void getTemperature(SharedData& shared)
{
if (TCPU & shared.tempTypes)
{
SusiHWMGetTemperature(TCPU, &shared.temp[SharedData::tcpu], NULL);
}
if (TSYS & shared.tempTypes)
{
SusiHWMGetTemperature(TSYS, &shared.temp[SharedData::tsys], NULL);
}
if (TAUX & shared.tempTypes)
{
SusiHWMGetTemperature(TAUX, &shared.temp[SharedData::taux], NULL);
}
}
int init_susi(SharedData& shared)
{
if (!SusiDllInit())
{
ROS_ERROR("Cannot initialize advantech SUSI drivers.");
return 1;
}
bool hasHwm(SusiHWMAvailable());
shared.tempTypes = 0;
if (!hasHwm)
{
ROS_WARN("No HWM available");
}
else
{
float retVal;
SusiHWMGetTemperature(0, &retVal, &shared.tempTypes);
}
shared.hasIO = SusiIOAvailable();
if (!shared.hasIO)
{
ROS_WARN("No IO available");
}
else
{
//Put all pins as outgoing
DWORD mask(0);
DWORD pins(0xFF);
//if (!SusiIOSetDirectionMulti(pins,&mask))
{
ROS_ERROR("Unable to set pins to output.");
}
}
return 0;
}
int get_temperature(void)
{
BOOL result;
WORD voltType, typeSupport;
float retval = 0;
printf("Get Temperature\n");
voltType = typeSupport = 0;
result = SusiHWMGetTemperature(voltType, &retval, &typeSupport);
if (result == FALSE) {
printf("SusiHWMGetTemperature() failed\n");
return 1;
}
else
printf("typeSupport: 0x%08X\n", typeSupport);
if ( typeSupport )
{
if ( TCPU & typeSupport )
{
result = SusiHWMGetTemperature(TCPU, &retval, NULL);
if (result == FALSE) {
printf("SusiHWMGetTemperature() failed\n");
return 1;
}
else
printf("TCPU: %f\n", retval);
}
if ( TSYS & typeSupport )
{
result = SusiHWMGetTemperature(TSYS, &retval, NULL);
if (result == FALSE) {
printf("SusiHWMGetTemperature() failed\n");
return 1;
}
else
printf("TSYS: %f\n", retval);
}
if ( TAUX & typeSupport )
{
result = SusiHWMGetTemperature(TAUX, &retval, NULL);
if (result == FALSE) {
printf("SusiHWMGetTemperature() failed\n");
return 1;
}
else
printf("TAUX: %f\n", retval);
}
if ( TCPU2 & typeSupport )
{
result = SusiHWMGetTemperature(TCPU2, &retval, NULL);
if (result == FALSE) {
printf("SusiHWMGetTemperature() failed\n");
return 1;
}
else
printf("TCPU2: %f\n", retval);
}
}
return 0;
}
