interface_phidgets_getdata_synchronous.h

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#ifndef SIMPLE_H
#define SIMPLE_H

#include <stdio.h>
#include <fstream>
#include <iostream>
#include <phidget21.h>

#include <ros/ros.h>

#include <ros/package.h>

#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include <boost/thread.hpp>

#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>
#include <vector>

// GTK INCLUDES
#include <stdlib.h>
#include <math.h>
#include <time.h>
#include <ctype.h>
#include <string.h>
#include <fcntl.h>
#include <sys/time.h>
#include <unistd.h>
#include "opencv2/core/core.hpp"
#include <signal.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <assert.h>
#include <gtk/gtk.h>
#include <gdk/gdkkeysyms.h>


class PhidgetClass
{
    public:
        
        PhidgetClass(boost::asio::io_service& io_service);
        
        void start();
        int AttachHandler(CPhidgetHandle IFK);
        int DetachHandler(CPhidgetHandle IFK);
        int ErrorHandler(CPhidgetHandle IFK, int ErrorCode, const char *unknown);
        
        void irHandler(boost::system::error_code const& cError);
        void highRateHandler(boost::system::error_code const& cError);
        
        int readIRSensors();   
        int readFSRSensors();
        int readLCSensors();
        int calibrateIRSensors();   
        int calibrateFSRSensors();
        int calibrateLCSensors();
        
        int ir1_value;
        int ir2_value;
        int fsr1_value;
        int fsr2_value;
        int fsr3_value;
        int fsr4_value;
        int lc1_value;
        int lc2_value;
        
        double LC1_data, LC2_data, LC3_data; 
        double FSR1_data, FSR2_data, FSR3_data;
        double IR1_data, IR2_data, IR3_data;
        
        double ir1_vmax, ir1_vmin, ir1_v; 
        double ir2_vmax, ir2_vmin, ir2_v; 
        
        double fsr1_vmax, fsr1_vmin, fsr1_v; 
        double fsr2_vmax, fsr2_vmin, fsr2_v; 
        
        double lc1_vmax, lc1_vmin, lc1_v; 
        double lc2_vmax, lc2_vmin, lc2_v;
         
    private:

        uint ir1_index;
        uint ir2_index;

        uint fsr1_index;
        uint fsr2_index;
        uint fsr3_index;
        uint fsr4_index;
        
        uint lc12_index;
        uint lc34_index;
            
        uint ir_period;
        uint high_rate_period;
        
        boost::asio::deadline_timer ir_timer;
        boost::asio::deadline_timer high_rate_timer;
       
        CPhidgetInterfaceKitHandle ifKit;
};

// ===================== GTK FUNCTIONS ============================
extern "C" void callback_about(GtkWidget * window, gpointer data) ;
extern "C" void callback_back_function(GtkWidget * window, gpointer data) ;
extern "C" void callback_load_config(GtkWidget * widget, gpointer user_data) ;
extern "C" void callback_new_config(GtkWidget * widget, gpointer user_data) ;
extern "C" void callback_open_new(GtkWidget * widget, gpointer user_data) ;
extern "C" void callback_set_data(GtkWidget * widget, gpointer user_data) ;
extern "C" void delete_event(GtkWidget * window, GdkEvent * event, gpointer data) ;
extern "C" void callback_opendialog_cancel(GtkWidget * widget, gpointer user_data);
extern "C" void callback_opendialog_open(GtkWidget * widget, gpointer user_data);
extern "C" void callback_opendialog_save(GtkWidget * widget, gpointer user_data);
extern "C" void callback_IR_error(GtkWidget * widget, gpointer user_data);


gboolean real_time_monitor(gpointer progressbar) ;

#endif //SIMPLE_H