//callback that will run if the Spatial is detached from the computer
int imuDetach(CPhidgetHandle spatial, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(spatial, &serialNo);
printf("IMU %10d detached!\n", serialNo);
return 0;
}
int display_properties(CPhidgetAccelerometerHandle phid)
{
int serial_number, version, num_axes;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid,
&serial_number);
CPhidget_getDeviceVersion((CPhidgetHandle)phid,
&version);
CPhidgetAccelerometer_getAxisCount((CPhidgetAccelerometerHandle)phid,
&num_axes);
// initialise acceleration values
ros::Time begin = ros::Time::now();
acc.acceleration.clear();
acc.stamp.clear();
for (int i = 0; i < num_axes; i++) {
acc.acceleration.push_back(0);
acc.stamp.push_back(begin);
acc.stamp.push_back(begin);
acc.stamp.push_back(begin);
}
ROS_INFO("%s", ptr);
ROS_INFO("Serial Number: %d", serial_number);
ROS_INFO("Version: %d", version);
ROS_INFO("Number of axes %d", num_axes);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
//Will also display the number of inputs, outputs, and analog inputs on the interface kit as well as the state of the ratiometric flag
//and the current analog sensor sensitivity.
int IKDisplayProperties(CPhidgetInterfaceKitHandle phid)
{
int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &numInputs);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
SetupLog("%s", ptr);
SetupLog("Serial Number: %10d\nVersion: %8d", serialNo, version);
SetupLog("# Digital Inputs: %d\n# Digital Outputs: %d", numInputs, numOutputs);
SetupLog("# Sensors: %d", numSensors);
SetupLog("Ratiometric: %d", ratiometric);
for(i = 0; i < numSensors; i++)
{
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
SetupLog("Sensor#: %d > Sensitivity Trigger: %d\n", i, triggerVal);
}
return 0;
}
// print the sensor values for a given ifkit device (by serial)
// -1 to print them all!
void PhidgetConnector::print(int serial_in) {
cout << "Models: " << endl;
if(ifKitModels.size()>0) {
for(int i=0; i<ifKitModels.size(); i++) {
IFKitModel * thisKit = (IFKitModel *)ifKitModels.at(i);
if(serial_in == -1 || serial_in == thisKit->getSerial()) thisKit->print();
}
} else {
cout << "there doesn't seem to be any devices successfully connected with which to print." << endl;
}
cout << "hardware devices: " << endl;
for(int j=0; j<ifkits.size(); j++) {
int serialNo;
CPhidget_getSerialNumber((CPhidgetHandle)*ifkits.at(j), &serialNo);
int whichKit = getIFKitModelID(serialNo);
if(whichKit>-1) {
IFKitModel * desiredKit = ifKitModels.at(whichKit);
cout << "serial: " << desiredKit->getSerial() << endl;
for(int i=0; i<desiredKit->getNumSensors(); i++) {
int sensorVal;
CPhidgetInterfaceKit_getSensorValue(*ifkits.at(j), i, &sensorVal);
cout << i << ": " << sensorVal << endl;
// desiredKit->setSensorVal(i,sensorVal);
}
}
}
}
static int CCONV AttachHandler (CPhidgetHandle device, void *userptr) {
int serialNumber;
const char *name;
LocalErrorCatcher(
CPhidget_getDeviceName(device, &name));
LocalErrorCatcher(
CPhidget_getSerialNumber(device, &serialNumber));
PhidgetsDeviceManager* obj = (PhidgetsDeviceManager*)userptr;
QString devname(name);
// If the device name contains motor control in its name then emit a motor control card signal
if(devname.contains("Motor Control"))
{
obj->pushToMotorControlCardSerials(serialNumber);
// emit obj->motorCard(serialNumber);
}
else if(devname.contains("InterfaceKit"))
{
obj->setInterfaceKitSerial(serialNumber);
}
printf("Hello Device %s, Serial Number: %d\n", name, serialNumber);
return 0;
}
int display_properties(CPhidgetPHSensorHandle phid)
{
int serialNo, version;
double trigger, potential;
double min, max;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetPHSensor_getPHChangeTrigger(phid, &trigger);
CPhidgetPHSensor_getPotential(phid, &potential);
ROS_INFO("%s\n", ptr);
ROS_INFO("Serial Number: %10d\nVersion: %8d\n",
serialNo, version);
ROS_INFO("Trigger Sensitivity: %f\nPotential: %f\n",
trigger, potential);
CPhidgetPHSensor_getPHMax(phid, &max);
CPhidgetPHSensor_getPHMin(phid, &min);
ROS_INFO("Max PH: %0.4lf, Min PH: %0.4lf\n", max, min);
CPhidgetPHSensor_getPotentialMax(phid, &max);
CPhidgetPHSensor_getPotentialMin(phid, &min);
ROS_INFO("Max Potential: %0.2lfmV, " \
"Min Potential: %0.2lfmV\n", max, min);
return 0;
}
//Display the properties of the attached phidget to the screen. We will be displaying the name, serial number and version of the attached device.
int display_properties(CPhidgetTextLCDHandle phid)
{
int serialNo, version, numRows, numColumns, backlight, cursor, contrast, cursor_blink, numScreens;
const char* ptr;
CPhidget_DeviceID id;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidget_getDeviceID((CPhidgetHandle)phid, &id);
CPhidgetTextLCD_getRowCount (phid, &numRows);
CPhidgetTextLCD_getColumnCount (phid, &numColumns);
CPhidgetTextLCD_getBacklight (phid, &backlight);
CPhidgetTextLCD_getContrast (phid, &contrast);
CPhidgetTextLCD_getCursorOn (phid, &cursor);
CPhidgetTextLCD_getCursorBlink (phid, &cursor_blink);
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
if(id == PHIDID_TEXTLCD_ADAPTER){
CPhidgetTextLCD_getScreenCount (phid, &numScreens);
printf("# Screens: %d\n", numScreens);
CPhidgetTextLCD_setScreen(phid, 0);
CPhidgetTextLCD_setScreenSize(phid, PHIDGET_TEXTLCD_SCREEN_2x16);
CPhidgetTextLCD_initialize(phid);
}
printf("# Rows: %d\n# Columns: %d\n", numRows, numColumns);
printf("Current Contrast Level: %d\nBacklight Status: %d\n", contrast, backlight);
printf("Cursor Status: %d\nCursor Blink Status: %d\n", cursor, cursor_blink);
return 0;
}
//Display the properties of the attached phidget(s) to the screen. We will be displaying the name, serial number and version of the attached device(s).
int display_devices(CPhidgetManagerHandle MAN)
{
int serialNo, version, numDevices, i;
const char* ptr;
CPhidgetHandle *devices;
CPhidgetManager_getAttachedDevices (MAN, &devices, &numDevices);
printf("|- # -|- Type -|- Serial No. -|- Version -|\n");
printf("|-------|----------------------------------|--------------|------------|\n");
for(i = 0; i < numDevices; i++)
{
CPhidget_getDeviceType(devices[i], &ptr);
CPhidget_getSerialNumber(devices[i], &serialNo);
CPhidget_getDeviceVersion(devices[i], &version);
printf("|- %3d -|- %30s -|- %10d -|- %8d -|\n", i, ptr, serialNo, version);
printf("|-------|----------------------------------|--------------|------------|\n");
}
CPhidgetManager_freeAttachedDevicesArray(devices);
return 0;
}
int display_properties(CPhidgetSpatialHandle phid)
{
int serialNo, version;
const char* ptr;
int numAccelAxes, numGyroAxes, numCompassAxes;
int dataRateMax, dataRateMin;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetSpatial_getAccelerationAxisCount((CPhidgetSpatialHandle)phid,
&numAccelAxes);
CPhidgetSpatial_getGyroAxisCount((CPhidgetSpatialHandle)phid,
&numGyroAxes);
CPhidgetSpatial_getCompassAxisCount((CPhidgetSpatialHandle)phid,
&numCompassAxes);
CPhidgetSpatial_getDataRateMax((CPhidgetSpatialHandle)phid,
&dataRateMax);
CPhidgetSpatial_getDataRateMin((CPhidgetSpatialHandle)phid,
&dataRateMin);
ROS_INFO("%s\n", ptr);
ROS_INFO("Serial Number: %10d\nVersion: %8d\n",
serialNo, version);
ROS_INFO("Number of Accel Axes: %i\n", numAccelAxes);
ROS_INFO("Number of Gyro Axes: %i\n", numGyroAxes);
ROS_INFO("Number of Compass Axes: %i\n", numCompassAxes);
ROS_INFO("datarate> Max: %d Min: %d\n",
dataRateMax, dataRateMin);
return 0;
}
int display_properties(CPhidgetInterfaceKitHandle phid)
{
int serial_number, version, ratiometric, num_sensors, num_inputs, num_outputs, triggerVal;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serial_number);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &num_inputs);
CPhidgetInterfaceKit_getOutputCount(phid, &num_outputs);
CPhidgetInterfaceKit_getSensorCount(phid, &num_sensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
ROS_INFO("%s", ptr);
ROS_INFO("Serial Number: %d", serial_number);
ROS_INFO("Version: %d", version);
ROS_INFO("Number of digital inputs %d", num_inputs);
ROS_INFO("Number of digital outputs %d", num_outputs);
ROS_INFO("Number of sensors %d", num_sensors);
ROS_INFO("Ratiometric %d", ratiometric);
for (int i = 0; i < num_sensors; i++)
{
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
//CPhidgetInterfaceKit_setSensorChangeTrigger (phid, i, 10);
ROS_INFO("Sensor %d Sensitivity Trigger %d", i, triggerVal);
}
return 0;
}
// display the properties and create the ifkit model. Should really refactor...
int PhidgetConnector::display_properties(CPhidgetInterfaceKitHandle phid) {
int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;
const char* ptr;
CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);
CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);
CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);
CPhidgetInterfaceKit_getInputCount(phid, &numInputs);
CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);
CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);
CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);
ifKitModels.push_back(new IFKitModel(serialNo, numSensors));
printf("%s\n", ptr);
printf("Serial Number: %10d\nVersion: %8d\n", serialNo, version);
printf("# Digital Inputs: %d\n# Digital Outputs: %d\n", numInputs, numOutputs);
printf("# Sensors: %d\n", numSensors);
printf("Ratiometric: %d\n", ratiometric);
for(i = 0; i < numSensors; i++) {
CPhidgetInterfaceKit_setSensorChangeTrigger(phid, i, 0);
CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);
printf("Sensor#: %d > Sensitivity Trigger: %d\n", i, triggerVal);
}
return 0;
}
void imuPrintInfo( void* handle )
{
if( !handle )
return;
CPhidgetHandle phid = (CPhidgetHandle)handle;
int serialNo = 0;
int version = 0;
const char* ptr;
int numAccelAxes = 0, numGyroAxes = 0, numCompassAxes = 0;
int dataRateMax = 0, dataRateMin = 0, dataRateCurr = 0;
//CPhidget_getDeviceType(phid, &ptr);
//printf("IMU %s\n", ptr);
CPhidget_getSerialNumber(phid, &serialNo);
CPhidget_getDeviceVersion(phid, &version);
CPhidgetSpatial_getAccelerationAxisCount((CPhidgetSpatialHandle)phid, &numAccelAxes);
CPhidgetSpatial_getGyroAxisCount((CPhidgetSpatialHandle)phid, &numGyroAxes);
CPhidgetSpatial_getCompassAxisCount((CPhidgetSpatialHandle)phid, &numCompassAxes);
CPhidgetSpatial_getDataRateMax((CPhidgetSpatialHandle)phid, &dataRateMax);
CPhidgetSpatial_getDataRateMin((CPhidgetSpatialHandle)phid, &dataRateMin);
CPhidgetSpatial_getDataRate((CPhidgetSpatialHandle)phid, &dataRateCurr);
printf("IMU Serial Number: %10i\n", serialNo);
printf("IMU Version: %8i\n", version);
printf("IMU Number of Accel Axes: %i\n", numAccelAxes);
printf("IMU Number of Gyro Axes: %i\n", numGyroAxes);
printf("IMU Number of Compass Axes: %i\n", numCompassAxes);
printf("IMU datarate> Min: %d Max: %d Current: %d\n", dataRateMin, dataRateMax, dataRateCurr);
}
int CCONV DetachHandler(CPhidgetHandle ENC, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(ENC, &serialNo);
printf("Encoder %10d detached! \n", serialNo);
return 0;
}
//callback that will run if the Accelerometer is detached from the computer
int CCONV DetachHandler(CPhidgetHandle ir, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(ir, &serialNo);
printf("PhidgetIR %10d detached! \n", serialNo);
return 0;
}
int AttachHandlerIR(CPhidgetHandle ir, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(ir, &serialNo);
printf("PhidgetIR %10d attached!", serialNo);
return 0;
}
//callback that will run if the Spatial is detached from the computer
int CCONV DetachHandler(CPhidgetHandle spatial, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(spatial, &serialNo);
printf("Spatial %10d detached! \n", serialNo);
return 0;
}
//callback that will run if the Accelerometer is detached from the computer
int DetachHandler(CPhidgetHandle IFK, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(IFK, &serialNo);
printf("Accelerometer %10d detached! \n", serialNo);
return 0;
}
//callback that will run if the Spatial is attached to the computer
int imuAttach(CPhidgetHandle spatial, void *userptr)
{
int serialNo;
CPhidget_getSerialNumber(spatial, &serialNo);
printf("IMU %10d attached!\n", serialNo);
imuPrintInfo(spatial);
return 0;
}
Wt::WContainerWidget* WidgetsCommon::CreateWidget()
{
PhidgetsInfo* item = ::GetPhidgetManager()->FindPhidgetBySerial(GetSerial());
if (!item)
return NULL;
CPhidgetHandle handle = item->m_phidget->GetHandle();
Wt::WContainerWidget* tab_container = new Wt::WContainerWidget();
Wt::WHBoxLayout* hbox = new Wt::WHBoxLayout(tab_container);
Wt::WTable* table = new Wt::WTable();
hbox->addWidget(table);
table->columnAt(0)->setWidth(GetLeftColumnWidth());
table->columnAt(1)->setWidth(Wt::WLength::Auto);
int row = 0;
const char* string_value;
int int_value;
if (EPHIDGET_OK == CPhidget_getDeviceName(handle, &string_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceName")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));
}
if (EPHIDGET_OK == CPhidget_getSerialNumber(handle, &int_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("SerialNumber")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));
}
if (EPHIDGET_OK == CPhidget_getDeviceVersion(handle, &int_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceVersion")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));
}
if (EPHIDGET_OK == CPhidget_getDeviceStatus(handle, &int_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceStatus")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));
}
if (EPHIDGET_OK == CPhidget_getDeviceType(handle, &string_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceType")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));
}
if (EPHIDGET_OK == CPhidget_getDeviceLabel(handle, &string_value))
{
table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceLabel")));
table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));
}
return tab_container;
}
int CCONV DetachHandler( CPhidgetHandle ADVSERVO, void *userptr )
{
int serialNo;
const char *name;
CPhidget_getDeviceName( ADVSERVO, &name );
CPhidget_getSerialNumber( ADVSERVO, &serialNo );
printf( "%s %10d detached!\n", name, serialNo );
return 0;
}
int CCONV AttachHandler(CPhidgetHandle HANDLE, void *userptr) {
int serialNo;
const char *name;
CPhidget_getDeviceName(HANDLE, &name);
CPhidget_getSerialNumber(HANDLE, &serialNo);
LOG(logINFO) << name << " "<<serialNo <<" attached!";
return 0;
}
int PhidgetManager::OnAttach(CPhidgetHandle handle)
{
Lock();
if (FindPhidgetByHandle(handle))
{
Unlock();
return EPHIDGET_OK; //We've already attached it
}
PhidgetsCommon* item;
if (NULL == handle) //Manager tab
{
item = new PhidgetsManager();
}
else
{
int status;
int serial;
CPhidget_DeviceClass device_class;
if (EPHIDGET_OK != (status=CPhidget_getDeviceClass(handle, &device_class)) ||
EPHIDGET_OK != CPhidget_getSerialNumber(handle, &serial))
{
Unlock();
return status;
}
switch(device_class)
{
case PHIDCLASS_ADVANCEDSERVO: item = new PhidgetsAdvancedServo(serial); break;
case PHIDCLASS_INTERFACEKIT: item = new PhidgetsInterfaceKit(serial); break;
case PHIDCLASS_RFID: item = new PhidgetsRFID(serial); break;
default: {
Unlock();
return EPHIDGET_UNSUPPORTED;
}
}
}
if (!item)
{
Unlock();
return EPHIDGET_NOMEMORY;
}
if (!item->Init())
{
delete item;
Unlock();
return EPHIDGET_UNEXPECTED;
}
AddPhidgetToList(item);
Unlock();
return EPHIDGET_OK;
}
int DetachHandler(CPhidgetHandle phid, void *userptr){
int serial_number;
const char *name;
CPhidget_getDeviceName (phid, &name);
CPhidget_getSerialNumber(phid, &serial_number);
ROS_INFO("%s Serial number %d detached!", name, serial_number);
return 0;
}
int AttachHandler(CPhidgetHandle MC, void *userptr)
{
int serialNo;
const char *name;
CPhidget_getDeviceName (MC, &name);
CPhidget_getSerialNumber(MC, &serialNo);
return 0;
}
int CCONV AttachHandler(CPhidgetHandle RFID, void *userptr)
{
int serialNo;
const char *name;
CPhidget_getDeviceName (RFID, &name);
CPhidget_getSerialNumber(RFID, &serialNo);
printf("%s %10d attached!\n", name, serialNo);
return 0;
}
PhidgetsInfo* PhidgetManager::FindPhidgetByHandle(CPhidgetHandle handle)
{
if (!handle)
return FindPhidgetBySerial(0);
int serial;
if (EPHIDGET_OK != CPhidget_getSerialNumber(handle, &serial))
return NULL;
return FindPhidgetBySerial(serial);
}
void ioPhidget::display_generic_properties(CPhidgetHandle phid)
{
const char *deviceptr;
CPhidget_getDeviceType(phid, &deviceptr);
CPhidget_getSerialNumber(phid, &serialNumber);
CPhidget_getDeviceVersion(phid, &version);
printf("%s\n", deviceptr);
printf("Version: %8d SerialNumber: %10d\n", version, serialNumber);
return;
}
int detach_handler(CPhidgetHandle IFK, void *data) {
int serialNo;
const char *name;
CPhidget_getDeviceName (IFK, &name);
CPhidget_getSerialNumber(IFK, &serialNo);
fprintf(stderr, "%s %10d detached!\n", name, serialNo);
return 0;
}
int AttachHandler(CPhidgetHandle IFK, void *userptr)
{
int serialNo;
const char *name;
CPhidget_getDeviceName(IFK, &name);
CPhidget_getSerialNumber(IFK, &serialNo);
SetupLog("%s %10d attached!", name, serialNo);
return 0;
}
int gotDetach(CPhidgetHandle phid, void *ptr) {
char *id;
int serial, version;
//print out some info
CPhidget_getSerialNumber(phid, &serial);
CPhidget_getDeviceVersion(phid, &version);
CPhidget_getDeviceName((CPhidgetHandle)phid,(const char **)&id);
printf("Device Removed: %s, Serial: %d, Version: %d\n",id,serial,version);
return 0;
}
