phidgets-ffi 0.0.5 → 0.1.0

data/examples/led.rb

@@ -0,0 +1,36 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+led = Phidgets::LED.new
+
+puts "Wait for PhidgetLED to attached..."
+	  
+#The following method runs when the PhidgetLED is attached to the system
+led.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# LEDs: #{device.leds.size}"
+	
+	device.leds.each do |i|
+		device.leds[i].brightness = 50
+	end
+ 
+end
+	 
+led.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+led.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+sleep 5
+
+led.close

data/examples/manager.rb

@@ -2,16 +2,22 @@ require 'rubygems'
 require 'phidgets-ffi'
 
 Phidgets::Manager.new do |manager|
-  puts manager.devices.inspect
 
-  manager.on_attach do |device_ptr|
-    puts "Attaching #{device_ptr}"
-  end
+	manager.devices.size.times do |i|
+		puts "Attached: #{Phidgets::Common.name(manager.devices[i])}, serial number: #{Phidgets::Common.serial_number(manager.devices[i])}"
+	end
+	puts ''
 
-  manager.on_detach do |device_ptr|
-    puts "Detaching #{device_ptr}"
-  end
-  
-  puts "You have 20 seconds to plug/unplug USB devices and watch the callbacks execute"
-  sleep 20
+	manager.on_attach do |device_ptr, obj|
+	puts "Attaching #{Phidgets::Common.name(device_ptr)}, serial number: #{Phidgets::Common.serial_number(device_ptr)}"
+
+	end
+
+	manager.on_detach do |device_ptr, obj|
+	puts "Detaching #{Phidgets::Common.name(device_ptr)}, serial number: #{Phidgets::Common.serial_number(device_ptr)}"
+
+	end
+
+	puts "You have 20 seconds to plug/unplug USB devices and watch the callbacks execute"
+	sleep 20
 end

data/examples/motor_control.rb

@@ -0,0 +1,108 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+mc = Phidgets::MotorControl.new
+
+puts "Wait for PhidgetMotorControl to attached..."
+	  
+mc.on_attach  do |device, obj|
+	 puts 'attach event'
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# Motors: #{device.motors.size}"
+	puts "# Inputs: #{device.inputs.size}"
+	puts "# Encoders: #{device.encoders.size}"
+	puts "# Sensors: #{device.sensors.size}"
+end
+
+mc.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+mc.on_error do |device, obj, code, description|
+	#puts "Error #{code}: #{description}"
+end
+
+
+mc.on_input_change do |device, input, state|
+ 	puts "Digital Input #{input.index}'s state changed to #{state}"
+end 
+
+=begin
+mc.on_sensor_update do |device, sensor, value|
+ 	puts "Analog Sensor #{sensor.index}'s value is #{value}"
+end 
+=end
+
+mc.on_velocity_change do |device, motor, velocity|
+ 	puts "Motor #{motor.index}'s velocity changed to #{velocity}"
+end 
+
+mc.on_current_change do |device, motor, current|
+ 	puts "Motor #{motor.index}'s current changed to #{current}"
+end 
+
+=begin
+mc.on_current_update do |device, motor, current|
+ 	puts "Motor #{motor.index}'s current is #{current}"
+end 
+=end
+
+=begin
+mc.on_back_emf_update do |device, motor, voltage|
+ 	puts "Motor #{motor.index}'s back EMF is #{voltage}"
+end 
+=end
+
+mc.on_position_change do |device, encoder, time, position|
+ 	puts "Encoder #{encoder.index}'s position changed to #{position} in #{time}"
+end 
+
+=begin
+mc.on_position_update do |device, encoder, position|
+ 	puts "Encoder #{encoder.index}'s position is #{position}"
+end 
+=end
+
+sleep 5
+
+if(mc.attached?)
+	
+	if(mc.id.to_s == "motor_control_1motor")
+	
+		mc.ratiometric = true
+
+		puts "Digital input: #{mc.inputs.inspect}"
+
+		puts "Encoder: #{mc.encoders.inspect}"
+		
+		puts "Analog sensor: #{mc.sensors[0].inspect}"
+		puts "Analog sensor: #{mc.sensors[1].inspect}"	
+		
+		puts "Motor current: #{mc.motors[0].current}"
+
+		mc.motors[0].acceleration = (mc.motors[0].acceleration_max)/2
+		mc.motors[0].back_emf_sensing = true
+		
+	end	
+	
+	puts "Motor acceleration min: #{mc.motors[0].acceleration_min}"
+	puts "Motor acceleration max: #{mc.motors[0].acceleration_max}"
+
+	sleep 1
+	100.times do |i|
+		mc.motors[0].velocity = i
+		sleep 0.1
+		
+	end
+	
+	mc.motors[0].velocity = 0
+	
+	sleep 2
+end
+

data/examples/{ffi → raw-ffi}/dictionary.rb

@@ -25,6 +25,7 @@ ServerDisconnectedHandler = Proc.new { |dict, obj_ptr|
 ptr = FFI::MemoryPointer.new(:pointer)
 CPhidgetDictionary.create(ptr)
 dictionary = ptr.get_pointer(0)
+
 CPhidget_set_OnServerConnect_Handler(dictionary, ServerConnectedHandler, nil)
 CPhidget_set_OnServerDisconnect_Handler(dictionary, ServerDisconnectedHandler, nil)
 CPhidget_set_OnError_Handler(dictionary, ErrorHandler, nil)
@@ -32,7 +33,7 @@ CPhidget_set_OnError_Handler(dictionary, ErrorHandler, nil)
 server_status = FFI::MemoryPointer.new(:int)
 address = FFI::MemoryPointer.new(:string)
 port = FFI::MemoryPointer.new(:int)
-result = CPhidgetDictionary_openRemoteIP(dictionary, "Mactop.local", 5001, nil);
+result = CPhidgetDictionary_openRemoteIP(dictionary, "localhost", 5001, nil);
 while server_status.get_int(0) != 1
   CPhidgetDictionary_getServerStatus(dictionary, server_status)
 end
@@ -42,18 +43,27 @@ CPhidgetDictionary_getServerAddress(dictionary, address, port)
 printf "Address: %s -- Port: %i \n", address.get_pointer(0).read_string, port.get_int(0)
 
 #	Set some keys
+
 sleep 1
 CPhidgetDictionary_addKey(dictionary, "TEST1", "1234", 1)
 CPhidgetDictionary_addKey(dictionary, "TEST2", "5678", 1);
 CPhidgetDictionary_addKey(dictionary, "TEST3", "9012", 0);
 CPhidgetDictionary_addKey(dictionary, "TEST4", "3456", 1);
+
 sleep 2
+
 puts "Delete the 4th key...."
+
 sleep 1
+
 CPhidgetDictionary_removeKey(dictionary, "TEST4")
+
 sleep 2
+
 puts "Press any key to end"
 $stdin.getc
+
 CPhidgetDictionary_close(dictionary);
 CPhidgetDictionary_delete(dictionary);
+
 sleep 10

data/examples/{ffi → raw-ffi}/interface_kit.rb

@@ -24,21 +24,38 @@ else
   ifkit = ifkit.get_pointer(0)
 end
 
-# Create an attachment and detachment handler
 AttachHandler = Proc.new { |device, ptr|
   print "Device attached: #{device_name_for(device)} (#{serial_number_for(device)})\n"
 }
 CPhidget_set_OnAttach_Handler(ifkit, AttachHandler, nil)
+
 DetachHandler = Proc.new { |device, ptr|
   print "Device detached: #{device_name_for(device)} (#{serial_number_for(device)})\n"
 }
 CPhidget_set_OnDetach_Handler(ifkit, DetachHandler, nil)
 
+InputChangeHandler = Proc.new { |device, obj, ind, state|
+  print "Digital input #{ind} changed to #{(state == 0) ? false : true}\n"
+}
+CPhidgetInterfaceKit_set_OnInputChange_Handler(ifkit, InputChangeHandler, nil)
+
+OutputChangeHandler = Proc.new { |device, obj, ind, state|
+  print "Digital output #{ind} changed to #{(state == 0) ? false : true}\n"
+}
+CPhidgetInterfaceKit_set_OnOutputChange_Handler(ifkit, OutputChangeHandler, nil)
+
+SensorChangeHandler = Proc.new { |device, obj, ind, val|
+  print "Sensor #{ind} changed to #{val}\n"
+}
+CPhidgetInterfaceKit_set_OnSensorChange_Handler(ifkit, SensorChangeHandler, nil)
+
 CPhidget_open(ifkit, -1)
 CPhidget_waitForAttachment(ifkit, 10000)
 
+puts Phidgets::Common.serial_number(ifkit)
+
 print "You have 20 seconds to attach/detach the interface kit. It should activate the callback handlers\n"
-sleep 20
+sleep 10
 
 CPhidget_close(ifkit)
 CPhidget_delete(ifkit)

data/examples/{ffi → raw-ffi}/manager.rb

@@ -8,15 +8,18 @@ manager = ptr.get_pointer(0)
 CPhidgetManager.open(manager)
 
 sleep(1)
-devices_ptr, count = FFI::MemoryPointer.new(:pointer, 1), FFI::MemoryPointer.new(:int)
+devices_ptr, count = FFI::MemoryPointer.new(:pointer, 70), FFI::MemoryPointer.new(:int)
 CPhidgetManager.getAttachedDevices(manager, devices_ptr, count)
+
 devices = devices_ptr.get_array_of_pointer(0, count.get_int(0))
 
 ptr1 = FFI::MemoryPointer.new(:string)
 ptr2 = FFI::MemoryPointer.new(:int)
-devices.each_with_index do |device, i|
-  device = device.get_pointer(0)
 
+count.get_int(0).times do |i|
+  device = devices[0].get_pointer(i*4)     #On Mac OS X, it is i*4
+#  device = devices[0].get_pointer(i*4)    #On Linux, it is i*8
+  
   Common.getDeviceName(device, ptr1)
   name =  ptr1.get_pointer(0).read_string
 

data/examples/rfid.rb

@@ -0,0 +1,63 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+rfid = Phidgets::RFID.new
+
+puts "Wait for PhidgetRFID to attached..."
+	  
+#The following method runs when the PhidgetRFID is attached to the system
+rfid.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "# Digital Outputs: #{device.outputs.size}"
+	
+	rfid.outputs[0].state = true
+	puts rfid.outputs.inspect
+	
+	rfid.antenna = true
+	rfid.led = true
+	sleep 1
+	
+end
+	 
+rfid.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+rfid.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+rfid.on_output_change do |device, output, state, obj|
+	puts "Output #{output.index}'s state has changed to #{state}"
+end
+	
+rfid.on_tag	do |device, tag, obj|
+	puts "Tag #{tag} detected"
+end
+
+rfid.on_tag_lost do |device, tag, obj|
+	puts "Tag #{tag} removed"
+end
+
+puts "Please insert a tag to read read ..."		
+
+sleep 3
+	
+if(rfid.attached?)
+	sleep 1
+
+	begin
+		puts "Tag present: #{rfid.tag_present}"
+		puts "Last tag: #{rfid.last_tag}"
+	rescue Phidgets::Error::UnknownVal => e
+		puts "Exception caught: #{e.message}"
+	end
+end
+
+rfid.close

data/examples/servo.rb

@@ -2,35 +2,50 @@ require 'rubygems'
 require 'phidgets-ffi'
 
 puts "Library Version: #{Phidgets::FFI.library_version}"
-Phidgets::ServoController.new(-1) do |controller|
-  puts "Device Attributes: #{controller.attributes.inspect}"
-  servo = controller.servos[0]
-  puts "Current Type: #{servo.type}"
-  puts "Default Min/Max: #{servo.min}/#{servo.max}"
-  puts "Device Name: #{controller.name}"
-  puts "Device Type: #{controller.type}"
-  puts "Device SN: #{controller.serial_number}"
-  puts "Device Version: #{controller.version}"
-
-  puts "Device Label: #{controller.label}"
-  controller.on_change do |servo, position, obj|
-    print "Moving servo #{servo.index} to #{position}\n"
-  end
-  
-  controller.on_detach do |obj, data|
-    print "Detached #{obj.type}\n"
-  end
-
-  controller.on_attach do |obj, data|
-    print "Attached #{obj.type}\n"
-  end
-
-  max = servo.max
-  10.times do
-    controller.wait_for_attachment
-    servo.position = rand(max)
-    sleep 0.5
-  end
-  servo.engaged = false
+
+servo = Phidgets::Servo.new
+	  
+puts "Wait for PhidgetServo to attached..."
+
+#The following method runs when the PhidgetServo is attached to the system
+servo.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# Servos: #{device.servos.size}"
+
+	device.servos[0].engaged = true
+	device.servos[0].type = Phidgets::FFI::ServoType[:default]
+	puts "Setting servo parameters: #{device.servos[0].set_servo_parameters(600, 2000, 120)}"
+	sleep 1
+
+end
+	 
+servo.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+servo.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+servo.on_position_change do |device, motor, position|
+	puts "Moving servo #{motor.index} to #{position}"
+end
+
+sleep 5
+
+if servo.attached?
+	max = servo.servos[0].position_max
+	3.times do
+		servo.servos[0].position = rand(max)
+		sleep 1
+	end
 end
 
+servo.servos[0].engaged = false
+sleep 1
+servo.close

data/examples/spatial.rb

@@ -0,0 +1,75 @@
+require 'rubygems'
+require 'phidgets-ffi'
+
+puts "Library Version: #{Phidgets::FFI.library_version}"
+
+spatial = Phidgets::Spatial.new
+
+puts "Wait for PhidgetSpatial to attached..."
+	  
+#The following method runs when the PhidgetSpatial is attached to the system
+spatial.on_attach  do |device, obj|
+	 
+    puts "Device attributes: #{device.attributes} attached"
+    puts "Class: #{device.device_class}"
+	puts "Id: #{device.id}"
+	puts "Serial number: #{device.serial_number}"
+	puts "Version: #{device.version}"
+	puts "# Accelerometer Axes: #{device.accelerometer_axes.size}"
+	puts "# Compass Axes: #{device.compass_axes.size}"
+	puts "# Gyro Axes: #{device.gyro_axes.size}"	
+	
+    device.accelerometer_axes.size.times do |i|
+		puts "Acceleration Axis[#{i}]: #{device.accelerometer_axes[i].acceleration}"
+		puts "Acceleration Axis[#{i}] Min: #{device.accelerometer_axes[i].acceleration_min}"
+		puts "Acceleration Axis[#{i}] Max: #{device.accelerometer_axes[i].acceleration_max}"
+	end
+	
+	device.compass_axes.size.times do |i|
+		#Even when there is a compass chip, sometimes there won't be valid data in the event.
+		begin
+			puts "Compass Axis[#{i}]: #{device.compass_axes[i].magnetic_field}"
+		rescue Phidgets::Error::UnknownVal => e
+			puts "Exception caught: #{e.message}"
+		end
+		puts "Compass Axis[#{i}] Min: #{device.compass_axes[i].magnetic_field_min}"
+		puts "Compass Axis[#{i}] Max: #{device.compass_axes[i].magnetic_field_max}"
+	end
+
+	device.gyro_axes.size.times do |i|
+		puts "Gyro Axis[#{i}]: #{device.gyro_axes[i].angular_rate}"
+		puts "Gyro Axis[#{i}] Min: #{device.gyro_axes[i].angular_rate_min}"
+		puts "Gyro Axis[#{i}] Max: #{device.gyro_axes[i].angular_rate_max}"
+	end
+	
+end
+	 
+spatial.on_detach  do |device, obj|
+	puts "#{device.attributes.inspect} detached"
+end
+
+spatial.on_error do |device, obj, code, description|
+	puts "Error #{code}: #{description}"
+end
+
+spatial.on_spatial_data do |device, acceleration, magnetic_field, angular_rate|
+	if acceleration.size > 0
+		puts "Acceleration: #{acceleration[0]}, #{acceleration[1]}, #{acceleration[2]}"
+	end
+		
+    if magnetic_field.size > 0
+    	puts "Magnetic field: #{magnetic_field[0]}, #{magnetic_field[1]}, #{magnetic_field[2]}"
+    end
+		
+	if angular_rate.size > 0
+    	puts "Angular rate: #{angular_rate[0]}, #{angular_rate[1]}, #{angular_rate[2]}"
+    end
+end 
+
+sleep 2
+
+if spatial.attached?
+	sleep 1
+end
+
+sleep 10