[Libphidget-cvs-commits] CVS: libphidget/src/examples .cvsignore,NONE,1.1 Makefile.am,NONE,1.1 phidget_c.c,NONE,1.1 phidget_cpp.cc,NONE,1.1

[Vadim T. <vt...@us...>]

Update of /cvsroot/libphidget/libphidget/src/examples
In directory usw-pr-cvs1:/tmp/cvs-serv4882/src/examples

Added Files:
	.cvsignore Makefile.am phidget_c.c phidget_cpp.cc 
Log Message:
Changed the directory layout and functionality:

- ./src/phidget++ now contains the libphidget++ library components
- ./src/examples now contains the, ahem, examples



--- NEW FILE: .cvsignore ---
Makefile
Makefile.in
.deps
.libs
phidget_c
phidget_cpp

--- NEW FILE: Makefile.am ---
bin_PROGRAMS = phidget_c phidget_cpp

phidget_c_SOURCES = phidget_c.c

phidget_c_LDADD = ../libphidget/libphidget.la
phidget_c_DEPENDENCIES = ../libphidget/libphidget.la

phidget_cpp_SOURCES = phidget_cpp.cc
                       
phidget_cpp_LDADD = ../libphidget/libphidget.la ../phidget++/libphidget++.la
phidget_cpp_DEPENDENCIES = ../libphidget/libphidget.la ../phidget++/libphidget++.la

CFLAGS = -I../libphidget -L../libphidget
CXXFLAGS = -I../libphidget -I../phidget++ -L../libphidget -L../phidget++

clean-generic:

	@RM@ -f *~ .*~

if DOXYGEN_ENABLED

all-local:
	@ @ECHO@ "Doxygen is not being run in this directory yet"
	#@DOXYGEN@
	
else

all-local:

	@ @ECHO@ "*** Documentation is not created - install Doxygen"
endif
	
--- NEW FILE: phidget_c.c ---
/*
 * libphidget library
 * $Id: phidget_c.c,v 1.1 2002/09/07 21:56:54 vtt Exp $
 *
 * Copyright (c) 2002 Jack Strohm <js...@ja...>
 *
 * This library is covered by the LGPL, read LICENSE for details.
 */

#include "phidget.h"
#include <stdio.h>




/**
 * Simply goes thru all phidgets, looking for servos and then moving them slowly.
 */
int main(int argn, char *argv[])
{
	int t,count;
	struct phidget **phidgets;

	printf("----------------------------------------\n");
	printf("Phidgets Device driver test.\n\n\n");

	// Initialize libphiget, here is where the devices are actually retrieved by the library
	// We want the library to handle signals (passing it 1)
 	phidgetInit(1);

	// Get an array of pointers to phidgets and a count of available phidgets
	phidgets=phidgetGetPhidgets(&count);

	printf("Device count:%d\n",count);

	for (t=0;t<count;t++)
	{
		unsigned char buffer[6];
		float k;
		struct phidget *dev=phidgetOpen(phidgets[t]);	// Open the phidget #t

		// Make sure we opened it successfully
		if (dev==NULL)
		{
			printf("Can't open phidget:%s\n", phidgetErrorString(phidgetLastError()));
			exit(0);
		}

		// Print out some information about this phidget
		printf("Phidget Name:%s  Vendor:0x0%x  Product:0x0%x  Serial#:%06d\n",
			phidgetTypeName(phidgetType(dev)),
			phidgetTypeVendorID(phidgetType(dev)),
			phidgetTypeProductID(phidgetType(dev)),
			phidgetSerial(dev)
			);

		// Is it a servo controller
		if (phidgetTypeDeviceClass(phidgetType(dev))==LP_SERVO_CONTROLLER)
		{
			for (k=0;k<1;k+=.1)
			{
				int i;

				// Move a single servo (will move servo 0 of a 1 or 4 servo controller)
				phidgetSingleServo(dev,k);

				// Wait a bit
				sleep(1);

				// Process any events that have occured, like attach/detach
				phidgetEvents();
			}
		}

		// Close the phidget
		phidgetClose(dev);

		printf("Finished\n");

	}


	// done using all phidgets, free's phidget memory
	phidgetDeinit();
	
	printf("----------------------------------------\n");

	return(0);
}

--- NEW FILE: phidget_cpp.cc ---
/*
 * phidget++ library
 * $Id: phidget_cpp.cc,v 1.1 2002/09/07 21:56:54 vtt Exp $
 *
 * Copyright (c) 2002 Jack Strohm <js...@ja...>
 *
 * This library is covered by the LGPL, read LICENSE for details.
 */

#include "CPhidgetManager.h"
#include "CServo.h"
#include "CPhidget.h"
#include "CServoController.h"
#include <unistd.h>

// Some globals
CUID workingUID;

/*
class CMyServoController : public CServoController
{
	public:
	CMyServoController(const CUID &uid) :
		CServoController(uid)
	{
		printf("Initializing My Servo Controller\n");
	}
	~CMyServoController()
	{
		printf("Destroying My Servo Controller\n");
	}
	void onAttach()
	{
		printf("My Servo Controller: Attach\n");
	}
	void onDetach()
	{
		printf("My Servo Controller: Detach\n");
	}
};

class CMyServo : public CServo
{
	public:
	CMyServo(const CUID &uid) :
		CServo(uid)
	{
		printf("Construction of my servo class.\n");
	}
	~CMyServo()
	{
		printf("Destruction of my servo class.\n");
	}
	void position(float f)
	{
		CServo::position(f);
		printf("Rotating servo to %f\n",f);
	}
};


// Discovery of available phidgets, creation of phidget objects, and discovery of all devices afterwards.
void example1()
{
	printf("example 1 - Discovery of phidgets\n");

	{
		// See what the system has available
		CPhidgetManager *manager=CPhidgetManager::getInstance();
		CPhidgetManager::getInstance()->checkForEvents();

		// This queries for any devices that are phidgets
		vector< CUID > devices=manager->query(LP_ALL);
		printf("All:%d\n",devices.size());
		CPhidgetManager::getInstance()->checkForEvents();

		// Print out how many we found
		devices=manager->query(LP_PHIDGET);
		printf("Phidgets:%d\n",devices.size());
		CPhidgetManager::getInstance()->checkForEvents();

		// Get the phidgets, this forces the manager to create them
		// since they haven't already been created by the user.
		for (int t=0;t<devices.size();t++)
		{
			CPhidget *phidg=dynamic_cast<CPhidget *>(manager->find(devices[t],true));
		}
		CPhidgetManager::getInstance()->checkForEvents();
	
		// Now let's see how many devices are available
		devices=manager->query(LP_ALL);
		printf("All:%d\n",devices.size());
		CPhidgetManager::getInstance()->checkForEvents();
	}

	// This makes the next example run like it's the first.
	CPhidgetManager::release();
	printf("Done\n");
}


// Just attacheding to a servo, don't have to worry about anything else
void example2()
{
	printf("example 2 - Manipulating a servo\n");

	{
		// Create a servo
		CServo servo(CUID(741,0));

		servo.position(.5);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
	}

	// This makes the next example run like it's the first.
	CPhidgetManager::release();
	printf("Done\n");
}

void example3()
{

	printf("example 3 - Custom servo device\n");

	{
		// Create a servo
		CMyServo servo(CUID(741,0));

		servo.position(.2);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
		servo.position(.5);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
		servo.position(.8);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
	}

	// This makes the next example run like it's the first.
	CPhidgetManager::release();
	printf("Done\n");

}

void example4()
{
	printf("example 4 - Custom servo device\n");

	{
		CMyServoController controller(CUID(741));
		CServo servo(CUID(741,0));

		servo.position(.2);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
		servo.position(.5);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
		servo.position(.8);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
	}

	// This makes the next example run like it's the first.
	CPhidgetManager::release();
	printf("Done\n");
}

void example5()
{
	printf("example 5 - Custom servo device\n");

	{
		CMyServoController controller(CUID(741));
		CMyServo servo(CUID(741,0));

		servo.position(.2);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
		servo.position(.5);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
		servo.position(.8);
		sleep(1);
		CPhidgetManager::getInstance()->checkForEvents();
	}

	// This makes the next example run like it's the first.
	CPhidgetManager::release();
	printf("Done\n");
}

*/

void phidgets_ls()
{
		CPhidgetManager *manager=CPhidgetManager::getInstance();
		vector <CUID> phidgets=manager->query(LP_PHIDGET);

		printf("\n");
		printf("  UID                Name                           Misc\n");
		printf("--------   --------------------------------   ----------------\n");
		for (int t=0;t<phidgets.size();t++)
		{
			const CUID &uid=phidgets[t];

			CPhidget *phidget=dynamic_cast<CPhidget *>(manager->find(uid,true));

			if (phidget==NULL)
				throw runtime_error("obtained a phidget CUID that was not a phidget, this can't happen.");

			printf("%8d   %32s   ",
				phidget->UID().serial(),
				phidget->name()
			      );

			CServoController *sc=dynamic_cast<CServoController *>(phidget);

			if (sc!=NULL)
			{
				printf("Servos: %d\n",sc->servoCount());
			}
			/*
			else
			if (ik!=NULL)
			{
				printf("DigitalIn: %d\n",ik->digitalIns().size());
				printf("                                              DigitalOut: %d\n",ik->digitalOuts().size());
				printf("                                              AnalogIns: %d\n",ik->analogIns().size());
			}
			*/
			else
				printf("Unsupported\n");
		}
		printf("--------   --------------------------------   ----------------\n");
		printf("\n\n");

		printf("Total phidgets:%d\n",phidgets.size());

		printf("\n");
}

void readUID(const string &arg)
{
	bool colon_found=false;
	string temp;
	char last_char;

	int serial=-1;
	int id=-1;

	for (int t=0;t<arg.length();t++)
	{
		last_char=arg[t];

		if (arg[t]==':')
		{
			if (colon_found) throw runtime_error("More than one colon found in UID\n");
			colon_found=true;
			serial=atoi(temp.c_str());
			temp="";
		}
		else
		if (arg[t]>='0' && arg[t]<='9')
		{
			temp+=arg.substr(t,1);
		}
		else
			throw runtime_error("Invalid character in UID:"+arg);
	}

	if (colon_found && temp.length()>0 && last_char!=':')
		id=atoi(temp.c_str());
	else
	if (!colon_found)
		serial=atoi(temp.c_str());

	workingUID=CUID(serial,id);
}

void query()
{
	if (workingUID.serial()==-1)
		throw runtime_error("Must use parameter -u with query command\n");

	CPhidgetManager *manager=CPhidgetManager::getInstance();

	CUniqueDevice *dev=manager->find(workingUID,true);

	printf("%-10s ",workingUID.asString().c_str());

	printf(">> ");

	// What type of device is this?
	CPhidget *phidget;
	if ((phidget=dynamic_cast<CPhidget *>(dev))!=NULL)
	{
		printf("Phidget [%s] ",phidget->name());
	}
	else
	{
		if (dynamic_cast<CServo *>(dev)!=NULL)
			printf("Servo ");
	}
	

	printf("\n");
}

void moveServo(const string &parm)
{
	float p=atof(parm.c_str());

	CServo servo(workingUID);

	printf("Moving servo to position %f\n",p);
	servo.position(p);

	sleep(1);
}

void help()
{
	printf("Arguments:\n\n");
	printf("     -l (default)     list all phidets \n");
	printf("     -u {UID}         set the working UID\n");
	printf("     -q               query the working UID\n");
	printf("     -h               help\n");
	printf("     -p {percent}     adjust the position of a servo referenced by UID\n");
	printf("\n");
}



int processArgs(int argn,char *argv[])
{
	if (argn==0)
		return(0);

	// Read an argument
	string arg=argv[0];

	if (arg=="-u")  // The unique device ID to work with
	{
		if (argn<2) throw runtime_error("Expected argument after -u");
		string parm=argv[1];
		readUID(parm);
		return(processArgs(argn-2,argv+2));
	}
	else
	if (arg=="-q")
	{
		query();
		return(processArgs(argn-1,argv+1));
	}
	else
	if (arg=="-h")
	{
		help();
		return(processArgs(argn-1,argv+1));
	}
	else
	if (arg=="-l")
	{
		phidgets_ls();
		return(processArgs(argn-1,argv+1));
	}
	else
	if (arg=="-p")
	{
		if (argn<2) throw runtime_error("Expected argument after -p");
		string parm=argv[1];
		moveServo(parm);
		return(processArgs(argn-2,argv+2));
	}


	throw runtime_error("Invalid argument:"+arg);
}




int main(int argn,char *argv[])
{
	try
	{
		// What we are
		printf("phidgets: a command line interface utility\n");
		printf("version $Revision: 1.1 $\n\n");

		// No arguments
		if (argn<=1)
		{
			phidgets_ls();
			return(0);
		}

		// Recursive argument parser, remove the executable name 
		return(processArgs(argn-1,argv+1)); 

	}
	catch(const exception &e)
	{
		printf("Exception:  %s\n",e.what());
		return(-1);
	}

	return(0);
}