....");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)rfid, 2000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
}
CPhidgetRFID_setAntennaOn(rfid, 1);
}
#endif
}
int rfid_simple()
{
int result;
const char *err;
//Declare an RFID handle
CPhidgetRFIDHandle rfid = 0;
printf("RFIDHandler\n");
//create the RFID object
CPhidgetRFID_create(&rfid);
printf("Create\n");
//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)rfid, AttachHandler, NULL);
CPhidget_set_OnDetach_Handler((CPhidgetHandle)rfid, DetachHandler, NULL);
CPhidget_set_OnError_Handler((CPhidgetHandle)rfid, ErrorHandler, NULL);
printf("device EVENT Handlers\n");
//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).
CPhidgetRFID_set_OnOutputChange_Handler(rfid, OutputChangeHandler, NULL);
//Registers a callback that will run when a Tag is read.
//Requires the handle for the PhidgetRFID, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetRFID_set_OnTag_Handler(rfid, TagHandler, NULL);
//Registers a callback that will run when a Tag is lost (removed from antenna read range).
//Requires the handle for the PhidgetRFID, the function that will be called, and an arbitrary pointer that will be supplied to the callback function (may be NULL).
CPhidgetRFID_set_OnTagLost_Handler(rfid, TagLostHandler, NULL);
printf("RFID EVENT Handlers\n");
//open the RFID for device connections
CPhidget_open((CPhidgetHandle)rfid, -1);
printf("OPENED\n");
sleep(1);
//get the program to wait for an RFID device to be attached
printf("Waiting for RFID to be attached....\n");
if((result = CPhidget_waitForAttachment((CPhidgetHandle)rfid, 10000)))
{
CPhidget_getErrorDescription(result, &err);
printf("Problem waiting for attachment: %s\n", err);
return 0;
}
//Display the properties of the attached RFID device
display_properties(rfid);
CPhidgetRFID_setAntennaOn(rfid, 1);
//read RFID event data
printf("Reading.....\n");
//keep displaying RFID event data until user input is read
printf("Press any key to continue\n");
getchar();
//toggle the digital output (when making this example I had an LED plugged into the digital output index 0
CPhidgetRFID_setOutputState(rfid, 0, 1);
//keep displaying RFID event data until user input is read
printf("Press any key to continue\n");
getchar();
//toggle the digital output (when making this example I had an LED plugged into the digital output index 0
CPhidgetRFID_setOutputState(rfid, 0, 0);
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)rfid);
CPhidget_delete((CPhidgetHandle)rfid);
//all done, exit
return 0;
}