Add support for Phidgets Current sensors

phidgets_api/CMakeLists.txt

@@ -27,6 +27,8 @@ add_library(phidgets_api src/accelerometer.cpp
                          src/analog_inputs.cpp
                          src/analog_output.cpp
                          src/analog_outputs.cpp
+                         src/current_input.cpp
+                         src/current_inputs.cpp
                          src/digital_input.cpp
                          src/digital_inputs.cpp
                          src/digital_output.cpp

phidgets_api/include/phidgets_api/current_input.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_API_CURRENT_INPUT_H
+#define PHIDGETS_API_CURRENT_INPUT_H
+
+#include <functional>
+
+#include <libphidget22/phidget22.h>
+
+#include "phidgets_api/phidget22.h"
+
+namespace phidgets {
+
+class CurrentInput final
+{
+  public:
+    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(CurrentInput)
+
+    explicit CurrentInput(int32_t serial_number, int hub_port,
+                         bool is_hub_port_device, int channel,
+                         std::function<void(int, double)> input_handler);
+
+    ~CurrentInput();
+
+    double getSensorValue() const;
+
+    void setDataInterval(uint32_t data_interval_ms) const;
+
+    void currentChangeHandler(double sensorValue) const;
+
+  private:
+    int channel_;
+    std::function<void(int, double)> input_handler_;
+    PhidgetCurrentInputHandle ci_handle_;
+
+    static void CurrentChangeHandler(PhidgetCurrentInputHandle input_handle,
+                                     void *ctx, double sensorValue);
+};
+
+}  // namespace phidgets
+
+#endif  // PHIDGETS_API_CURRENT_INPUT_H

phidgets_api/include/phidgets_api/current_inputs.h

@@ -0,0 +1,66 @@
+/*
+ * 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_CURRENT_INPUTS_H
+#define PHIDGETS_API_CURRENT_INPUTS_H
+
+#include <functional>
+#include <memory>
+#include <vector>
+
+#include "phidgets_api/current_input.h"
+#include "phidgets_api/phidget22.h"
+
+namespace phidgets {
+
+class CurrentInputs final
+{
+  public:
+    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(CurrentInputs)
+
+    explicit CurrentInputs(int32_t serial_number, int hub_port,
+                          bool is_hub_port_device,
+                          std::function<void(int, double)> input_handler);
+
+    ~CurrentInputs();
+
+    uint32_t getInputCount() const noexcept;
+
+    double getSensorValue(int index) const;
+
+    void setDataInterval(int index, uint32_t data_interval_ms) const;
+
+  private:
+    uint32_t input_count_;
+    std::vector<std::unique_ptr<CurrentInput>> cis_;
+};
+
+}  // namespace phidgets
+
+#endif  // PHIDGETS_API_CURRENT_INPUTS_H

phidgets_api/src/current_input.cpp

@@ -0,0 +1,111 @@
+/*
+ * 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 <memory>
+#include <stdexcept>
+#include <string>
+
+#include <libphidget22/phidget22.h>
+
+#include "phidgets_api/current_input.h"
+#include "phidgets_api/phidget22.h"
+
+namespace phidgets {
+
+CurrentInput::CurrentInput(int32_t serial_number, int hub_port,
+                         bool is_hub_port_device, int channel,
+                         std::function<void(int, double)> input_handler)
+    : channel_(channel), input_handler_(input_handler)
+{
+    PhidgetReturnCode ret = PhidgetCurrentInput_create(&ci_handle_);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error(
+            "Failed to create CurrentInput handle for channel " +
+                std::to_string(channel),
+            ret);
+    }
+
+    helpers::openWaitForAttachment(reinterpret_cast<PhidgetHandle>(ci_handle_),
+                                   serial_number, hub_port, is_hub_port_device,
+                                   channel);
+
+    ret = PhidgetCurrentInput_setOnCurrentChangeHandler(
+        ci_handle_, CurrentChangeHandler, this);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error(
+            "Failed to set change handler for CurrentInput channel " +
+                std::to_string(channel),
+            ret);
+    }
+}
+
+CurrentInput::~CurrentInput()
+{
+    PhidgetHandle handle = reinterpret_cast<PhidgetHandle>(ci_handle_);
+    helpers::closeAndDelete(&handle);
+}
+
+double CurrentInput::getSensorValue() const
+{
+    double sensor_value;
+    PhidgetReturnCode ret =
+        PhidgetCurrentInput_getCurrent(ci_handle_, &sensor_value);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to get analog sensor value", ret);
+    }
+
+    return sensor_value;
+}
+
+void CurrentInput::setDataInterval(uint32_t data_interval_ms) const
+{
+    PhidgetReturnCode ret =
+        PhidgetCurrentInput_setDataInterval(ci_handle_, data_interval_ms);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to set analog data interval", ret);
+    }
+}
+
+void CurrentInput::currentChangeHandler(double sensorValue) const
+{
+    input_handler_(channel_, sensorValue);
+}
+
+void CurrentInput::CurrentChangeHandler(
+    PhidgetCurrentInputHandle /* input_handle */, void *ctx, double sensorValue)
+{
+    ((CurrentInput *)ctx)->currentChangeHandler(sensorValue);
+}
+
+}  // namespace phidgets

phidgets_api/src/current_inputs.cpp

@@ -0,0 +1,103 @@
+/*
+ * 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 <memory>
+#include <stdexcept>
+#include <string>
+
+#include <libphidget22/phidget22.h>
+
+#include "phidgets_api/current_input.h"
+#include "phidgets_api/current_inputs.h"
+#include "phidgets_api/phidget22.h"
+
+namespace phidgets {
+
+CurrentInputs::CurrentInputs(int32_t serial_number, int hub_port,
+                           bool is_hub_port_device,
+                           std::function<void(int, double)> input_handler)
+{
+    PhidgetReturnCode ret;
+
+    PhidgetCurrentInputHandle ai_handle;
+
+    ret = PhidgetCurrentInput_create(&ai_handle);
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error(
+            "Failed to create CurrentInput handle for determining channel "
+            "count",
+            ret);
+    }
+
+    PhidgetHandle handle = reinterpret_cast<PhidgetHandle>(ai_handle);
+
+    helpers::openWaitForAttachment(handle, serial_number, hub_port,
+                                   is_hub_port_device, 0);
+
+    ret = Phidget_getDeviceChannelCount(handle, PHIDCHCLASS_CURRENTINPUT,
+                                        &input_count_);
+
+    helpers::closeAndDelete(&handle);
+
+    if (ret != EPHIDGET_OK)
+    {
+        throw Phidget22Error("Failed to get CurrentInput device channel count",
+                             ret);
+    }
+
+    cis_.resize(input_count_);
+    for (uint32_t i = 0; i < input_count_; ++i)
+    {
+        cis_[i] = std::make_unique<CurrentInput>(
+            serial_number, hub_port, is_hub_port_device, i, input_handler);
+    }
+}
+
+CurrentInputs::~CurrentInputs()
+{
+}
+
+uint32_t CurrentInputs::getInputCount() const noexcept
+{
+    return input_count_;
+}
+
+double CurrentInputs::getSensorValue(int index) const
+{
+    return cis_.at(index)->getSensorValue();
+}
+
+void CurrentInputs::setDataInterval(int index, uint32_t data_interval_ms) const
+{
+    cis_.at(index)->setDataInterval(data_interval_ms);
+}
+
+}  // namespace phidgets

phidgets_current_inputs/CHANGELOG.rst

@@ -0,0 +1,21 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package phidgets_current_inputs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.5 (2022-02-17)
+------------------
+
+1.0.4 (2021-10-22)
+------------------
+
+1.0.3 (2021-09-29)
+------------------
+
+1.0.2 (2021-03-09)
+------------------
+
+1.0.1 (2020-06-04)
+------------------
+
+1.0.0 (2020-06-03)
+------------------