Add support for Phidgets Humidity sensors (#173)

I have done a find and replace on the phidgets_temperature package to get the Phidgets Humidity sensor working. Tested with a `HUM1001_0`.

phidgets_api/CMakeLists.txt

@@ -34,6 +34,7 @@ add_library(phidgets_api src/accelerometer.cpp
                          src/encoder.cpp
                          src/encoders.cpp
                          src/gyroscope.cpp
+                         src/humidity.cpp
                          src/ir.cpp
                          src/magnetometer.cpp
                          src/motor.cpp

phidgets_api/include/phidgets_api/humidity.h

@@ -0,0 +1,68 @@
+/*
+ * Copyright (c) 2019, Open Source Robotics Foundation
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef PHIDGETS_API_HUMIDITY_H
+#define PHIDGETS_API_HUMIDITY_H
+
+#include <functional>
+
+#include <libphidget22/phidget22.h>
+
+#include "phidgets_api/phidget22.h"
+
+namespace phidgets {
+
+class Humidity final
+{
+  public:
+    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Humidity)
+
+    explicit Humidity(int32_t serial_number, int hub_port,
+                      bool is_hub_port_device,
+                      std::function<void(double)> humidity_handler);
+
+    ~Humidity();
+
+    double getHumidity() const;
+
+    void setDataInterval(uint32_t interval_ms) const;
+
+    void humidityChangeHandler(double humidity) const;
+
+  private:
+    std::function<void(double)> humidity_handler_;
+    PhidgetHumiditySensorHandle humidity_handle_;
+    static void HumidityChangeHandler(
+        PhidgetHumiditySensorHandle humidity_handle, void *ctx,
+        double humidity);
+};
+
+}  // namespace phidgets
+
+#endif  // PHIDGETS_API_HUMIDITY_H

phidgets_api/src/humidity.cpp

@@ -0,0 +1,102 @@
+/*
+ * Copyright (c) 2019, Open Source Robotics Foundation
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <functional>
+#include <stdexcept>
+
+#include <libphidget22/phidget22.h>
+
+#include "phidgets_api/phidget22.h"
+#include "phidgets_api/humidity.h"
+
+namespace phidgets {
+
+Humidity::Humidity(int32_t serial_number, int hub_port, bool is_hub_port_device,
+                   std::function<void(double)> humidity_handler)
+    : humidity_handler_(humidity_handler)
+{
+    PhidgetReturnCode ret = PhidgetHumiditySensor_create(&humidity_handle_);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to create HumiditySensor handle", ret);
+    }
+
+    helpers::openWaitForAttachment(
+        reinterpret_cast<PhidgetHandle>(humidity_handle_), serial_number,
+        hub_port, is_hub_port_device, 0);
+
+    ret = PhidgetHumiditySensor_setOnHumidityChangeHandler(
+        humidity_handle_, HumidityChangeHandler, this);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to set change handler for Humidity", ret);
+    }
+}
+
+Humidity::~Humidity()
+{
+    PhidgetHandle handle = reinterpret_cast<PhidgetHandle>(humidity_handle_);
+    helpers::closeAndDelete(&handle);
+}
+
+double Humidity::getHumidity() const
+{
+    double current_humidity;
+    PhidgetReturnCode ret =
+        PhidgetHumiditySensor_getHumidity(humidity_handle_, &current_humidity);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to get humidity", ret);
+    }
+    return current_humidity;
+}
+
+void Humidity::setDataInterval(uint32_t interval_ms) const
+{
+    PhidgetReturnCode ret =
+        PhidgetHumiditySensor_setDataInterval(humidity_handle_, interval_ms);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to set data interval", ret);
+    }
+}
+
+void Humidity::humidityChangeHandler(double humidity) const
+{
+    humidity_handler_(humidity);
+}
+
+void Humidity::HumidityChangeHandler(
+    PhidgetHumiditySensorHandle /* humidity_handle */, void *ctx,
+    double humidity)
+{
+    ((Humidity *)ctx)->humidityChangeHandler(humidity);
+}
+
+}  // namespace phidgets

phidgets_humidity/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5.1)
+cmake_policy(SET CMP0048 NEW)
+project(phidgets_humidity)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+# High level of warnings:
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra)
+endif()
+
+find_package(catkin REQUIRED COMPONENTS nodelet phidgets_api roscpp roslaunch std_msgs)
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES phidgets_humidity
+    CATKIN_DEPENDS nodelet phidgets_api roscpp std_msgs
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(phidgets_humidity src/humidity_ros_i.cpp)
+add_library(phidgets_humidity_nodelet src/phidgets_humidity_nodelet.cpp)
+
+add_dependencies(phidgets_humidity ${catkin_EXPORTED_TARGETS})
+add_dependencies(phidgets_humidity_nodelet ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(phidgets_humidity ${catkin_LIBRARIES})
+target_link_libraries(phidgets_humidity_nodelet ${catkin_LIBRARIES} phidgets_humidity)
+
+install(TARGETS phidgets_humidity phidgets_humidity_nodelet
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+)
+
+install(DIRECTORY launch
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(FILES phidgets_humidity_nodelet.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+roslaunch_add_file_check(launch)

phidgets_humidity/README.md

@@ -0,0 +1,15 @@
+Phidgets humidity ROS driver
+============================
+
+This is the ROS driver for Phidgets humidity sensor.  The various topics, services, and parameters that the node operates with are listed below.
+
+Topics
+------
+* `/humidity` (`std_msgs/Float64`) - The current relative humidity in %.
+
+Parameters
+----------
+* `serial` (int) - The serial number of the phidgets humidity to connect to.  If -1 (the default), connects to any humidity phidget that can be found.
+* `hub_port` (int) - The phidgets VINT hub port to connect to.  Only used if the humidity phidget is connected to a VINT hub.  Defaults to 0.
+* `data_interval_ms` (int) - The number of milliseconds between acquisitions of data on the device.  Defaults to 500 ms.
+* `publish_rate` (int) - How often the driver will publish data on the ROS topic.  If 0 (the default), it will publish every time there is an update from the device (so at the `data_interval_ms`).  If positive, it will publish the data at that rate regardless of the acquisition interval.

phidgets_humidity/include/phidgets_humidity/humidity_ros_i.h

@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2019, Open Source Robotics Foundation
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef PHIDGETS_HUMIDITY_HUMIDITY_ROS_I_H
+#define PHIDGETS_HUMIDITY_HUMIDITY_ROS_I_H
+
+#include <memory>
+#include <mutex>
+
+#include <ros/ros.h>
+
+#include "phidgets_api/humidity.h"
+
+namespace phidgets {
+
+class HumidityRosI final
+{
+  public:
+    explicit HumidityRosI(ros::NodeHandle nh, ros::NodeHandle nh_private);
+
+  private:
+    std::unique_ptr<Humidity> humidity_;
+    std::mutex humidity_mutex_;
+    double last_humidity_reading_;
+    bool got_first_data_;
+
+    ros::NodeHandle nh_;
+    ros::NodeHandle nh_private_;
+    ros::Publisher humidity_pub_;
+    void timerCallback(const ros::TimerEvent& event);
+    ros::Timer timer_;
+    int publish_rate_;
+    std::string server_name_;
+    std::string server_ip_;
+
+    void publishLatest();
+
+    void humidityChangeCallback(double humidity);
+};
+
+}  // namespace phidgets
+
+#endif  // PHIDGETS_HUMIDITY_HUMIDITY_ROS_I_H

phidgets_humidity/include/phidgets_humidity/phidgets_humidity_nodelet.h

@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2019, Open Source Robotics Foundation
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef PHIDGETS_HUMIDITY_PHIDGETS_HUMIDITY_NODELET_H
+#define PHIDGETS_HUMIDITY_PHIDGETS_HUMIDITY_NODELET_H
+
+#include <memory>
+
+#include <nodelet/nodelet.h>
+
+#include "phidgets_humidity/humidity_ros_i.h"
+
+namespace phidgets {
+
+class PhidgetsHumidityNodelet : public nodelet::Nodelet
+{
+  public:
+    virtual void onInit();
+
+  private:
+    std::unique_ptr<HumidityRosI> humidity_;
+};
+
+}  // namespace phidgets
+
+#endif  // PHIDGETS_HUMIDITY_PHIDGETS_HUMIDITY_NODELET_H