LaserTransform::~LaserTransform()
{
// clean up tf devices
if (is_imu_connected)
{
imu_leds_off(&imu);
imu_destroy(&imu);
}
if (is_imu_v2_connected)
{
imu_v2_leds_off(&imu_v2);
imu_v2_destroy(&imu_v2);
}
if (is_gps_connected)
{
gps_destroy(&gps);
}
if (is_idi4_connected)
{
industrial_digital_in_4_destroy(&idi4);
}
if (is_imu_v2_connected || is_imu_connected || is_idi4_connected ||
is_gps_connected)
{
ipcon_destroy(&ipcon);
}
// close gps logfile
if (gps_log.is_open())
gps_log.close();
// close velo logfile
if (velo_log.is_open())
velo_log.close();
}
int main(void) {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
GPS gps;
gps_create(&gps, 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
// Register coordinates callback to function cb_coordinates
gps_register_callback(&gps,
GPS_CALLBACK_COORDINATES,
(void *)cb_coordinates,
NULL);
// Set period for coordinates callback to 1s (1000ms)
// Note: The coordinates callback is only called every second
// if the coordinates has changed since the last call!
gps_set_coordinates_callback_period(&gps, 1000);
printf("Press key to exit\n");
getchar();
gps_destroy(&gps);
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);
}
}
