int main(void) {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
AmbientLight al;
ambient_light_create(&al, UID, &ipcon);
// Connect to brickd
if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
fprintf(stderr, "Could not connect\n");
return 1;
}
// Don't use device before ipcon is connected
// Get current illuminance (unit is Lux/10)
uint16_t illuminance;
if(ambient_light_get_illuminance(&al, &illuminance) < 0) {
fprintf(stderr, "Could not get illuminance, probably timeout\n");
return 1;
}
printf("Illuminance: %f Lux\n", illuminance/10.0);
printf("Press key to exit\n");
getchar();
ambient_light_destroy(&al);
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
return 0;
}
int main() {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
AmbientLight al;
ambient_light_create(&al, UID, &ipcon);
// Connect to brickd
if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
fprintf(stderr, "Could not connect\n");
exit(1);
}
// Don't use device before ipcon is connected
// Set Period for illuminance callback to 1s (1000ms)
// Note: The illuminance callback is only called every second if the
// illuminance has changed since the last call!
ambient_light_set_illuminance_callback_period(&al, 1000);
// Register illuminance callback to function cb_illuminance
ambient_light_register_callback(&al,
AMBIENT_LIGHT_CALLBACK_ILLUMINANCE,
(void *)cb_illuminance,
NULL);
printf("Press key to exit\n");
getchar();
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
}
TrayObject *ambientlight(TrayLangState *state, int arg_num) {
TrayObject *intensity = traylang_get_obj(state);
check(intensity, "ambientlight intensity arg error");
TrayObject *colour = traylang_get_obj(state);
check(colour, "ambientlight colour arg error");
return traylang_new_cdata(
state,
ambient_light_create(intensity->number, *(Colour*)colour->cdata)
);
error:
return NULL;
}
void TinkerforgeSensors::callbackEnumerate(const char *uid, const char *connected_uid,
char position, uint8_t hardware_version[3],
uint8_t firmware_version[3], uint16_t device_identifier,
uint8_t enumeration_type, void *user_data)
{
TinkerforgeSensors *tfs = (TinkerforgeSensors*) user_data;
std::string topic("");
if(enumeration_type == IPCON_ENUMERATION_TYPE_DISCONNECTED)
{
return;
}
// search for predefined topic
for (std::vector<SensorConf>::iterator it = tfs->sensor_conf.begin(); it != tfs->sensor_conf.end(); ++it)
{
if (it->uid.compare((std::string)uid) == 0)
{
topic = it->topic;
break;
}
}
// check if device is an imu
if(device_identifier == IMU_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found IMU with UID:" << uid);
// Create IMU device object
IMU *imu = new IMU();
imu_create(imu, uid, &(tfs->ipcon));
imu_set_convergence_speed(imu,tfs->imu_convergence_speed);
imu_leds_on(imu);
tfs->imu_init_time = ros::Time::now();
SensorDevice *imu_dev = new SensorDevice(imu, uid, topic, IMU_DEVICE_IDENTIFIER, SensorClass::IMU, 10);
tfs->sensors.push_back(imu_dev);
}
else if (device_identifier == IMU_V2_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found IMU_v2 with UID:" << uid);
// Create IMU_v2 device object
IMUV2 *imu_v2 = new IMUV2();
imu_v2_create(imu_v2, uid, &(tfs->ipcon));
imu_leds_on(imu_v2);
SensorDevice *imu_dev = new SensorDevice(imu_v2, uid, topic, IMU_V2_DEVICE_IDENTIFIER, SensorClass::IMU, 10);
tfs->sensors.push_back(imu_dev);
imu_dev = new SensorDevice(imu_v2, uid, std::string(""), IMU_V2_MAGNETIC_DEVICE_IDENTIFIER, SensorClass::MAGNETIC, 10);
tfs->sensors.push_back(imu_dev);
return;
}
else if (device_identifier == GPS_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found GPS with UID:" << uid);
// Create GPS device object
GPS *gps = new GPS();
gps_create(gps, uid, &(tfs->ipcon));
SensorDevice *gps_dev = new SensorDevice(gps, uid, topic, GPS_DEVICE_IDENTIFIER, SensorClass::GPS, 10);
tfs->sensors.push_back(gps_dev);
}
else if (device_identifier == DUAL_BUTTON_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found DualButton with UID:" << uid);
DualButton *db = new DualButton();
dual_button_create(db, uid, &(tfs->ipcon));
SensorDevice *db_dev = new SensorDevice(db, uid, topic, DUAL_BUTTON_DEVICE_IDENTIFIER, SensorClass::MISC, 10);
tfs->sensors.push_back(db_dev);
}
else if (device_identifier == TEMPERATURE_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Temperature with UID:" << uid);
Temperature *temp = new Temperature();
// Create Temperature device object
temperature_create(temp, uid, &(tfs->ipcon));
SensorDevice *temp_dev = new SensorDevice(temp, uid, topic, TEMPERATURE_DEVICE_IDENTIFIER, SensorClass::TEMPERATURE, 10);
tfs->sensors.push_back(temp_dev);
}
else if (device_identifier == AMBIENT_LIGHT_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Ambient Light with UID:" << uid);
// Create Ambient Light device object
AmbientLight *ambient_light = new AmbientLight();
ambient_light_create(ambient_light, uid, &(tfs->ipcon));
SensorDevice *ambient_light_dev = new SensorDevice(ambient_light, uid, topic, AMBIENT_LIGHT_DEVICE_IDENTIFIER, SensorClass::LIGHT, 10);
tfs->sensors.push_back(ambient_light_dev);
}
else if (device_identifier == AMBIENT_LIGHT_V2_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Ambient Light v2 with UID:" << uid);
// Create Ambient Light device object
AmbientLightV2 *ambient_v2_light = new AmbientLightV2();
ambient_light_create(ambient_v2_light, uid, &(tfs->ipcon));
SensorDevice *ambient_light_v2_dev = new SensorDevice(ambient_v2_light, uid, topic, AMBIENT_LIGHT_V2_DEVICE_IDENTIFIER, SensorClass::LIGHT, 10);
tfs->sensors.push_back(ambient_light_v2_dev);
}
else if (device_identifier == DISTANCE_IR_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Distance IR with UID:" << uid);
// Create Distance IR device object
DistanceIR *distance_ir = new DistanceIR();
distance_ir_create(distance_ir, uid, &(tfs->ipcon));
SensorDevice *distance_ir_dev = new SensorDevice(distance_ir, uid, topic, DISTANCE_IR_DEVICE_IDENTIFIER, SensorClass::RANGE, 10);
tfs->sensors.push_back(distance_ir_dev);
}
else if (device_identifier == DISTANCE_US_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Distance US with UID:" << uid);
// Create Distance US device object
DistanceUS *distance_us = new DistanceUS();
distance_us_create(distance_us, uid, &(tfs->ipcon));
SensorDevice *distance_us_dev = new SensorDevice(distance_us, uid, topic, DISTANCE_US_DEVICE_IDENTIFIER, SensorClass::RANGE, 10);
tfs->sensors.push_back(distance_us_dev);
}
else if (device_identifier == MOTION_DETECTOR_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Motion Detector with UID:" << uid);
// Create Motion Detector device object
MotionDetector * md = new MotionDetector();
motion_detector_create(md, uid, &(tfs->ipcon));
SensorDevice *md_dev = new SensorDevice(md, uid, topic, MOTION_DETECTOR_DEVICE_IDENTIFIER, SensorClass::MISC, 10);
tfs->sensors.push_back(md_dev);
}
}
