phidgets4r 0.0.2

data/lib/phidgets/common.rb

@@ -0,0 +1,409 @@
+
+require 'dl'
+require 'rbconfig'
+
+module Phidgets
+
+  NOTATTACHED                 = 0
+  ATTACHED                    = 1
+
+  CLASS_NOTHING               = 1
+  CLASS_ACCELEROMETER         = 2
+  CLASS_ADVANCEDSERVO         = 3
+  CLASS_ENCODER               = 4
+  CLASS_GPS                   = 5
+  CLASS_GYROSCOPE             = 6
+  CLASS_INTERFACEKIT          = 7
+  CLASS_LED                   = 8
+  CLASS_MOTORCONTROL          = 9
+  CLASS_PHSENSOR              = 10
+  CLASS_RFID                  = 11
+  CLASS_SERVO                 = 12
+  CLASS_STEPPER               = 13
+  CLASS_TEMPERATURESENSOR     = 14 
+  CLASS_TEXTLCD               = 15
+  CLASS_TEXTLED               = 16
+  CLASS_WEIGHTSENSOR          = 17
+
+  ID_ACCELEROMETER_2AXIS      = 0x071
+  ID_ACCELEROMETER_3AXIS      = 0x07E
+  ID_ADVANCEDSERVO_8MOTOR     = 0x03A
+  ID_BIPOLAR_STEPPER_1MOTOR   = 0x07B
+  ID_ENCODER_1ENCODER_1INPUT  = 0x04B
+  ID_ENCODER_HS_1ENCODER      = 0x080
+  ID_INTERFACEKIT_0_0_4       = 0x040
+  ID_INTERFACEKIT_0_0_8       = 0x081
+  ID_INTERFACEKIT_0_16_16     = 0x044
+  ID_INTERFACEKIT_8_8_8       = 0x045
+  ID_INTERFACEKIT_8_8_8_w_LCD = 0x07D
+  ID_LED_64                   = 0x04A
+  ID_LINEAR_TOUCH             = 0x076
+  ID_MOTORCONTROL_HC_2MOTOR   = 0x059
+  ID_MOTORCONTROL_LV_2MOTOR_4INPUT = 0x058
+  ID_PHSENSOR                 = 0x074
+  ID_RFID_2OUTPUT             = 0x031
+  ID_ROTARY_TOUCH             = 0x077
+  ID_SERVO_1MOTOR             = 0x039
+  ID_TEMPERATURESENSOR        = 0x070
+  ID_TEXTLCD_2x20_w_8_8_8     = 0x17D
+  ID_UNIPOLAR_STEPPER_4MOTOR  = 0x07A
+  ID_INTERFACEKIT_0_8_8_w_LCD = 0x053
+  ID_INTERFACEKIT_4_8_8       = 0x004
+  ID_RFID                     = 0x030
+  ID_SERVO_1MOTOR_OLD         = 0x002
+  ID_SERVO_4MOTOR             = 0x038
+  ID_SERVO_4MOTOR_OLD         = 0x003
+  ID_TEXTLCD_2x20             = 0x052
+  ID_TEXTLCD_2x20_w_0_8_8     = 0x153
+  ID_TEXTLED_1x8              = 0x049
+  ID_TEXTLED_4x8              = 0x048
+  ID_WEIGHTSENSOR             = 0x072 
+
+  def Phidgets.setLibName(name)
+    Common.setLibName(name)
+  end
+
+  class Exception < RuntimeError
+    attr_reader :code
+
+    EPHIDGET_NOTFOUND    = 1
+    EPHIDGET_NOMEMORY    = 2
+    EPHIDGET_UNEXPECTED  = 3
+    EPHIDGET_INVALIDARG  = 4
+    EPHIDGET_NOTATTACHED = 5
+    EPHIDGET_INTERRUPTED = 6
+    EPHIDGET_INVALID     = 7
+    EPHIDGET_NETWORK     = 8
+    EPHIDGET_UNKNOWNVAL  = 9
+    EPHIDGET_BADPASSWORD = 10
+    EPHIDGET_UNSUPPORTED = 11
+    EPHIDGET_DUPLICATE   = 12
+    EPHIDGET_TIMEOUT     = 13
+    EPHIDGET_OUTOFBOUNDS = 14
+    EPHIDGET_EVENT       = 15
+    EPHIDGET_NETWORK_NOTCONNECTED = 16
+    EPHIDGET_WRONGDEVICE = 17
+    EPHIDGET_CLOSED      = 18
+    EPHIDGET_BADVERSION  = 19
+
+    def initialize(code)
+      @code = code
+      case code
+        when -2
+          super('Failed to load Phidgets Library')
+        when -1
+          super('Unable to determine Phidgets Library name.')
+        when EPHIDGET_NOTFOUND
+          super('A Phidget matching the type and or serial number could not be found.')
+        when EPHIDGET_NOMEMORY
+          super('Memory could not be allocated.')
+        when EPHIDGET_UNEXPECTED
+          super('Unexpected Error. Contact Phidgets Inc. for support.')
+        when EPHIDGET_INVALIDARG
+          super('Invalid argument passed to function.')
+        when EPHIDGET_NOTATTACHED
+          super('Phidget not physically attached.')
+        when EPHIDGET_INTERRUPTED
+          super('Read/Write operation was interrupted.')
+        when EPHIDGET_INVALID
+          super('The Error Code is not defined.')
+        when EPHIDGET_NETWORK
+          super('Network Error.')
+        when EPHIDGET_UNKNOWNVAL
+          super('Value is Unknown (State not yet received from device, or not yet set by user).')
+        when EPHIDGET_BADPASSWORD
+          super('Authorization Failed.')
+        when EPHIDGET_UNSUPPORTED
+          super('Not Supported.')
+        when EPHIDGET_DUPLICATE
+          super('Duplicated request.')
+        when EPHIDGET_TIMEOUT
+          super('Given timeout has been exceeded.')
+        when EPHIDGET_OUTOFBOUNDS
+          super('Index out of Bounds.')
+        when EPHIDGET_EVENT
+          super('A non-null error code was returned from an event handler.')
+        when EPHIDGET_NETWORK_NOTCONNECTED
+          super('A connection to the server does not exist.')
+        when EPHIDGET_WRONGDEVICE
+          super('Function is not applicable for this device.')
+        when EPHIDGET_CLOSED
+          super('Phidget handle was closed.')
+        when EPHIDGET_BADVERSION
+          super('Webservice and Client protocol versions don’t match. Update to newest release.')
+      end
+    end
+
+  end
+
+  class Common
+    @@libname = nil
+    @@lib = nil
+    @@open_remote = nil
+    @@open_remote_ip = nil
+    @@open = nil
+    @@close = nil
+    @@delete = nil
+    @@detach_handler = nil
+    @@attach_handler = nil
+    @@connect_handler = nil
+    @@disconnect_handler = nil
+    @@error_handler = nil
+    @@name = nil
+    @@serial = nil
+    @@version = nil
+    @@status = nil
+    @@lib_version = nil
+    @@type = nil
+    @@get_label = nil
+    @@set_label = nil
+    @@error_description = nil
+    @@wait = nil
+    @@server_id = nil
+    @@server_addr = nil
+    @@server_status = nil
+    @@device_id = nil
+    @@device_class = nil
+
+    def initialize
+      if @@libname == nil
+        case Config::CONFIG['target_os']
+          when 'linux'
+            @@libname = 'libphidget21.so'
+          when 'mswin32'
+            @@libname = 'phidget21.dll'
+          when 'darwin10.2.0'
+            @@libname = '/Library/Frameworks/Phidget21.framework/Versions/Current/Phidget21'
+          when 'darwin10.3.0'
+            @@libname = '/Library/Frameworks/Phidget21.framework/Versions/Current/Phidget21'
+          else
+            raise Phidgets::Exception.new(-1)
+        end
+      end
+
+      begin
+        @@lib = DL.dlopen(@@libname)
+      rescue
+        raise Phidgets::Exception.new(-2)
+      end
+
+      @handle = DL.malloc(DL.sizeof('P'))
+      
+    end
+
+    private
+
+    def sym(name, interface)
+      @@lib[name, interface]
+    end
+
+    def call_IX(sym_name, func_name, format, arg1)
+      sym_name = sym(func_name, format) if sym_name == nil
+      r,rs = sym_name.call(arg1)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    def call_IXX(sym_name, func_name, format, arg1, arg2)
+      sym_name = sym(func_name, format) if sym_name == nil
+      r,rs = sym_name.call(arg1, arg2)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    def call_IXXX(sym_name, func_name, format, arg1, arg2, arg3)
+      puts "in call_IXXX format: #{format}"
+      sym_name = sym(func_name, format) if sym_name == nil
+      r,rs = sym_name.call(arg1, arg2, arg3)
+      puts "r: #{r} - rs: #{rs[2]}"
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    def call_IXXXX(sym_name, func_name, format, arg1, arg2, arg3, arg4)
+      sym_name = sym(func_name, format) if sym_name == nil
+      r,rs = sym_name.call(arg1, arg2, arg3, arg4)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    def call_IXXXXX(sym_name, func_name, format, arg1, arg2, arg3, arg4, arg5)
+      sym_name = sym(func_name, format) if sym_name == nil
+      r,rs = sym_name.call(arg1, arg2, arg3, arg4, arg5)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    def call_IPi(sym_name, func_name, arg1)
+      sym_name = sym(func_name, 'IPi') if sym_name == nil
+      return_arg = 0
+      r,rs = sym_name.call(arg1, return_arg)
+      raise Phidgets::Exception.new(r) if r != 0
+      rs[1]
+    end
+
+    def call_IPIi(sym_name, func_name, arg1, arg2)
+      sym_name = sym(func_name, 'IPIi') if sym_name == nil
+      return_arg = 0
+      r,rs = sym_name.call(arg1, arg2, return_arg)
+      raise Phidgets::Exception.new(r) if r != 0
+      rs[2]
+    end
+    
+    def call_IPId(sym_name, func_name, arg1, arg2)
+      sym_name = sym(func_name, 'IPId') if sym_name == nil
+      return_arg = 0.0
+      r,rs = sym_name.call(arg1, arg2, return_arg)
+      raise Phidgets::Exception.new(r) if r != 0.0
+      rs[2]
+    end
+
+    def call_IPs(sym_name, func_name, arg1)
+      sym_name = sym(func_name, 'IPp') if sym_name == nil
+      arg_ptr = DL.malloc(DL.sizeof('P'))
+      r,rs = sym_name.call(arg1, arg_ptr.ref)
+      raise Phidgets::Exception.new(r) if r != 0
+      arg_ptr.free = nil
+      arg_ptr.to_s
+    end
+
+    def createCallback(callback)
+      DL.callback('IPP') {|handle,data|
+        data = ObjectSpace._id2ref(data.to_i)
+        eval("#{callback}(data)")
+      }
+    end
+
+    def createErrorCallback(callback)
+      DL.callback('IPPIS') {|handle,data,error_code,error_string|
+        data = ObjectSpace._id2ref(data.to_i)
+        eval("#{callback}(data,error_code,error_string)")
+      }
+    end
+
+    public
+
+    def Common.setLibName(name)
+      @@libname = name
+    end
+
+    def openRemote(serial_number=-1, server=nil, password=nil, timeout=0)
+      call_IXXXX(@@open_remote, 'CPhidget_openRemote', 'IPISS', @handle, serial_number, server, password)
+      waitForAttachment(timeout) if timeout > 0
+    end
+
+    def openRemoteIP(serial_number, address, port=5001, password=nil, timeout=0)
+      call_IXXXXX(@@open_remote_ip, 'CPhidget_openRemoteIP', 'IPISIS', @handle, serial_number, address, port, password)
+      waitForAttachment(timeout) if timeout > 0
+    end
+
+    def open(serial_number=-1, timeout=0)
+      call_IXX(@@open, 'CPhidget_open', 'IPI', @handle, serial_number)
+      waitForAttachment(timeout) if timeout > 0
+    end
+
+    def close
+      call_IX(@@close, 'CPhidget_close', 'IP', @handle)
+    end
+
+    def delete
+      @handle.free = nil
+      call_IX(@@delete, 'CPhidget_delete', 'IP', @handle)
+    end
+
+    def setOnDetachHandler(callback, data)
+      call_IXXX(@@detach_handler, 'CPhidget_set_OnDetach_Handler', 'IPPP', @handle, createCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+    def setOnAttachHandler(callback, data)
+      call_IXXX(@@attach_handler, 'CPhidget_set_OnAttach_Handler', 'IPPP', @handle, createCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+    def setOnConnectHandler(callback, data)
+      call_IXXX(@@connect_handler, 'CPhidget_set_OnServerConnect_Handler', 'IPPP', @handle, createCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+    def setOnDisconnectHandler(callback, data)
+      call_IXXX(@@disconnect_handler, 'CPhidget_set_OnServerDisconnect_Handler', 'IPPP', @handle, createCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+    def setOnErrorHandler(callback, data)
+      call_IXXX(@@error_handler, 'CPhidget_set_OnError_Handler', 'IPPP', @handle, createErrorCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+    def getDeviceName
+      call_IPs(@@name, 'CPhidget_getDeviceName', @handle)
+    end
+
+    def getSerialNumber
+      call_IPi(@@serial, 'CPhidget_getSerialNumber', @handle)
+    end
+
+    def getDeviceVersion
+      call_IPi(@@version, 'CPhidget_getDeviceVersion', @handle)
+    end
+
+    def getDeviceStatus
+      call_IPi(@@status, 'CPhidget_getDeviceStatus', @handle)
+    end
+
+    def getLibraryVersion
+      @@lib_version = sym('CPhidget_getLibraryVersion', 'Ip') if @@lib_version == nil
+      lib_version_ptr = DL.malloc(DL.sizeof('P'))
+      r,rs = @@lib_version.call(lib_version_ptr.ref)
+      raise Phidgets::Exception.new(r) if r != 0
+      lib_version_ptr.free = nil
+      lib_version_ptr.to_s
+    end
+
+    def getDeviceType
+      call_IPs(@@type, 'CPhidget_getDeviceType', @handle)
+    end
+
+    def getDeviceLabel
+      call_IPs(@@get_label, 'CPhidget_getDeviceLabel', @handle)
+    end
+
+    def setDeviceLabel(label)
+      call_IXX(@@set_label, 'CPhidget_setDeviceLabel', 'IPS', @handle, label)
+    end
+
+    def getErrorDescription(error_code)
+      @@error_description = sym('CPhidget_getErrorDescription', 'IIp') if @@error_description == nil
+      error_description_ptr = DL.malloc(DL.sizeof('P'))
+      r,rs = @@error_description.call(error_code, error_description_ptr.ref)
+      raise Phidgets::Exception.new(r) if r != 0
+      error_description_ptr.free = nil
+      error_description_ptr.to_s
+    end
+
+    def waitForAttachment(timeout)
+      call_IXX(@@wait, 'CPhidget_waitForAttachment', 'IPI', @handle, timeout)
+    end
+
+    def getServerID
+      call_IPs(@@server_id, 'CPhidget_getServerID', @handle)
+    end
+
+    def getServerAddress
+      @@server_addr = sym('CPhidget_getServerAddress', 'IPpi') if @@server_addr == nil
+      server_addr_ptr = DL.malloc(DL.sizeof('P'))
+      server_port = 0
+      r,rs = @@server_addr.call(@handle, server_addr_ptr.ref, server_port)
+      raise Phidgets::Exception.new(r) if r != 0
+      server_addr_ptr.free = nil
+      a = [server_addr_ptr.to_s, rs[2]]
+      a
+    end
+
+    def getServerStatus
+      call_IPi(@@server_status, 'CPhidget_getServerStatus', @handle)
+    end
+
+    def getDeviceID
+      call_IPi(@@device_id, 'CPhidget_getDeviceID', @handle)
+    end
+
+    def getDeviceClass
+      call_IPi(@@device_class, 'CPhidget_getDeviceClass', @handle)
+    end
+
+  end
+
+end
+

data/lib/phidgets/interfacekit.rb

@@ -0,0 +1,78 @@
+
+#require 'phidgets/common'
+
+module Phidgets
+
+  class InterfaceKit < Common
+    @@create = nil
+    @@input_count = nil
+    @@input_state = nil
+    @@output_count = nil
+    @@get_output_state = nil
+    @@set_output_state = nil
+    @@sensor_count = nil
+    @@sensor_value = nil
+    @@sensor_raw_value = nil
+    @@get_ratiometric = nil
+    @@set_ratiometric = nil
+
+    def initialize(serial_number=-1, timeout=0)
+      super()
+      create
+      open(serial_number, timeout) if timeout > 0
+    end
+
+    private
+
+    def create
+      @@create = sym('CPhidgetInterfaceKit_create', 'Ip') if @@create == nil
+      r,rs = @@create.call(@handle.ref)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    public
+
+    def getInputCount
+      call_IPi(@@input_count, 'CPhidgetInterfaceKit_getInputCount', @handle)
+    end
+
+    def getInputState(index)
+      call_IPIi(@@input_state, 'CPhidgetInterfaceKit_getInputState', @handle, index)
+    end
+
+    def getOutputCount
+      call_IPi(@@output_count, 'CPhidgetInterfaceKit_getOutputCount', @handle)
+    end
+
+    def getOutputState(index)
+      call_IPIi(@@get_output_state, 'CPhidgetInterfaceKit_getOutputState', @handle, index)
+    end
+
+    def setOutputState(index, state)
+      call_IXXX(@@set_output_state, 'CPhidgetInterfaceKit_setOutputState', 'IPII', @handle, index, state)
+    end
+
+    def getSensorCount
+      call_IPi(@@sensor_count, 'CPhidgetInterfaceKit_getSensorCount', @handle)
+    end
+
+    def getSensorValue(index)
+      call_IPIi(@@sensor_value, 'CPhidgetInterfaceKit_getSensorValue', @handle, index)
+    end
+
+    def getSensorRawValue(index)
+      call_IPIi(@@sensor_raw_value, 'CPhidgetInterfaceKit_getSensorRawValue', @handle, index)
+    end
+
+    def getRatiometric
+      call_IPi(@@get_ratiometric, 'CPhidgetInterfaceKit_getRatiometric', @handle)
+    end
+
+    def setRatiometric(ratiometric)
+      call_IXX(@@set_ratiometric, 'CPhidgetInterfaceKit_setRatiometric', 'IPI', @handle, ratiometric)
+    end
+
+  end
+
+end
+

data/lib/phidgets/rfid.rb

@@ -0,0 +1,83 @@
+
+#require 'phidgets/common'
+
+module Phidgets
+
+  class RFID < Common
+    @@create = nil
+    @@output_count = nil
+    @@get_output_state = nil
+    @@set_output_state = nil
+    @@get_antenna_on = nil
+    @@set_antenna_on = nil
+    @@get_led_on = nil
+    @@set_led_on = nil
+    @@get_last_tag = nil
+    @@get_tag_status = nil
+    @@on_tag_handler = nil
+    @@tag_lost_handler = nil
+
+    def initialize(serial_number=-1, timeout=0)
+      super()
+      create
+      open(serial_number, timeout) if timeout > 0
+    end
+
+    private
+
+    def create
+      @@create = sym('CPhidgetRFID_create', 'Ip') if @@create == nil
+      r,rs = @@create.call(@handle.ref)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    public
+
+    def getOutputCount
+      call_IPi(@@output_count, 'CPhidgetRFID_getOutputCount', @handle)
+    end
+
+    def getOutputState(index)
+      call_IPIi(@@get_output_state, 'CPhidgetRFID_getOutputState', @handle, index)
+    end
+
+    def setOutputState(index, state)
+      call_IXXX(@@set_output_state, 'CPhidgetRFID_setOutputState', 'IPII', @handle, index, state)
+    end
+
+    def getAntennaOn
+      call_IPi(@@get_antenna_on, 'CPhidgetRFID_getAntennaOn', @handle)
+    end
+
+    def setAntennaOn(state)
+      call_IPX(@@set_antenna_on, 'CPhidgetRFID_setAntennaOn', 'IPI', @handle, state)
+    end
+
+    def getLedOn
+      call_IPi(@@get_led_on, 'CPhidgetRFID_getLEDOn', @handle)
+    end
+
+    def setLedOn(state)
+      call_IPX(@@set_led_on, 'CPhidgetRFID_setLEDOn', 'IPI', @handle, state)
+    end
+
+    def getLastTag
+      call_IPs(@@get_last_tag, 'CPhidgetRFID_getLastTag', @handle)
+    end
+
+    def getTagStatus
+      call_IPi(@@get_tag_status, 'CPhidgetRFID_getTagStatus', @handle)
+    end
+
+    def setOnTagHandler(callback, data)
+      call_IXXX(@@on_tag_handler, 'CPhidgetRFID_set_OnTag_Handler', 'IPPP', @handle, createCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+    def setOnTagLostHandler(callback, data)
+      call_IXXX(@@tag_lost_handler, 'CPhidgetRFID_set_OnTagLost_Handler', 'IPPP', @handle, createCallback(callback), DL::PtrData.new(data.object_id))
+    end
+
+  end
+
+end
+

data/lib/phidgets/servo.rb

@@ -0,0 +1,64 @@
+
+#require 'phidgets/common'
+
+module Phidgets
+
+  class Servo < Common
+    @@create = nil
+    @@get_motor_count = nil
+    @@get_position = nil
+    @@set_position = nil
+    @@get_position_max = nil
+    @@get_position_min = nil
+    @@get_servo_type = nil
+    @@set_servo_type = nil
+    @@get_engaged = nil
+    @@set_engaged = nil
+    def initialize(serial_number=-1, timeout=0)
+      super()
+      create
+      open(serial_number, timeout) if timeout > 0
+    end
+
+    private
+
+    def create
+      @@create = sym('CPhidgetServo_create', 'Ip') if @@create == nil
+      r,rs = @@create.call(@handle.ref)
+      raise Phidgets::Exception.new(r) if r != 0
+    end
+
+    public
+
+    def getMotorCount
+      call_IPi(@@get_motor_count, 'CPhidgetServo_getMotorCount', @handle)
+    end
+
+    def getPosition(index)
+      call_IPId(@@get_position, 'CPhidgetServo_getPosition', @handle, index)
+    end
+    
+    def setPosition(index, position)
+      puts "calling call_IXXX"
+      call_IXXX(@@set_position, 'CPhidgetServo_setPosition', 'IPII', @handle, index, position)
+    end
+    
+    def getPositionMax(index)
+      call_IPId(@@get_position_max, 'CPhidgetServo_getPositionMax', @handle, index)
+    end
+    
+    def getPositionMin(index)
+      call_IPId(@@get_position_min, 'CPhidgetServo_getPositionMin', @handle, index)
+    end
+    
+    def getEngaged(index)
+      call_IPIi(@@get_engaged, 'CPhidgetServo_getEngaged', @handle, index)
+    end
+
+    def setEngaged(index, state)
+      call_IXXX(@@set_engaged, 'CPhidgetServo_setEngaged', 'IPII', @handle, index, state)
+    end
+
+  end
+
+end

data/lib/phidgets.rb

@@ -0,0 +1,11 @@
+$:.unshift(File.dirname(__FILE__)) unless
+  $:.include?(File.dirname(__FILE__)) || $:.include?(File.expand_path(File.dirname(__FILE__)))
+
+require File.dirname(__FILE__) + '/phidgets/common.rb'
+require File.dirname(__FILE__) + '/phidgets/interfacekit.rb'
+require File.dirname(__FILE__) + '/phidgets/rfid.rb'
+require File.dirname(__FILE__) + '/phidgets/servo.rb'
+
+module Phidgets
+  VERSION = '0.0.2'
+end

data/test/test_helper.rb

@@ -0,0 +1,3 @@
+require 'stringio'
+require 'test/unit'
+require File.dirname(__FILE__) + '/../lib/phidgets'