void ImuRosI::initDevice() { ROS_INFO("Opening device"); open(-1); ROS_INFO("Waiting for IMU to be attached..."); int result = waitForAttachment(10000); if(result) { is_connected_ = false; error_number_ = result; diag_updater_.force_update(); const char *err; CPhidget_getErrorDescription(result, &err); ROS_FATAL("Problem waiting for IMU attachment: %s Make sure the USB cable is connected and you have executed the phidgets_api/share/setup-udev.sh script.", err); } // calibrate on startup calibrate(); // set the hardware id for diagnostics diag_updater_.setHardwareIDf("%s-%d", getDeviceName().c_str(), getDeviceSerialNumber()); }
int Gps::initDevice() { std::cout<<"Opening device"<<std::endl; this->open(serial_number); std::cout<<"Waiting for GPS to be attached..."<<std::endl; int result = waitForAttachment(10000); if(result) { const char *err; CPhidget_getErrorDescription(result, &err); std::cout<<"Problem waiting for GPS attachment: %s Make sure the USB cable is connected and you have executed the phidgets_c_api/setup-udev.sh script."<<std::endl; return 1; } return 0; }
Spatial::Spatial(void): Phidget(), spatial_handle_(0) { int result; CPhidgetSpatial_create(&spatial_handle_); Phidget::init((CPhidgetHandle) spatial_handle_); Phidget::registerHandlers(); CPhidgetSpatial_set_OnSpatialData_Handler(spatial_handle_, SpatialDataHandler, this); Phidget::open(); printf("Waiting for spatial to be attached.... \n"); if((result = waitForAttachment(10000))) { printf("Problem waiting for attachment \n"); } }