def __init__(self, id, port):
self.id = id
self.port = port
self.serial_numbers = (
262305, # 4-port, shelf 6
262295, # 4-port, shelf 6
318471, # 8-port, shelf 2
312226, # 8-port, shelf 4
259764, # 4-port, shelf 8
319749, # 8-port, shelf 10
259763, # 4-port, shelf 6
)
self.serial_num = self.serial_numbers[id]
self.lockfile = "/var/run/lock/phidget-%s.lock" % self.id
self.lock_fp = open(self.lockfile, "w")
self.lock_fd = self.lock_fp.fileno()
fcntl.lockf(self.lock_fd, fcntl.LOCK_EX)
if debug:
print "[%.2f] Aquired lock for Phidget %s" % (time.time(), self.id)
try:
self.device = InterfaceKit()
except RuntimeError as e:
print("Runtime Error: %s" % e.message)
try:
self.device.openPhidget(serial=self.serial_num)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.detail))
fcntl.lockf(self.lock_fd, fcntl.LOCK_UN)
exit(1)
self.device.waitForAttach(10000)
def __init__(self):
rospy.init_node('interface_kit', anonymous=True)
self.name = rospy.get_param('~name', '')
self.serial = rospy.get_param('~serial_number', -1)
if self.serial == -1:
rospy.logwarn('No serial number specified. This node will connect to the first interface kit attached.')
self.interface_kit = InterfaceKit()
def __init__(self):
"""
Instantiate the InterfaceKit object and open it.
"""
self.logger = tosLogger
self.ifkit = InterfaceKit()
# open ifkit
try:
self.ifkit.openPhidget()
except PhidgetException, e:
self.logger.log(self, 3,
"Phidget Exception %i: %s" % (e.code, e.message))
exit(1)
def connect_phidget():
try:
log_info('creating the interface kit')
device = InterfaceKit()
except RuntimeError as e:
log_error("Error when trying to create the device: %s" % e.message)
#This connects to the device.
try:
#print 'connecting to the device!'
device.openPhidget()
except PhidgetException as e:
log_warning("Exception when trying to connect %i: %s" %
(e.code, e.detail))
exit(1)
return device
def start_sensors_for_changes():
#Create and connect to the device using the InterfaceKit() method.
#This method depends on the device that we are using. For us, it
#happens to be the interfacekit.
try:
print 'creating the interface kit'
device = InterfaceKit()
except RuntimeError as e:
print("Error when trying to create the device: %s" % e.message)
#This connects to the device.
try:
print 'connecting to the device!'
device.openPhidget()
except PhidgetException as e:
print("Exception when trying to connect %i: %s" % (e.code, e.detail))
exit(1)
device.setOnSensorChangeHandler(sensorChanged)
from ctypes import *
import sys
import random
from dbconnect import dbconnect
#Phidget specific imports
from Phidgets.PhidgetException import *
from Phidgets.Events.Events import *
from Phidgets.Devices.InterfaceKit import *
connect = dbconnect()
controllerID = 902
connect.disconnected(controllerID)
#Create an interfacekit object
try:
interfaceKit = InterfaceKit()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Event Handler Callback Functions
def inferfaceKitAttached(e):
connect.connected(controllerID)
attached = e.device
print("InterfaceKit %i Attached!" % (attached.getSerialNum()))
def interfaceKitDetached(e):
connect.disconnected(controllerID)
return 0
def LocalErrorCatcher(event):
print("Phidget Exception: " + str(e.code) + " - " + str(e.details) + ", Exiting...")
exit(1)
if __name__ == '__main__':
# f = open('sonar.txt','a')
# f.write('********************************\n')
# f.close()
# Create
try:
device = InterfaceKit()
except RuntimeError as e:
print("Runtime Error: %s" % e.message)
try:
device.setOnAttachHandler(AttachHandler)
device.setOnDetachHandler(DetachHandler)
device.openPhidget()
device.setOnSensorChangeHandler(sensorChanged)
except PhidgetException as e:
LocalErrorCatcher(e)
try:
pub = rospy.Publisher('sonar', Float32)
rospy.init_node('sonar')
except rospy.ROSInterruptException:
import cgitb
cgitb.enable()
errors = ""
# Print the HTML header
print("Content-type: text/html\n\n")
print("<html><title>FULL INTERFACE KIT</title><body>\n")
print('<center><b><font size="16" color="#0000ff">FULL INTERFACEKIT</font></b></center><br>')
print('<font size="4">THIS PROJECT WILL DEVELOP IN A FULL FUNCTIONAL WEB APPLICATION TO CONTROL THE PHIDGETS SBC</font>')
print('<br>© J J Slabbert')
print('<br><a href="mailto:[email protected]">[email protected]</a><br><br>')
# Create, Open, and Attach the Interface Kit
try:
ifk = InterfaceKit()
except RuntimeError as e:
errors = errors + "<h5>Runtime Exception on object creation: " + e.details + "</h5>\n"
try:
ifk.openRemoteIP('192.168.10.106',5001)
except PhidgetException as e:
errors = errors + "<h5>Phidget Exception on Open: " + e.details + "</h5>\n"
try:
ifk.waitForAttach(10000)
except PhidgetException as e:
errors = errors + "<h5>Phidget Exception on Attach: " + e.details + "</h5>\n"
errors = errors + "<h5>If Phidget is 'Not Physically Attached' it may be in use</h5>\n"
print('<table><tr><td>')
