int main(void) {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
DistanceIR dir;
distance_ir_create(&dir, 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 distance (unit is mm)
uint16_t distance;
if(distance_ir_get_distance(&dir, &distance) < 0) {
fprintf(stderr, "Could not get distance, probably timeout\n");
return 1;
}
printf("Distance: %f cm\n", distance/10.0);
printf("Press key to exit\n");
getchar();
distance_ir_destroy(&dir);
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
return 0;
}
TinkerforgeSensors::~TinkerforgeSensors()
{
bool is_ipcon = false;
// clean up tf devices
while(!sensors.empty())
{
SensorDevice *dev = sensors.front();
switch (dev->getType())
{
case AMBIENT_LIGHT_DEVICE_IDENTIFIER:
ambient_light_destroy((AmbientLight*)dev->getDev());
break;
case AMBIENT_LIGHT_V2_DEVICE_IDENTIFIER:
ambient_light_v2_destroy((AmbientLightV2*)dev->getDev());
break;
case DISTANCE_IR_DEVICE_IDENTIFIER:
distance_ir_destroy((DistanceIR*)dev->getDev());
break;
case DISTANCE_US_DEVICE_IDENTIFIER:
distance_us_destroy((DistanceUS*)dev->getDev());
break;
case DUAL_BUTTON_DEVICE_IDENTIFIER:
dual_button_destroy((DualButton*)dev->getDev());
break;
case GPS_DEVICE_IDENTIFIER:
gps_destroy((GPS*)dev->getDev());
break;
case IMU_DEVICE_IDENTIFIER:
imu_leds_off((IMU*)dev->getDev());
imu_destroy((IMU*)dev->getDev());
break;
case IMU_V2_DEVICE_IDENTIFIER:
imu_v2_leds_off((IMUV2*)dev->getDev());
imu_v2_destroy((IMUV2*)dev->getDev());
break;
case TEMPERATURE_DEVICE_IDENTIFIER:
temperature_destroy((Temperature*)dev->getDev());
break;
}
delete dev;
sensors.pop_front();
is_ipcon = true;
}
if (is_ipcon)
{
ipcon_destroy(&ipcon);
}
}