static int CCONV AttachHandler (CPhidgetHandle device, void *userptr) {
int serialNumber;
const char *name;
LocalErrorCatcher(
CPhidget_getDeviceName(device, &name));
LocalErrorCatcher(
CPhidget_getSerialNumber(device, &serialNumber));
PhidgetsDeviceManager* obj = (PhidgetsDeviceManager*)userptr;
QString devname(name);
// If the device name contains motor control in its name then emit a motor control card signal
if(devname.contains("Motor Control"))
{
obj->pushToMotorControlCardSerials(serialNumber);
// emit obj->motorCard(serialNumber);
}
else if(devname.contains("InterfaceKit"))
{
obj->setInterfaceKitSerial(serialNumber);
}
printf("Hello Device %s, Serial Number: %d\n", name, serialNumber);
return 0;
}
int CCONV DetachHandler (CPhidgetHandle device, void *userptr) {
int serialNumber;
const char *name;
LocalErrorCatcher(
CPhidget_getDeviceName(device, &name));
LocalErrorCatcher(
CPhidget_getSerialNumber(device, &serialNumber));
printf("Goodbye Device %s, Serial Number: %d\n", name, serialNumber);
return 0;
}
int main(int argc, char* argv[]) {
int result, numOutputs = 3, state = 0;
const char *err, *ptr;
CPhidgetInterfaceKitHandle phid = 0;
LocalErrorCatcher(CPhidgetInterfaceKit_create(&phid));
LocalErrorCatcher(CPhidget_set_OnAttach_Handler((CPhidgetHandle) phid, AttachHandler, NULL));
LocalErrorCatcher(CPhidget_set_OnDetach_Handler((CPhidgetHandle) phid, DetachHandler, NULL));
LocalErrorCatcher(CPhidget_set_OnError_Handler((CPhidgetHandle) phid, ErrorHandler, NULL));
// printf("Phidget Simple Playground (plug and unplug devices)\n");
// printf("Opening...\n");
LocalErrorCatcher(CPhidget_open((CPhidgetHandle) phid, -1));
LocalErrorCatcher(CPhidget_waitForAttachment((CPhidgetHandle) phid, 100000));
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
// printf("%s\n", ptr);
printf("Turning power on\n");
CPhidgetInterfaceKit_setOutputState(phid, 0, 1);
printf("done\n");
LocalErrorCatcher(CPhidget_close((CPhidgetHandle) phid));
LocalErrorCatcher(CPhidget_delete((CPhidgetHandle) phid));
return 0;
}
int main() {
Compass testCompass;
InterfaceKit ifKit;
LCD lcd;
Motor motor;
Spatial spatial;
CPhidgetManagerHandle device = 0;
LocalErrorCatcher(
CPhidgetManager_create(&device));
LocalErrorCatcher(
CPhidgetManager_set_OnAttach_Handler((CPhidgetManagerHandle) device,
AttachHandler, NULL));
LocalErrorCatcher(
CPhidgetManager_set_OnDetach_Handler((CPhidgetManagerHandle ) device,
DetachHandler, NULL));
LocalErrorCatcher(
CPhidgetManager_set_OnError_Handler((CPhidgetManagerHandle) device,
LibraryErrorHandler, NULL));
printf("Starting Phidget Playground...\n");
// Most opening and closing would be via a cast to
// (CPhidgetHandle), however, this manager has its
// own handle struct to cast to.
LocalErrorCatcher(
CPhidgetManager_open((CPhidgetManagerHandle) device));
std::stringstream ss;
lcd.clear();
for(int i=0;i<1000;i++){
testCompass.refresh();
ss << std::fixed << std::setprecision(1) << "Heading: " << testCompass.getHeading();
lcd.setText(ss.str(), 0);
ss.str(std::string());
ss << std::fixed << std::setprecision(2) << spatial.getAcceleration(AXIS_X) << " " << spatial.getAcceleration(AXIS_Y) << " " << spatial.getAcceleration(AXIS_Z);
lcd.setText(ss.str(), 1);
ss.str(std::string());
usleep(100000);
}
printf("Press Enter to end...\n");
getchar();
LocalErrorCatcher(
CPhidgetManager_close((CPhidgetManagerHandle) device));
LocalErrorCatcher(
CPhidgetManager_delete((CPhidgetManagerHandle) device));
return 0;
}
int PhidgetsDeviceManager::initDevices()
{
int res = LocalErrorCatcher(CPhidgetManager_create(&manager));
if(res != 0) return res;
res = LocalErrorCatcher(
CPhidgetManager_set_OnAttach_Handler((CPhidgetManagerHandle) manager,
AttachHandler, this));
if(res != 0) return res;
res = LocalErrorCatcher(
CPhidgetManager_set_OnDetach_Handler((CPhidgetManagerHandle ) manager,
DetachHandler, this));
if(res != 0) return res;
res = LocalErrorCatcher(
CPhidgetManager_set_OnError_Handler((CPhidgetManagerHandle) manager,
LibraryErrorHandler, this));
if(res != 0) return res;
// Most opening and closing would be via a cast to
// (CPhidgetHandle), however, this manager has its
// own handle struct to cast to.
res= LocalErrorCatcher(
CPhidgetManager_open((CPhidgetManagerHandle) manager));
return res;
}
// This error handler can handle any CPhidget function that returns an int
int LocalErrorCatcher (int errorCode) {
const char *errorDescription;
// If the error code is 0, everything is okay
if (errorCode != 0) {
// Otherwise, you can print specific messages or perform actions by error value.
switch (errorCode) {
default:
printf("Error: An error occurred with code %d.\n", errorCode);
LocalErrorCatcher(
CPhidget_getErrorDescription (errorCode, &errorDescription));
printf("The description for this error is: %s\n", errorDescription);
break;
}
}
return 0;
}
