phidgets 0.1.3 → 1.0.0

data/ext/phidgets/phidgets_digital_output.c

@@ -0,0 +1,288 @@
+
+#include "phidgets.h"
+
+#define DIGITAL_OUTPUT_DUTY_CYCLE_ASYNC_CALLBACK         0
+#define DIGITAL_OUTPUT_LED_CURRENT_LIMIT_ASYNC_CALLBACK  1
+#define DIGITAL_OUTPUT_STATE_ASYNC_CALLBACK              2
+
+
+VALUE ph_digital_output_init(VALUE self) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_raise(PhidgetDigitalOutput_create((PhidgetDigitalOutputHandle *)(&(ph->handle))));
+  return self;
+}
+
+VALUE ph_digital_output_get_duty_cycle(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetDigitalOutput_getDutyCycle);
+}
+
+VALUE ph_digital_output_set_duty_cycle(VALUE self, VALUE duty_cycle) {
+  ph_raise(PhidgetDigitalOutput_setDutyCycle((PhidgetDigitalOutputHandle)get_ph_handle(self), NUM2DBL(duty_cycle)));
+  return Qnil;
+}
+
+VALUE ph_digital_output_get_min_duty_cycle(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetDigitalOutput_getMinDutyCycle);
+}
+
+VALUE ph_digital_output_get_max_duty_cycle(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetDigitalOutput_getMaxDutyCycle);
+}
+
+VALUE ph_digital_output_get_led_current_limit(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetDigitalOutput_getLEDCurrentLimit);
+}
+
+VALUE ph_digital_output_set_led_current_limit(VALUE self, VALUE current_limit) {
+  ph_raise(PhidgetDigitalOutput_setLEDCurrentLimit((PhidgetDigitalOutputHandle)get_ph_handle(self), NUM2DBL(current_limit)));
+  return Qnil;
+}
+
+VALUE ph_digital_output_get_min_led_current_limit(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetDigitalOutput_getMinLEDCurrentLimit);
+}
+
+VALUE ph_digital_output_get_max_led_current_limit(VALUE self) {
+  return ph_get_double(get_ph_handle(self), (phidget_get_double_func)PhidgetDigitalOutput_getMaxLEDCurrentLimit);
+}
+
+VALUE ph_digital_output_get_led_forward_voltage(VALUE self) {
+  return ph_get_int(get_ph_handle(self), (phidget_get_int_func)PhidgetDigitalOutput_getLEDForwardVoltage);
+}
+
+VALUE ph_digital_output_set_led_forward_voltage(VALUE self, VALUE forward_voltage) {
+  ph_raise(PhidgetDigitalOutput_setLEDForwardVoltage((PhidgetDigitalOutputHandle)get_ph_handle(self), NUM2INT(forward_voltage)));
+  return Qnil;
+}
+
+VALUE ph_digital_output_get_state(VALUE self) {
+  return ph_get_bool(get_ph_handle(self), (phidget_get_bool_func)PhidgetDigitalOutput_getState);
+}
+
+VALUE ph_digital_output_set_state(VALUE self, VALUE state) {
+  ph_raise(PhidgetDigitalOutput_setState((PhidgetDigitalOutputHandle)get_ph_handle(self), TYPE(state) == T_TRUE ? PTRUE : PFALSE));
+  return Qnil;
+}
+
+
+
+void CCONV ph_digital_output_duty_cycle_async(PhidgetHandle phid, void *userPtr, PhidgetReturnCode res) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  callback_data->exit = true;
+  callback_data->arg1 = INT2NUM(res);
+  callback_data->arg2 = Qnil;
+  callback_data->arg3 = Qnil;
+  callback_data->arg4 = Qnil;
+  sem_post(&callback_data->callback_called);
+}
+
+VALUE ph_digital_output_set_duty_cycle_async(VALUE self, VALUE duty_cycle, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[DIGITAL_OUTPUT_DUTY_CYCLE_ASYNC_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    PhidgetDigitalOutput_setDutyCycle_async((PhidgetDigitalOutputHandle)ph->handle, NUM2DBL(duty_cycle), NULL, (void *)NULL);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    PhidgetDigitalOutput_setDutyCycle_async((PhidgetDigitalOutputHandle)ph->handle, NUM2DBL(duty_cycle), ph_digital_output_duty_cycle_async, (void *)callback_data);
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void CCONV ph_digital_output_led_current_limit_async(PhidgetHandle phid, void *userPtr, PhidgetReturnCode res) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  callback_data->exit = true;
+  callback_data->arg1 = INT2NUM(res);
+  callback_data->arg2 = Qnil;
+  callback_data->arg3 = Qnil;
+  callback_data->arg4 = Qnil;
+  sem_post(&callback_data->callback_called);
+}
+
+VALUE ph_digital_output_set_led_current_limit_async(VALUE self, VALUE current_limit, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[DIGITAL_OUTPUT_LED_CURRENT_LIMIT_ASYNC_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    PhidgetDigitalOutput_setLEDCurrentLimit_async((PhidgetDigitalOutputHandle)ph->handle, NUM2DBL(current_limit), NULL, (void *)NULL);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    PhidgetDigitalOutput_setLEDCurrentLimit_async((PhidgetDigitalOutputHandle)ph->handle, NUM2DBL(current_limit), ph_digital_output_led_current_limit_async, (void *)callback_data);
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void CCONV ph_digital_output_state_async(PhidgetHandle phid, void *userPtr, PhidgetReturnCode res) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  callback_data->exit = true;
+  callback_data->arg1 = INT2NUM(res);
+  callback_data->arg2 = Qnil;
+  callback_data->arg3 = Qnil;
+  callback_data->arg4 = Qnil;
+  sem_post(&callback_data->callback_called);
+}
+
+VALUE ph_digital_output_set_state_async(VALUE self, VALUE state, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[DIGITAL_OUTPUT_STATE_ASYNC_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    PhidgetDigitalOutput_setState_async((PhidgetDigitalOutputHandle)ph->handle, TYPE(state) == T_TRUE ? PTRUE : PFALSE, NULL, (void *)NULL);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    PhidgetDigitalOutput_setState_async((PhidgetDigitalOutputHandle)ph->handle, TYPE(state) == T_TRUE ? PTRUE : PFALSE, ph_digital_output_state_async, (void *)callback_data);
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void Init_digital_output() {
+  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
+  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
+  VALUE ph_digital_output = rb_define_class_under(ph_module, "DigitalOutput", ph_common);
+
+
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_1_7V", INT2NUM(LED_FORWARD_VOLTAGE_1_7V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_2_75V", INT2NUM(LED_FORWARD_VOLTAGE_2_75V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_3_2V", INT2NUM(LED_FORWARD_VOLTAGE_3_2V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_3_9V", INT2NUM(LED_FORWARD_VOLTAGE_3_9V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_4_0V", INT2NUM(LED_FORWARD_VOLTAGE_4_0V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_4_8V", INT2NUM(LED_FORWARD_VOLTAGE_4_8V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_5_0V", INT2NUM(LED_FORWARD_VOLTAGE_5_0V));
+  rb_define_const(ph_digital_output, "LED_FORWARD_VOLTAGE_5_6V", INT2NUM(LED_FORWARD_VOLTAGE_5_6V));
+
+
+  /* Document-method: new
+   * call-seq: new
+   *
+   * Creates a Phidget DigitalOutput object.
+   */
+  rb_define_method(ph_digital_output, "initialize", ph_digital_output_init, 0);
+
+  /* Document-method: getDutyCycle
+   * call-seq: getDutyCycle -> duty_cycle
+   *
+   * The DutyCycle represents the fraction of time the output is on (high).
+   * A DutyCycle of 1.0 translates to a high output, a DutyCycle of 0 translates to a low output.
+   * A DutyCycle of 0.5 translates to an output that is high half the time, which results in an average output voltage of (output voltage x 0.5)
+   * You can use the DutyCycle to create a dimming effect on LEDs.
+   */
+  rb_define_method(ph_digital_output, "getDutyCycle", ph_digital_output_get_duty_cycle, 0);
+  rb_define_alias(ph_digital_output, "duty_cycle", "getDutyCycle");
+
+  /* Document-method: setDutyCycle
+   * call-seq: setDutyCycle(duty_cycle)
+   *
+   * The DutyCycle represents the fraction of time the output is on (high).
+   * This will override the State setting on the channel.
+   * A DutyCycle of 1.0 translates to a high output, a DutyCycle of 0 translates to a low output.
+   * This is equivalent to setting a State of TRUE and FALSE respectively.
+   * A DutyCycle of 0.5 translates to an output that is high half the time, which results in an average output voltage of (output voltage x 0.5)
+   * You can use the DutyCycle to create a dimming effect on LEDs.
+   * If the DigitalOutput channel you are using does not support PWM, then this value may only be set to 1.0 or 0.0.
+   */
+  rb_define_method(ph_digital_output, "setDutyCycle", ph_digital_output_set_duty_cycle, 1);
+  rb_define_alias(ph_digital_output, "duty_cycle=", "setDutyCycle");
+
+  /* Document-method: getMinDutyCycle
+   * call-seq: getMinDutyCycle -> min_duty_cycle
+   *
+   * The minimum value that DutyCycle can be set to.
+   */
+  rb_define_method(ph_digital_output, "getMinDutyCycle", ph_digital_output_get_min_duty_cycle, 0);
+  rb_define_alias(ph_digital_output, "min_duty_cycle", "getMinDutyCycle");
+
+  /* Document-method: getMaxDutyCycle
+   * call-seq: getMaxDutyCycle -> max_duty_cycle
+   *
+   * The maximum value that DutyCycle can be set to.
+   */
+  rb_define_method(ph_digital_output, "getMaxDutyCycle", ph_digital_output_get_max_duty_cycle, 0);
+  rb_define_alias(ph_digital_output, "max_duty_cycle", "getMaxDutyCycle");
+
+  /* Document-method: getLEDCurrentLimit
+   * call-seq: getLEDCurrentLimit -> current_limit
+   *
+   * The LEDCurrentLimit is the maximum amount of current that the controller will provide to the output.
+   * Reference the data sheet of the LED you are using before setting this value.
+   */
+  rb_define_method(ph_digital_output, "getLEDCurrentLimit", ph_digital_output_get_led_current_limit, 0);
+  rb_define_alias(ph_digital_output, "led_current_limit", "getLEDCurrentLimit");
+
+  /* Document-method: setLEDCurrentLimit
+   * call-seq: setLEDCurrentLimit(current_limit)
+   *
+   * The LEDCurrentLimit is the maximum amount of current that the controller will provide to the output.
+   * Reference the data sheet of the LED you are using before setting this value.
+   */
+  rb_define_method(ph_digital_output, "setLEDCurrentLimit", ph_digital_output_set_led_current_limit, 1);
+  rb_define_alias(ph_digital_output, "led_current_limit=", "setLEDCurrentLimit");
+
+  /* Document-method: getMinLEDCurrentLimit
+   * call-seq: getMinLEDCurrentLimit -> min_current_limit
+   *
+   * The minimum value that LEDCurrentLimit can be set to.
+   */
+  rb_define_method(ph_digital_output, "getMinLEDCurrentLimit", ph_digital_output_get_min_led_current_limit, 0);
+  rb_define_alias(ph_digital_output, "min_led_current_limit", "getMinLEDCurrentLimit");
+
+  /* Document-method: getMaxLEDCurrentLimit
+   * call-seq: getMaxLEDCurrentLimit -> max_current_limit
+   *
+   * The maximum value that LEDCurrentLimit can be set to.
+   */
+  rb_define_method(ph_digital_output, "getMaxLEDCurrentLimit", ph_digital_output_get_max_led_current_limit, 0);
+  rb_define_alias(ph_digital_output, "max_led_current_limit", "getMaxLEDCurrentLimit");
+
+  /* Document-method: getLEDForwardVoltage
+   * call-seq: getLEDForwardVoltage -> forward_voltage
+   *
+   * The LEDForwardVoltage is the voltage that will be available to your LED.
+   * Reference the data sheet of the LED you are using before setting this value. Choose the LEDForwardVoltage that is closest to the forward voltage specified in the data sheet.
+   * This forward voltage is shared for all channels on this device. Setting the LEDForwardVoltage on any channel will set the LEDForwardVoltage for all channels on the device.
+   */
+  rb_define_method(ph_digital_output, "getLEDForwardVoltage", ph_digital_output_get_led_forward_voltage, 0);
+  rb_define_alias(ph_digital_output, "led_forward_voltage", "getLEDForwardVoltage");
+
+  /* Document-method: setLEDForwardVoltage
+   * call-seq: setLEDForwardVoltage(forward_voltage)
+   *
+   * The LEDForwardVoltage is the voltage that will be available to your LED.
+   * Reference the data sheet of the LED you are using before setting this value. Choose the LEDForwardVoltage that is closest to the forward voltage specified in the data sheet.
+   * This forward voltage is shared for all channels on this device. Setting the LEDForwardVoltage on any channel will set the LEDForwardVoltage for all channels on the device.
+   */
+  rb_define_method(ph_digital_output, "setLEDForwardVoltage", ph_digital_output_set_led_forward_voltage, 1);
+  rb_define_alias(ph_digital_output, "led_forward_voltage=", "setLEDForwardVoltage");
+
+  /* Document-method: getState
+   * call-seq: getState -> state
+   *
+   * The State will indicate whether the output is high (true) or low (false).
+   * If a DutyCycle has been set, the state will return as true if the DutyCycle is above 0.5, or false otherwise.
+   */
+  rb_define_method(ph_digital_output, "getState", ph_digital_output_get_state, 0);
+  rb_define_alias(ph_digital_output, "state", "getState");
+
+  /* Document-method: setState
+   * call-seq: setState(state)
+   *
+   * The State will dictate whether the output is constantly high (TRUE) or low (FALSE).
+   * This will override any DutyCycle that may have been set on the channel.
+   * Setting the State to TRUE is the same as setting DutyCycle to 1.0, and setting the State to FALSE is the same as setting a DutyCycle of 0.0.
+   */
+  rb_define_method(ph_digital_output, "setState", ph_digital_output_set_state, 1);
+  rb_define_alias(ph_digital_output, "state=", "setState");
+
+  rb_define_private_method(ph_digital_output, "ext_setDutyCycle_async", ph_digital_output_set_duty_cycle_async, 2);
+  rb_define_private_method(ph_digital_output, "ext_setLEDCurrentLimit_async", ph_digital_output_set_led_current_limit_async, 2);
+  rb_define_private_method(ph_digital_output, "ext_setState_async", ph_digital_output_set_state_async, 2);
+}
+

data/ext/phidgets/phidgets_distance_sensor.c

@@ -0,0 +1,295 @@
+
+#include "phidgets.h"
+
+#define DISTANCE_SENSOR_DISTANCE_CHANGE_CALLBACK           0
+#define DISTANCE_SENSOR_SONAR_REFLECTIONS_UPDATE_CALLBACK  1
+
+
+VALUE ph_distance_init(VALUE self) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_raise(PhidgetDistanceSensor_create((PhidgetDistanceSensorHandle *)(&(ph->handle))));
+  return self;
+}
+
+VALUE ph_distance_get_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getDataInterval);
+}
+
+VALUE ph_distance_set_data_interval(VALUE self, VALUE interval) {
+  ph_raise(PhidgetDistanceSensor_setDataInterval((PhidgetDistanceSensorHandle)get_ph_handle(self), NUM2UINT(interval)));
+  return Qnil;
+}
+
+VALUE ph_distance_get_min_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getMinDataInterval);
+}
+
+VALUE ph_distance_get_max_data_interval(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getMaxDataInterval);
+}
+
+VALUE ph_distance_get_distance(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getDistance);
+}
+
+VALUE ph_distance_get_min_distance(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getMinDistance);
+}
+
+VALUE ph_distance_get_max_distance(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getMaxDistance);
+}
+
+VALUE ph_distance_get_distance_change_trigger(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getDistanceChangeTrigger);
+}
+
+VALUE ph_distance_set_distance_change_trigger(VALUE self, VALUE trigger) {
+  ph_raise(PhidgetDistanceSensor_setDistanceChangeTrigger((PhidgetDistanceSensorHandle)get_ph_handle(self), NUM2UINT(trigger)));
+  return Qnil;
+}
+
+VALUE ph_distance_get_min_distance_change_trigger(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getMinDistanceChangeTrigger);
+}
+
+VALUE ph_distance_get_max_distance_change_trigger(VALUE self) {
+  return ph_get_uint(get_ph_handle(self), (phidget_get_uint_func)PhidgetDistanceSensor_getMaxDistanceChangeTrigger);
+}
+
+VALUE ph_distance_get_sonar_quiet_mode(VALUE self) {
+  return ph_get_bool(get_ph_handle(self), (phidget_get_bool_func)PhidgetDistanceSensor_getSonarQuietMode);
+}
+
+VALUE ph_distance_set_sonar_quiet_mode(VALUE self, VALUE mode) {
+  ph_raise(PhidgetDistanceSensor_setSonarQuietMode((PhidgetDistanceSensorHandle)get_ph_handle(self), TYPE(mode) == T_TRUE ? PTRUE : PFALSE));
+  return Qnil;
+}
+
+VALUE ph_distance_get_sonar_reflections(VALUE self) {
+  PhidgetDistanceSensorHandle handle = (PhidgetDistanceSensorHandle)get_ph_handle(self);
+  uint32_t distances[8];
+  uint32_t amplitudes[8];
+  uint32_t count, i;
+  VALUE rb_reflections = rb_hash_new();
+  VALUE rb_distances = rb_ary_new();
+  VALUE rb_amplitudes = rb_ary_new();
+  ph_raise(PhidgetDistanceSensor_getSonarReflections(handle, &distances, &amplitudes, &count));
+  for(i=0; i<count; i++) {
+    rb_ary_push(rb_distances, UINT2NUM(distances[i]));
+    rb_ary_push(rb_amplitudes, UINT2NUM(amplitudes[i]));
+  }
+  rb_hash_aset(rb_reflections, rb_str_new2("distances"), rb_distances);
+  rb_hash_aset(rb_reflections, rb_str_new2("amplitudes"), rb_amplitudes);
+  return rb_reflections;
+}
+
+
+void CCONV ph_distance_on_distance_change(PhidgetDistanceSensorHandle phid, void *userPtr, uint32_t distance) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  while(sem_wait(&callback_data->handler_ready)!=0) {};
+  callback_data->arg1 = UINT2NUM(distance);
+  callback_data->arg2 = Qnil;
+  callback_data->arg3 = Qnil;
+  callback_data->arg4 = Qnil;
+  sem_post(&callback_data->callback_called);
+}
+
+
+VALUE ph_distance_set_on_distance_change_handler(VALUE self, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[DISTANCE_SENSOR_DISTANCE_CHANGE_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    callback_data->callback = T_NIL;
+    callback_data->exit = true;
+    ph_raise(PhidgetDistanceSensor_setOnDistanceChangeHandler((PhidgetDistanceSensorHandle)ph->handle, NULL, (void *)NULL));
+    sem_post(&callback_data->callback_called);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    ph_raise(PhidgetDistanceSensor_setOnDistanceChangeHandler((PhidgetDistanceSensorHandle)ph->handle, ph_distance_on_distance_change, (void *)callback_data));
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void CCONV ph_distance_on_sonar_reflections_update(PhidgetDistanceSensorHandle phid, void *userPtr, const uint32_t distances[8], const uint32_t amplitudes[8], uint32_t count) {
+  ph_callback_data_t *callback_data = ((ph_callback_data_t *)userPtr);
+  uint32_t i;
+  VALUE rb_distances = rb_ary_new();
+  VALUE rb_amplitudes = rb_ary_new();
+  for(i=0; i<count; i++) {
+    rb_ary_push(rb_distances, UINT2NUM(distances[i]));
+    rb_ary_push(rb_amplitudes, UINT2NUM(amplitudes[i]));
+  }
+  while(sem_wait(&callback_data->handler_ready)!=0) {};
+  callback_data->arg1 = rb_distances;
+  callback_data->arg2 = rb_amplitudes;
+  callback_data->arg3 = Qnil;
+  callback_data->arg4 = Qnil;
+  sem_post(&callback_data->callback_called);
+}
+
+
+VALUE ph_distance_set_on_sonar_reflections_update_handler(VALUE self, VALUE handler) {
+  ph_data_t *ph = get_ph_data(self);
+  ph_callback_data_t *callback_data = &ph->dev_callbacks[DISTANCE_SENSOR_SONAR_REFLECTIONS_UPDATE_CALLBACK];
+  if( TYPE(handler) == T_NIL ) {
+    callback_data->callback = T_NIL;
+    callback_data->exit = true;
+    ph_raise(PhidgetDistanceSensor_setOnSonarReflectionsUpdateHandler((PhidgetDistanceSensorHandle)ph->handle, NULL, (void *)NULL));
+    sem_post(&callback_data->callback_called);
+  } else {
+    callback_data->exit = false;
+    callback_data->phidget = self;
+    callback_data->callback = handler;
+    ph_raise(PhidgetDistanceSensor_setOnSonarReflectionsUpdateHandler((PhidgetDistanceSensorHandle)ph->handle, ph_distance_on_sonar_reflections_update, (void *)callback_data));
+    ph_callback_thread(callback_data);
+  }
+  return Qnil;
+}
+
+
+void Init_distance() {
+  VALUE ph_module = rb_const_get(rb_cObject, rb_intern("Phidgets"));
+  VALUE ph_common = rb_const_get(ph_module, rb_intern("Common"));
+  VALUE ph_distance = rb_define_class_under(ph_module, "DistanceSensor", ph_common);
+
+  /* Document-method: new
+   * call-seq: new
+   *
+   * Creates a Phidget DistanceSensor object.
+   */
+  rb_define_method(ph_distance, "initialize", ph_distance_init, 0);
+
+  /* Document-method: getDataInterval
+   * call-seq: getDataInterval -> interval
+   *
+   * The DataInterval is the time that must elapse before the channel will fire another event.
+   * The data interval is bounded by MinDataInterval and MaxDataInterval.
+   * The timing between events can also affected by the change trigger.
+   */
+  rb_define_method(ph_distance, "getDataInterval", ph_distance_get_data_interval, 0);
+  rb_define_alias(ph_distance, "data_interval", "getDataInterval");
+
+  /* Document-method: setDataInterval
+   * call-seq: setDataInterval(interval)
+   *
+   * The DataInterval is the time that must elapse before the channel will fire another event.
+   * The data interval is bounded by MinDataInterval and MaxDataInterval.
+   * The timing between events can also affected by the change trigger.
+   */
+  rb_define_method(ph_distance, "setDataInterval", ph_distance_set_data_interval, 1);
+  rb_define_alias(ph_distance, "data_interval=", "setDataInterval");
+
+  /* Document-method: getMinDataInterval
+   * call-seq: getMinDataInterval -> interval
+   *
+   * The minimum value that DataInterval can be set to.
+   */
+  rb_define_method(ph_distance, "getMinDataInterval", ph_distance_get_min_data_interval, 0);
+  rb_define_alias(ph_distance, "min_data_interval", "getMinDataInterval");
+
+  /* Document-method: getMaxDataInterval
+   * call-seq: getMaxDataInterval -> interval
+   *
+   * The maximum value that DataInterval can be set to.
+   */
+  rb_define_method(ph_distance, "getMaxDataInterval", ph_distance_get_max_data_interval, 0);
+  rb_define_alias(ph_distance, "max_data_interval", "getMaxDataInterval");
+
+  /* Document-method: getDistance
+   * call-seq: getDistance -> distance
+   *
+   * The most recent distance value that the channel has reported.
+   * This value will always be between MinDistance and MaxDistance.
+   */
+  rb_define_method(ph_distance, "getDistance", ph_distance_get_distance, 0);
+  rb_define_alias(ph_distance, "distance", "getDistance");
+
+  /* Document-method: getMinDistance
+   * call-seq: getMinDistance -> distance
+   *
+   * The minimum distance that a event will report.
+   */
+  rb_define_method(ph_distance, "getMinDistance", ph_distance_get_min_distance, 0);
+  rb_define_alias(ph_distance, "min_distance", "getMinDistance");
+
+  /* Document-method: getMaxDistance
+   * call-seq: getMaxDistance -> distance
+   *
+   * The maximum distance that a event will report.
+   */
+  rb_define_method(ph_distance, "getMaxDistance", ph_distance_get_max_distance, 0);
+  rb_define_alias(ph_distance, "max_distance", "getMaxDistance");
+
+  /* Document-method: getDistanceChangeTrigger
+   * call-seq: getDistanceChangeTrigger -> change_trigger
+   *
+   * The channel will not issue an event until the distance value has changed by the amount specified by the DistanceChangeTrigger.
+   * Setting the DistanceChangeTrigger to 0 will result in the channel firing events every DataInterval. This is useful for applications that implement their own data filtering.
+   */
+  rb_define_method(ph_distance, "getDistanceChangeTrigger", ph_distance_get_distance_change_trigger, 0);
+  rb_define_alias(ph_distance, "distance_change_trigger", "getDistanceChangeTrigger");
+
+  /* Document-method: setDistanceChangeTrigger
+   * call-seq: setDistanceChangeTrigger(change_trigger)
+   *
+   * The channel will not issue an event until the distance value has changed by the amount specified by the DistanceChangeTrigger.
+   * Setting the DistanceChangeTrigger to 0 will result in the channel firing events every DataInterval. This is useful for applications that implement their own data filtering.
+   */
+  rb_define_method(ph_distance, "setDistanceChangeTrigger", ph_distance_set_distance_change_trigger, 1);
+  rb_define_alias(ph_distance, "distance_change_trigger=", "setDistanceChangeTrigger");
+
+  /* Document-method: getMinDistanceChangeTrigger
+   * call-seq: getMinDistanceChangeTrigger -> change_trigger
+   *
+   * The minimum value that DistanceChangeTrigger can be set to.
+   */
+  rb_define_method(ph_distance, "getMinDistanceChangeTrigger", ph_distance_get_min_distance_change_trigger, 0);
+  rb_define_alias(ph_distance, "min_distance_change_trigger", "getMinDistanceChangeTrigger");
+
+  /* Document-method: getMaxDistanceChangeTrigger
+   * call-seq: getMaxDistanceChangeTrigger -> change_trigger
+   *
+   * The maximum value that DistanceChangeTrigger can be set to.
+   */
+  rb_define_method(ph_distance, "getMaxDistanceChangeTrigger", ph_distance_get_max_distance_change_trigger, 0);
+  rb_define_alias(ph_distance, "max_distance_change_trigger", "getMaxDistanceChangeTrigger");
+
+  /* Document-method: getSonarQuietMode
+   * call-seq: getSonarQuietMode -> true or false
+   *
+   * When set to true, the device will operate more quietly.
+   * The measurable range is reduced when operating in quiet mode.
+   */
+  rb_define_method(ph_distance, "getSonarQuietMode", ph_distance_get_sonar_quiet_mode, 0);
+  rb_define_alias(ph_distance, "sonar_quiet_mode", "getSonarQuietMode");
+
+  /* Document-method: setSonarQuietMode
+   * call-seq: setSonarQuietMode(quiet_mode)
+   *
+   * When set to true, the device will operate more quietly.
+   * The measurable range is reduced when operating in quiet mode.
+   */
+  rb_define_method(ph_distance, "setSonarQuietMode", ph_distance_set_sonar_quiet_mode, 1);
+  rb_define_alias(ph_distance, "sonar_quiet_mode=", "setSonarQuietMode");
+
+  /* Document-method: getSonarReflections
+   * call-seq: getSonarReflections -> reflections
+   *
+   * The most recent reflection values that the channel has reported.
+   * The distance values will always be between MinDistance and MaxDistance.
+   * The closest reflection will be placed at index 0 of the distances array, and the furthest reflection at index 7
+   * The amplitude values are relative amplitudes of the reflections that are normalized to an arbitrary scale.
+   */
+  rb_define_method(ph_distance, "getSonarReflections", ph_distance_get_sonar_reflections, 0);
+  rb_define_alias(ph_distance, "sonar_reflections", "getSonarReflections");
+
+
+  rb_define_private_method(ph_distance, "ext_setOnDistanceChangeHandler", ph_distance_set_on_distance_change_handler, 1);
+  rb_define_private_method(ph_distance, "ext_setOnSonarReflectionsUpdateHandler", ph_distance_set_on_sonar_reflections_update_handler, 1);
+}
+