自学教程：C++ CPhidget_getSerialNumber函数代码示例

//callback that will run if the Spatial is detached from the computerint imuDetach(CPhidgetHandle spatial, void *userptr){	int serialNo;	CPhidget_getSerialNumber(spatial, &serialNo);	printf("IMU %10d detached!/n", serialNo);	return 0;}

int display_properties(CPhidgetAccelerometerHandle phid){    int serial_number, version, num_axes;    const char* ptr;    CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);    CPhidget_getSerialNumber((CPhidgetHandle)phid,							 &serial_number);    CPhidget_getDeviceVersion((CPhidgetHandle)phid,							  &version);    CPhidgetAccelerometer_getAxisCount((CPhidgetAccelerometerHandle)phid,									   &num_axes);    // initialise acceleration values    ros::Time begin = ros::Time::now();    acc.acceleration.clear();    acc.stamp.clear();    for (int i = 0; i < num_axes; i++) {        acc.acceleration.push_back(0);        acc.stamp.push_back(begin);        acc.stamp.push_back(begin);        acc.stamp.push_back(begin);    }    ROS_INFO("%s", ptr);    ROS_INFO("Serial Number: %d", serial_number);    ROS_INFO("Version: %d", version);    ROS_INFO("Number of axes %d", num_axes);    return 0;}

//Display the properties of the attached phidget to the screen.  We will be displaying the name, serial number and version of the attached device.//Will also display the number of inputs, outputs, and analog inputs on the interface kit as well as the state of the ratiometric flag//and the current analog sensor sensitivity.int IKDisplayProperties(CPhidgetInterfaceKitHandle phid){	int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;	const char* ptr;	CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);	CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);	CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);	CPhidgetInterfaceKit_getInputCount(phid, &numInputs);	CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);	CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);	CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);	SetupLog("%s", ptr);	SetupLog("Serial Number: %10d/nVersion: %8d", serialNo, version);	SetupLog("# Digital Inputs: %d/n# Digital Outputs: %d", numInputs, numOutputs);	SetupLog("# Sensors: %d", numSensors);	SetupLog("Ratiometric: %d", ratiometric);	for(i = 0; i < numSensors; i++)	{		CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);		SetupLog("Sensor#: %d > Sensitivity Trigger: %d/n", i, triggerVal);	}	return 0;}

// print the sensor values for a given ifkit device (by serial)// -1 to print them all!void PhidgetConnector::print(int serial_in) {    cout << "Models: " << endl;    if(ifKitModels.size()>0) {        for(int i=0; i<ifKitModels.size(); i++) {            IFKitModel * thisKit = (IFKitModel *)ifKitModels.at(i);            if(serial_in == -1 || serial_in == thisKit->getSerial()) thisKit->print();        }    } else {        cout << "there doesn't seem to be any devices successfully connected with which to print." << endl;    }    cout << "hardware devices: " << endl;    for(int j=0; j<ifkits.size(); j++) {        int serialNo;        CPhidget_getSerialNumber((CPhidgetHandle)*ifkits.at(j), &serialNo);        int whichKit = getIFKitModelID(serialNo);        if(whichKit>-1) {            IFKitModel * desiredKit = ifKitModels.at(whichKit);            cout << "serial: " << desiredKit->getSerial() << endl;            for(int i=0; i<desiredKit->getNumSensors(); i++) {                int sensorVal;                CPhidgetInterfaceKit_getSensorValue(*ifkits.at(j), i, &sensorVal);                cout << i << ": " << sensorVal << endl;                // desiredKit->setSensorVal(i,sensorVal);            }        }    }}

static int CCONV AttachHandler (CPhidgetHandle device, void *userptr) {    int serialNumber;    const char *name;    LocalErrorCatcher(        CPhidget_getDeviceName(device, &name));    LocalErrorCatcher(        CPhidget_getSerialNumber(device, &serialNumber));    PhidgetsDeviceManager* obj = (PhidgetsDeviceManager*)userptr;    QString devname(name);    // If the device name contains motor control in its name then emit a motor control card signal    if(devname.contains("Motor Control"))    {        obj->pushToMotorControlCardSerials(serialNumber);       // emit obj->motorCard(serialNumber);    }    else if(devname.contains("InterfaceKit"))    {        obj->setInterfaceKitSerial(serialNumber);    }    printf("Hello Device %s, Serial Number: %d/n", name, serialNumber);    return 0;}

int display_properties(CPhidgetPHSensorHandle phid){    int serialNo, version;    double trigger, potential;    double min, max;    const char* ptr;    CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);    CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);    CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);    CPhidgetPHSensor_getPHChangeTrigger(phid, &trigger);    CPhidgetPHSensor_getPotential(phid, &potential);    ROS_INFO("%s/n", ptr);    ROS_INFO("Serial Number: %10d/nVersion: %8d/n",			 serialNo, version);    ROS_INFO("Trigger Sensitivity: %f/nPotential: %f/n",			 trigger, potential);    CPhidgetPHSensor_getPHMax(phid, &max);    CPhidgetPHSensor_getPHMin(phid, &min);    ROS_INFO("Max PH: %0.4lf, Min PH: %0.4lf/n", max, min);    CPhidgetPHSensor_getPotentialMax(phid, &max);    CPhidgetPHSensor_getPotentialMin(phid, &min);    ROS_INFO("Max Potential: %0.2lfmV, " /			 "Min Potential: %0.2lfmV/n", max, min);    return 0;}

//Display the properties of the attached phidget to the screen.  We will be displaying the name, serial number and version of the attached device.int display_properties(CPhidgetTextLCDHandle phid){	int serialNo, version, numRows, numColumns, backlight, cursor, contrast, cursor_blink, numScreens;	const char* ptr;	CPhidget_DeviceID id;		CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);	CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);	CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);	CPhidget_getDeviceID((CPhidgetHandle)phid, &id);	CPhidgetTextLCD_getRowCount (phid, &numRows);	CPhidgetTextLCD_getColumnCount (phid, &numColumns);	CPhidgetTextLCD_getBacklight (phid, &backlight);	CPhidgetTextLCD_getContrast (phid, &contrast);	CPhidgetTextLCD_getCursorOn (phid, &cursor);	CPhidgetTextLCD_getCursorBlink (phid, &cursor_blink);	printf("%s/n", ptr);	printf("Serial Number: %10d/nVersion: %8d/n", serialNo, version);	if(id == PHIDID_TEXTLCD_ADAPTER){		CPhidgetTextLCD_getScreenCount (phid, &numScreens);		printf("# Screens: %d/n", numScreens);		CPhidgetTextLCD_setScreen(phid, 0);		CPhidgetTextLCD_setScreenSize(phid, PHIDGET_TEXTLCD_SCREEN_2x16);		CPhidgetTextLCD_initialize(phid);	}	printf("# Rows: %d/n# Columns: %d/n", numRows, numColumns);	printf("Current Contrast Level: %d/nBacklight Status: %d/n", contrast, backlight);	printf("Cursor Status: %d/nCursor Blink Status: %d/n", cursor, cursor_blink);	return 0;}

//Display the properties of the attached phidget(s) to the screen.  We will be displaying the name, serial number and version of the attached device(s).int display_devices(CPhidgetManagerHandle MAN){	int serialNo, version, numDevices, i;	const char* ptr;	CPhidgetHandle *devices;	CPhidgetManager_getAttachedDevices (MAN, &devices, &numDevices);	printf("|-   # -|-              Type              -|- Serial No. -|-  Version -|/n");	printf("|-------|----------------------------------|--------------|------------|/n");	for(i = 0; i < numDevices; i++)	{		CPhidget_getDeviceType(devices[i], &ptr);		CPhidget_getSerialNumber(devices[i], &serialNo);		CPhidget_getDeviceVersion(devices[i], &version);		printf("|- %3d -|- %30s -|- %10d -|- %8d -|/n", i, ptr, serialNo, version);		printf("|-------|----------------------------------|--------------|------------|/n");	}	CPhidgetManager_freeAttachedDevicesArray(devices);	return 0;}

int display_properties(CPhidgetSpatialHandle phid){    int serialNo, version;    const char* ptr;    int numAccelAxes, numGyroAxes, numCompassAxes;	int dataRateMax, dataRateMin;    CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);    CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);    CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);    CPhidgetSpatial_getAccelerationAxisCount((CPhidgetSpatialHandle)phid,											 &numAccelAxes);    CPhidgetSpatial_getGyroAxisCount((CPhidgetSpatialHandle)phid,									 &numGyroAxes);    CPhidgetSpatial_getCompassAxisCount((CPhidgetSpatialHandle)phid,										&numCompassAxes);    CPhidgetSpatial_getDataRateMax((CPhidgetSpatialHandle)phid,								   &dataRateMax);    CPhidgetSpatial_getDataRateMin((CPhidgetSpatialHandle)phid,								   &dataRateMin);    ROS_INFO("%s/n", ptr);    ROS_INFO("Serial Number: %10d/nVersion: %8d/n",			 serialNo, version);    ROS_INFO("Number of Accel Axes: %i/n", numAccelAxes);    ROS_INFO("Number of Gyro Axes: %i/n", numGyroAxes);    ROS_INFO("Number of Compass Axes: %i/n", numCompassAxes);    ROS_INFO("datarate> Max: %d  Min: %d/n",			 dataRateMax, dataRateMin);    return 0;}

int display_properties(CPhidgetInterfaceKitHandle phid){    int serial_number, version, ratiometric, num_sensors, num_inputs, num_outputs, triggerVal;    const char* ptr;    CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);    CPhidget_getSerialNumber((CPhidgetHandle)phid, &serial_number);    CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);    CPhidgetInterfaceKit_getInputCount(phid, &num_inputs);    CPhidgetInterfaceKit_getOutputCount(phid, &num_outputs);    CPhidgetInterfaceKit_getSensorCount(phid, &num_sensors);    CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);    ROS_INFO("%s", ptr);    ROS_INFO("Serial Number: %d", serial_number);    ROS_INFO("Version: %d", version);    ROS_INFO("Number of digital inputs %d", num_inputs);    ROS_INFO("Number of digital outputs %d", num_outputs);    ROS_INFO("Number of sensors %d", num_sensors);    ROS_INFO("Ratiometric %d", ratiometric);    for (int i = 0; i < num_sensors; i++)    {               CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);        //CPhidgetInterfaceKit_setSensorChangeTrigger (phid, i, 10);	ROS_INFO("Sensor %d Sensitivity Trigger %d", i, triggerVal);    }    return 0;}

// display the properties and create the ifkit model. Should really refactor...int PhidgetConnector::display_properties(CPhidgetInterfaceKitHandle phid) {    int serialNo, version, numInputs, numOutputs, numSensors, triggerVal, ratiometric, i;    const char* ptr;    CPhidget_getDeviceType((CPhidgetHandle)phid, &ptr);    CPhidget_getSerialNumber((CPhidgetHandle)phid, &serialNo);    CPhidget_getDeviceVersion((CPhidgetHandle)phid, &version);    CPhidgetInterfaceKit_getInputCount(phid, &numInputs);    CPhidgetInterfaceKit_getOutputCount(phid, &numOutputs);    CPhidgetInterfaceKit_getSensorCount(phid, &numSensors);    CPhidgetInterfaceKit_getRatiometric(phid, &ratiometric);    ifKitModels.push_back(new IFKitModel(serialNo, numSensors));    printf("%s/n", ptr);    printf("Serial Number: %10d/nVersion: %8d/n", serialNo, version);    printf("# Digital Inputs: %d/n# Digital Outputs: %d/n", numInputs, numOutputs);    printf("# Sensors: %d/n", numSensors);    printf("Ratiometric: %d/n", ratiometric);    for(i = 0; i < numSensors; i++) {        CPhidgetInterfaceKit_setSensorChangeTrigger(phid, i, 0);        CPhidgetInterfaceKit_getSensorChangeTrigger (phid, i, &triggerVal);        printf("Sensor#: %d > Sensitivity Trigger: %d/n", i, triggerVal);    }    return 0;}

void imuPrintInfo( void* handle ){	if( !handle )		return;	CPhidgetHandle phid = (CPhidgetHandle)handle;	int serialNo = 0;	int version = 0;	const char* ptr;	int numAccelAxes = 0, numGyroAxes = 0, numCompassAxes = 0;	int dataRateMax = 0, dataRateMin = 0, dataRateCurr = 0;	//CPhidget_getDeviceType(phid, &ptr);	//printf("IMU  %s/n", ptr);	CPhidget_getSerialNumber(phid, &serialNo);	CPhidget_getDeviceVersion(phid, &version);	CPhidgetSpatial_getAccelerationAxisCount((CPhidgetSpatialHandle)phid, &numAccelAxes);	CPhidgetSpatial_getGyroAxisCount((CPhidgetSpatialHandle)phid, &numGyroAxes);	CPhidgetSpatial_getCompassAxisCount((CPhidgetSpatialHandle)phid, &numCompassAxes);	CPhidgetSpatial_getDataRateMax((CPhidgetSpatialHandle)phid, &dataRateMax);	CPhidgetSpatial_getDataRateMin((CPhidgetSpatialHandle)phid, &dataRateMin);	CPhidgetSpatial_getDataRate((CPhidgetSpatialHandle)phid, &dataRateCurr);			printf("IMU  Serial Number: %10i/n", serialNo);	printf("IMU  Version: %8i/n", version);	printf("IMU  Number of Accel Axes: %i/n", numAccelAxes);	printf("IMU  Number of Gyro Axes: %i/n", numGyroAxes);	printf("IMU  Number of Compass Axes: %i/n", numCompassAxes);	printf("IMU  datarate>   Min: %d  Max: %d  Current: %d/n", dataRateMin, dataRateMax, dataRateCurr);}

int CCONV DetachHandler(CPhidgetHandle ENC, void *userptr){	int serialNo;	CPhidget_getSerialNumber(ENC, &serialNo);	printf("Encoder %10d detached! /n", serialNo);	return 0;}

//callback that will run if the Accelerometer is detached from the computerint CCONV DetachHandler(CPhidgetHandle ir, void *userptr){	int serialNo;	CPhidget_getSerialNumber(ir, &serialNo);	printf("PhidgetIR %10d detached! /n", serialNo);	return 0;}

int AttachHandlerIR(CPhidgetHandle ir, void *userptr){	int serialNo;	CPhidget_getSerialNumber(ir, &serialNo);	printf("PhidgetIR %10d attached!", serialNo);	return 0;}

//callback that will run if the Spatial is detached from the computerint CCONV DetachHandler(CPhidgetHandle spatial, void *userptr){    int serialNo;    CPhidget_getSerialNumber(spatial, &serialNo);    printf("Spatial %10d detached! /n", serialNo);    return 0;}

//callback that will run if the Accelerometer is detached from the computerint DetachHandler(CPhidgetHandle IFK, void *userptr){	int serialNo;	CPhidget_getSerialNumber(IFK, &serialNo);	printf("Accelerometer %10d detached! /n", serialNo);	return 0;}

//callback that will run if the Spatial is attached to the computerint imuAttach(CPhidgetHandle spatial, void *userptr){	int serialNo;	CPhidget_getSerialNumber(spatial, &serialNo);	printf("IMU %10d attached!/n", serialNo);	imuPrintInfo(spatial);	return 0;}

Wt::WContainerWidget* WidgetsCommon::CreateWidget(){	PhidgetsInfo* item = ::GetPhidgetManager()->FindPhidgetBySerial(GetSerial());	if (!item)		return NULL;		CPhidgetHandle handle = item->m_phidget->GetHandle();	Wt::WContainerWidget* tab_container = new Wt::WContainerWidget();  Wt::WHBoxLayout* hbox = new Wt::WHBoxLayout(tab_container);		Wt::WTable* table = new Wt::WTable();	hbox->addWidget(table);		table->columnAt(0)->setWidth(GetLeftColumnWidth());	table->columnAt(1)->setWidth(Wt::WLength::Auto);	int row = 0;	const char* string_value;	int int_value;	if (EPHIDGET_OK == CPhidget_getDeviceName(handle, &string_value))	{		table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceName")));		table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));	}		if (EPHIDGET_OK == CPhidget_getSerialNumber(handle, &int_value))	{		table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("SerialNumber")));		table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));	}	if (EPHIDGET_OK == CPhidget_getDeviceVersion(handle, &int_value))	{		table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceVersion")));		table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));	}	if (EPHIDGET_OK == CPhidget_getDeviceStatus(handle, &int_value))	{		table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceStatus")));		table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString("{1}").arg(int_value)));	}	if (EPHIDGET_OK == CPhidget_getDeviceType(handle, &string_value))	{		table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceType")));		table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));	}	if (EPHIDGET_OK == CPhidget_getDeviceLabel(handle, &string_value))	{		table->elementAt(row, 0)->addWidget(new Wt::WText(Wt::WString::tr("DeviceLabel")));		table->elementAt(row++, 1)->addWidget(new Wt::WText(Wt::WString(string_value, Wt::UTF8)));	}	return tab_container;}

int CCONV DetachHandler( CPhidgetHandle ADVSERVO, void *userptr ){	int serialNo;	const char *name;	CPhidget_getDeviceName( ADVSERVO, &name );	CPhidget_getSerialNumber( ADVSERVO, &serialNo );	printf( "%s %10d detached!/n", name, serialNo );	return 0;}

int CCONV AttachHandler(CPhidgetHandle HANDLE, void *userptr) {	int serialNo;	const char *name;	CPhidget_getDeviceName(HANDLE, &name);	CPhidget_getSerialNumber(HANDLE, &serialNo);	LOG(logINFO) <<  name << " "<<serialNo <<" attached!";	return 0;}

int PhidgetManager::OnAttach(CPhidgetHandle handle){	Lock();	if (FindPhidgetByHandle(handle))	{		Unlock();		return EPHIDGET_OK; //We've already attached it	}	PhidgetsCommon* item;	if (NULL == handle) //Manager tab	{		item = new PhidgetsManager();	}	else	{		int status;		int serial;		CPhidget_DeviceClass device_class;		if (EPHIDGET_OK != (status=CPhidget_getDeviceClass(handle, &device_class)) ||		    EPHIDGET_OK != CPhidget_getSerialNumber(handle, &serial))		{			Unlock();			return status;		}		switch(device_class)		{			case PHIDCLASS_ADVANCEDSERVO: item = new PhidgetsAdvancedServo(serial); break;			case PHIDCLASS_INTERFACEKIT: item = new PhidgetsInterfaceKit(serial); break;			case PHIDCLASS_RFID: item = new PhidgetsRFID(serial); break;			default: {				         Unlock();				         return EPHIDGET_UNSUPPORTED;				       }		}	}			if (!item)	{		Unlock();		return EPHIDGET_NOMEMORY;	}	if (!item->Init())	{		delete item;		Unlock();		return EPHIDGET_UNEXPECTED;	}	AddPhidgetToList(item);	Unlock();	return EPHIDGET_OK;}

int DetachHandler(CPhidgetHandle phid, void *userptr){  int serial_number;  const char *name;  CPhidget_getDeviceName (phid, &name);  CPhidget_getSerialNumber(phid, &serial_number);  ROS_INFO("%s Serial number %d detached!", name, serial_number);  return 0;}

int AttachHandler(CPhidgetHandle MC, void *userptr){    int serialNo;    const char *name;    CPhidget_getDeviceName (MC, &name);    CPhidget_getSerialNumber(MC, &serialNo);    return 0;}

int CCONV AttachHandler(CPhidgetHandle RFID, void *userptr){	int serialNo;	const char *name;  	CPhidget_getDeviceName (RFID, &name);	CPhidget_getSerialNumber(RFID, &serialNo);	printf("%s %10d attached!/n", name, serialNo);  	return 0;}

PhidgetsInfo* PhidgetManager::FindPhidgetByHandle(CPhidgetHandle handle){	if (!handle)		return FindPhidgetBySerial(0);	int serial;	if (EPHIDGET_OK != CPhidget_getSerialNumber(handle, &serial))		return NULL;	return FindPhidgetBySerial(serial);}

int detach_handler(CPhidgetHandle IFK, void *data) {  int serialNo;  const char *name;  CPhidget_getDeviceName (IFK, &name);  CPhidget_getSerialNumber(IFK, &serialNo);  fprintf(stderr, "%s %10d detached!/n", name, serialNo);  return 0;}

int AttachHandler(CPhidgetHandle IFK, void *userptr){	int serialNo;	const char *name;	CPhidget_getDeviceName(IFK, &name);	CPhidget_getSerialNumber(IFK, &serialNo);	SetupLog("%s %10d attached!", name, serialNo);	return 0;}

int gotDetach(CPhidgetHandle phid, void *ptr) {	char *id;	int serial, version;		//print out some info  	CPhidget_getSerialNumber(phid, &serial);  	CPhidget_getDeviceVersion(phid, &version);	CPhidget_getDeviceName((CPhidgetHandle)phid,(const char **)&id);	printf("Device Removed: %s, Serial: %d, Version: %d/n",id,serial,version);		return 0;}