class PhidgetMonitor:
def __init__(self,channel,sensor_name,topic_name,modo):
self.channel = channel
self.sensor_name = sensor_name
self.topic_name = topic_name
self.modo = modo
self.pub = rospy.Publisher(self.topic_name, DeviceInfo, queue_size=10)
self.msg = DeviceInfo()
self.modo = modo
if modo == 'ANALOG':
self.ch = VoltageInput()
elif modo == 'DIGITAL':
self.ch = DigitalInput()
def setup(self):
self.msg.channel = self.channel
self.msg.device_name = self.sensor_name
self.ch.setChannel(self.channel)
self.ch.setOnAttachHandler(self.VoltageInputAttached)
self.ch.setOnDetachHandler(self.VoltageInputDetached)
self.ch.setOnErrorHandler(self.ErrorEvent)
if self.modo == 'ANALOG':
self.ch.setOnVoltageChangeHandler(self.VoltageChangeHandler)
elif self.modo == 'DIGITAL':
self.ch.setOnStateChangeHandler(self.VoltageChangeHandler)
print("Waiting for the Phidget VoltageInput Object to be attached...")
self.ch.openWaitForAttachment(5000)
def close(self):
self.ch.close()
print("Closed VoltageInput device")
def VoltageInputAttached(self,attached):
print("\nAttach Event Detected (Information Below)")
print("===========================================")
print("Channel: %d" % attached.getChannel())
print("Channel Name: %s" % attached.getChannelName())
print("Device ID: %d" % attached.getDeviceID())
print("Device Name: %s" % attached.getDeviceName())
print("Mode: %s" %self.modo)
print("\n")
def VoltageInputDetached(self,detached):
print("\nDetach event on Port %d Channel %d" % (detached.getHubPort(), detached.getChannel()))
def ErrorEvent(self, subject, eCode, description):
print("Error %i : %s" % (eCode, description))
def VoltageChangeHandler(self, subject, voltage):
self.msg.voltage = voltage
self.pub.publish(self.msg)
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
ch = DigitalInput()
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
channelInfo = AskForDeviceParameters(ch)
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
if (channelInfo.netInfo.isRemote):
ch.setIsRemote(channelInfo.netInfo.isRemote)
if (channelInfo.netInfo.serverDiscovery):
try:
Net.enableServerDiscovery(
PhidgetServerType.PHIDGETSERVER_DEVICEREMOTE)
except PhidgetException as e:
PrintEnableServerDiscoveryErrorMessage(e)
raise EndProgramSignal(
"Program Terminated: EnableServerDiscovery Failed")
else:
Net.addServer("Server", channelInfo.netInfo.hostname,
channelInfo.netInfo.port,
channelInfo.netInfo.password, 0)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
PrintEventDescriptions()
print("Setting OnStateChangeHandler...")
ch.setOnStateChangeHandler(onStateChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data for 10 seconds...")
time.sleep(10)
"""
* Perform clean up and exit
"""
print("\nDone Sampling...")
print("Cleaning up...")
ch.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.close()
return 1
except RuntimeError as e:
sys.stderr.write("Runtime Error: \n\t" + e)
traceback.print_exc()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
# In order to attach to a network Phidget, the program must connect to a Phidget22 Network Server.
# In a normal environment this can be done automatically by enabling server discovery, which
# will cause the client to discovery and connect to available servers.
#
# To force the channel to only match a network Phidget, set remote to 1.
#
# Net.enableServerDiscovery(PhidgetServerType.PHIDGETSERVER_DEVICE);
# ch.setIsRemote(1)
print("Waiting for the Phidget DigitalInput Object to be attached...")
ch.openWaitForAttachment(5000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
print("Gathering data for 100 seconds...")
time.sleep(100)
try:
ch.close()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
print("Closed DigitalInput device")
exit(0)
def main():
digitalInput0 = DigitalInput()
digitalInput1 = DigitalInput()
digitalInput2 = DigitalInput()
digitalInput3 = DigitalInput()
digitalInput4 = DigitalInput()
digitalInput5 = DigitalInput()
digitalInput6 = DigitalInput()
digitalInput7 = DigitalInput()
digitalInput0.setChannel(0)
digitalInput1.setChannel(1)
digitalInput2 = DigitalInput()
digitalInput3 = DigitalInput()
digitalInput4 = DigitalInput()
digitalInput5 = DigitalInput()
digitalInput6 = DigitalInput()
digitalInput7 = DigitalInput()
digitalInput0.setChannel(0)
digitalInput1.setChannel(1)
digitalInput2.setChannel(2)
digitalInput3.setChannel(3)
digitalInput4.setChannel(4)
digitalInput5.setChannel(5)
digitalInput6.setChannel(6)
digitalInput7.setChannel(7)
digitalInput0.setOnStateChangeHandler(onStateChange)
digitalInput1.setOnStateChangeHandler(onStateChange)
digitalInput2.setOnStateChangeHandler(onStateChange)
digitalInput3.setChannel(3)
digitalInput4.setChannel(4)
digitalInput5.setChannel(5)
digitalInput6.setChannel(6)
digitalInput7.setChannel(7)
digitalInput0.setOnStateChangeHandler(onStateChange)
digitalInput1.setOnStateChangeHandler(onStateChange)
digitalInput2.setOnStateChangeHandler(onStateChange)
digitalInput3.setOnStateChangeHandler(onStateChange)
digitalInput4.setOnStateChangeHandler(onStateChange)
digitalInput5.setOnStateChangeHandler(onStateChange)
digitalInput6.setOnStateChangeHandler(onStateChange)
digitalInput7.setOnStateChangeHandler(onStateChange)
digitalInput0.openWaitForAttachment(5000)
digitalInput1.openWaitForAttachment(5000)
digitalInput2.openWaitForAttachment(5000)
digitalInput3.openWaitForAttachment(5000)
digitalInput4.setOnStateChangeHandler(onStateChange)
digitalInput5.setOnStateChangeHandler(onStateChange)
digitalInput6.setOnStateChangeHandler(onStateChange)
digitalInput7.setOnStateChangeHandler(onStateChange)
digitalInput0.openWaitForAttachment(5000)
digitalInput1.openWaitForAttachment(5000)
digitalInput2.openWaitForAttachment(5000)
digitalInput3.openWaitForAttachment(5000)
digitalInput4.openWaitForAttachment(5000)
digitalInput5.openWaitForAttachment(5000)
digitalInput6.openWaitForAttachment(5000)
digitalInput7.openWaitForAttachment(5000)
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
digitalInput0.close()
digitalInput1.close()
digitalInput2.close()
digitalInput3.close()
digitalInput4.close()
digitalInput5.close()
digitalInput6.close()
digitalInput7.close()