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");
}
}
